diff --git a/blenderobj_eval/target/scene_000001__traj001__backward/extras/blender_meta.json b/blenderobj_eval/target/scene_000001__traj001__backward/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..be978389cff76baeab86615624f08f40183536dc --- /dev/null +++ b/blenderobj_eval/target/scene_000001__traj001__backward/extras/blender_meta.json @@ -0,0 +1,376 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000001", + "trajectory_index": 1, + "trajectory_id": "T2", + "trajectory_name": "high_polar_arc", + "pattern": "backward", + "pattern_params": { + "kind": "time_backward", + "stride": -1, + "cam_start": 0, + "src_frame_range": [ + 0, + 80 + ] + }, + "frame_count": 81, + "resolution": [ + 832, + 480 + ], + "resolution_order": "width_height", + "files": { + "preview": { + "file": "rgb.mp4", + "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)" + }, + "lossless": { + "file": "rgb_lossless.mkv", + "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)" + } + }, + "metric_reference": "rgb_lossless.mkv", + "source_fps": 30, + "playback_fps": 30, + "time_stride": -1, + "timestamps": [ + 2.666666667, + 2.633333333, + 2.6, + 2.566666667, + 2.533333333, + 2.5, + 2.466666667, + 2.433333333, + 2.4, + 2.366666667, + 2.333333333, + 2.3, + 2.266666667, + 2.233333333, + 2.2, + 2.166666667, + 2.133333333, + 2.1, + 2.066666667, + 2.033333333, + 2.0, + 1.966666667, + 1.933333333, + 1.9, + 1.866666667, + 1.833333333, + 1.8, + 1.766666667, + 1.733333333, + 1.7, + 1.666666667, + 1.633333333, + 1.6, + 1.566666667, + 1.533333333, + 1.5, + 1.466666667, + 1.433333333, + 1.4, + 1.366666667, + 1.333333333, + 1.3, + 1.266666667, + 1.233333333, + 1.2, + 1.166666667, + 1.133333333, + 1.1, + 1.066666667, + 1.033333333, + 1.0, + 0.966666667, + 0.933333333, + 0.9, + 0.866666667, + 0.833333333, + 0.8, + 0.766666667, + 0.733333333, + 0.7, + 0.666666667, + 0.633333333, + 0.6, + 0.566666667, + 0.533333333, + 0.5, + 0.466666667, + 0.433333333, + 0.4, + 0.366666667, + 0.333333333, + 0.3, + 0.266666667, + 0.233333333, + 0.2, + 0.166666667, + 0.133333333, + 0.1, + 0.066666667, + 0.033333333, + 0.0 + ], + "timestamp_range": [ + 0.0, + 2.666666667 + ], + "scene_time_span_seconds": 2.666666667, + "playback_timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_duration_seconds": 2.7, + "source_cam_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_frame_index": [ + 80, + 79, + 78, + 77, + 76, + 75, + 74, + 73, + 72, + 71, + 70, + 69, + 68, + 67, + 66, + 65, + 64, + 63, + 62, + 61, + 60, + 59, + 58, + 57, + 56, + 55, + 54, + 53, + 52, + 51, + 50, + 49, + 48, + 47, + 46, + 45, + 44, + 43, + 42, + 41, + 40, + 39, + 38, + 37, + 36, + 35, + 34, + 33, + 32, + 31, + 30, + 29, + 28, + 27, + 26, + 25, + 24, + 23, + 22, + 21, + 20, + 19, + 18, + 17, + 16, + 15, + 14, + 13, + 12, + 11, + 10, + 9, + 8, + 7, + 6, + 5, + 4, + 3, + 2, + 1, + 0 + ], + "written_at": "2026-09-17T14:34:26" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000001__traj001__backward/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000001__traj001__backward/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..60485d3b51f34f19547e9da2750c89e4e41dff12 --- /dev/null +++ b/blenderobj_eval/target/scene_000001__traj001__backward/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "backward", + "original_pattern": "backward", + "trajectory": { + "dir": "traj001", + "index": 1, + "id": "T2", + "name": "high_polar_arc" + }, + "source_fps": 30, + "playback_fps": 30, + "time_stride": -1, + "source_cam_idx": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_motion_frame": [ + 80, + 79, + 78, + 77, + 76, + 75, + 74, + 73, + 72, + 71, + 70, + 69, + 68, + 67, + 66, + 65, + 64, + 63, + 62, + 61, + 60, + 59, + 58, + 57, + 56, + 55, + 54, + 53, + 52, + 51, + 50, + 49, + 48, + 47, + 46, + 45, + 44, + 43, + 42, + 41, + 40, + 39, + 38, + 37, + 36, + 35, + 34, + 33, + 32, + 31, + 30, + 29, + 28, + 27, + 26, + 25, + 24, + 23, + 22, + 21, + 20, + 19, + 18, + 17, + 16, + 15, + 14, + 13, + 12, + 11, + 10, + 9, + 8, + 7, + 6, + 5, + 4, + 3, + 2, + 1, + 0 + ], + "timestamps_seconds": [ + 2.666666667, + 2.633333333, + 2.6, + 2.566666667, + 2.533333333, + 2.5, + 2.466666667, + 2.433333333, + 2.4, + 2.366666667, + 2.333333333, + 2.3, + 2.266666667, + 2.233333333, + 2.2, + 2.166666667, + 2.133333333, + 2.1, + 2.066666667, + 2.033333333, + 2.0, + 1.966666667, + 1.933333333, + 1.9, + 1.866666667, + 1.833333333, + 1.8, + 1.766666667, + 1.733333333, + 1.7, + 1.666666667, + 1.633333333, + 1.6, + 1.566666667, + 1.533333333, + 1.5, + 1.466666667, + 1.433333333, + 1.4, + 1.366666667, + 1.333333333, + 1.3, + 1.266666667, + 1.233333333, + 1.2, + 1.166666667, + 1.133333333, + 1.1, + 1.066666667, + 1.033333333, + 1.0, + 0.966666667, + 0.933333333, + 0.9, + 0.866666667, + 0.833333333, + 0.8, + 0.766666667, + 0.733333333, + 0.7, + 0.666666667, + 0.633333333, + 0.6, + 0.566666667, + 0.533333333, + 0.5, + 0.466666667, + 0.433333333, + 0.4, + 0.366666667, + 0.333333333, + 0.3, + 0.266666667, + 0.233333333, + 0.2, + 0.166666667, + 0.133333333, + 0.1, + 0.066666667, + 0.033333333, + 0.0 + ], + "playback_timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "scene_time_range_seconds": [ + 0.0, + 2.666666667 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/blenderobj_eval/target/scene_000001__traj001__backward/extras/traj_caption.txt b/blenderobj_eval/target/scene_000001__traj001__backward/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..062b8992dd3fa82ad3656a39014e700d07b8ec9d --- /dev/null +++ b/blenderobj_eval/target/scene_000001__traj001__backward/extras/traj_caption.txt @@ -0,0 +1 @@ +A high orbital camera move. The camera tracks along a smooth arc at a steep elevation of 58°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It looks down on the objects from well above them, so the shot reads as a near-overhead orbit in which the supporting surface fills much of the frame and the objects turn beneath the camera. diff --git a/blenderobj_eval/target/scene_000017__traj000__bullettime_early/caption.txt b/blenderobj_eval/target/scene_000017__traj000__bullettime_early/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..18e16837f1c9f4ba940ecbc97451eeddbc912e61 --- /dev/null +++ b/blenderobj_eval/target/scene_000017__traj000__bullettime_early/caption.txt @@ -0,0 +1 @@ +Various small items, including boxes, a roll of tape, and a cap, are seen falling and scattering across a smooth, light-colored surface in a modern, minimalist room with red and white cabinetry and a grid-patterned floor. The objects tumble and bounce, gradually settling into a disorganized pile. A steady orbital camera move. The camera tracks along a smooth horizontal arc at a low elevation of 14°, holding 1.48302 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 an early moment while the camera keeps moving, a bullet-time shot. diff --git a/blenderobj_eval/target/scene_000017__traj000__bullettime_early/extras/blender_meta.json b/blenderobj_eval/target/scene_000017__traj000__bullettime_early/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e2d44a36a07640f4c2682b1647ea01475f291559 --- /dev/null +++ b/blenderobj_eval/target/scene_000017__traj000__bullettime_early/extras/blender_meta.json @@ -0,0 +1,377 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000017", + "trajectory_index": 0, + "trajectory_id": "T0", + "trajectory_name": "low_elevation_arc", + "pattern": "bullettime_10", + "pattern_params": { + "kind": "bullettime", + "bullet_frame": 10, + "stride": 0, + "cam_start": 0, + "src_frame_range": [ + 10, + 10 + ] + }, + "frame_count": 81, + "resolution": [ + 832, + 480 + ], + "resolution_order": "width_height", + "files": { + "preview": { + "file": "rgb.mp4", + "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)" + }, + "lossless": { + "file": "rgb_lossless.mkv", + "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)" + } + }, + "metric_reference": "rgb_lossless.mkv", + "source_fps": 30, + "playback_fps": 30, + "time_stride": 0, + "timestamps": [ + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333 + ], + "timestamp_range": [ + 0.333333333, + 0.333333333 + ], + "scene_time_span_seconds": 0.0, + "playback_timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_duration_seconds": 2.7, + "source_cam_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_frame_index": [ + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10 + ], + "written_at": "2026-09-17T14:34:26" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000017__traj000__bullettime_early/transforms.json b/blenderobj_eval/target/scene_000017__traj000__bullettime_early/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..5b9881a339f6d9f1b999ff568cf5b091807fe6b2 --- /dev/null +++ b/blenderobj_eval/target/scene_000017__traj000__bullettime_early/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9896224141120911, + -0.034762248396873474, + 0.13942384719848633, + -17.759851455688477 + ], + [ + -0.14369212090969086, + -0.23941105604171753, + 0.9602266550064087, + -0.21030661463737488 + ], + [ + 1.0598668609418382e-09, + -0.9702959656715393, + -0.24192160367965698, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9914708137512207, + -0.03152936324477196, + 0.12645742297172546, + -17.74062156677246 + ], + [ + -0.1303287297487259, + -0.23985826969146729, + 0.9620200991630554, + -0.21296639740467072 + ], + [ + -1.4398904291113013e-09, + -0.9702959060668945, + -0.24192166328430176, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9931387901306152, + -0.02829073928296566, + 0.11346795409917831, + -17.721359252929688 + ], + [ + -0.11694162338972092, + -0.2402619868516922, + 0.9636383652687073, + -0.21536652743816376 + ], + [ + 2.7765967303139405e-10, + -0.970295786857605, + -0.24192187190055847, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.994625985622406, + -0.02504696324467659, + 0.10045785456895828, + -17.702064514160156 + ], + [ + -0.10353323817253113, + -0.24062182009220123, + 0.9650813341140747, + -0.2175065577030182 + ], + [ + -3.879530474648618e-09, + -0.9702957272529602, + -0.24192190170288086, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9959321618080139, + -0.02179861068725586, + 0.0874294713139534, + -17.682743072509766 + ], + [ + -0.09010600298643112, + -0.24093779921531677, + 0.9663488268852234, + -0.21938613057136536 + ], + [ + 1.1387687237629507e-08, + -0.970295786857605, + -0.24192190170288086, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9970570802688599, + -0.01854630932211876, + 0.07438520342111588, + -17.66339874267578 + ], + [ + -0.07666239887475967, + -0.24120986461639404, + 0.9674403667449951, + -0.22100485861301422 + ], + [ + 4.631485417405656e-09, + -0.9702958464622498, + -0.2419218122959137, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9980005621910095, + -0.015290618874132633, + 0.06132737547159195, + -17.644033432006836 + ], + [ + -0.063204824924469, + -0.24143807590007782, + 0.9683557748794556, + -0.2223624885082245 + ], + [ + 9.874555395583684e-09, + -0.9702958464622498, + -0.2419217824935913, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9987624287605286, + -0.012032168917357922, + 0.048258379101753235, + -17.624650955200195 + ], + [ + -0.049735743552446365, + -0.24162253737449646, + 0.9690949320793152, + -0.22345873713493347 + ], + [ + -2.0083934515469082e-10, + -0.9702957272529602, + -0.24192193150520325, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9993425011634827, + -0.008771508932113647, + 0.03518060967326164, + -17.605257034301758 + ], + [ + -0.03625761345028877, + -0.24176275730133057, + 0.969657838344574, + -0.22429344058036804 + ], + [ + 2.4316644253730146e-09, + -0.9702958464622498, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9997406601905823, + -0.0055092619732022285, + 0.022096434608101845, + -17.585853576660156 + ], + [ + -0.022772887721657753, + -0.24185913801193237, + 0.9700441360473633, + -0.22486642003059387 + ], + [ + -1.357189804984671e-09, + -0.970295786857605, + -0.24192187190055847, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9999569058418274, + -0.0022460068576037884, + 0.009008239023387432, + -17.566442489624023 + ], + [ + -0.009284013882279396, + -0.2419113665819168, + 0.9702539443969727, + -0.2251775711774826 + ], + [ + -1.4738490428101159e-09, + -0.970295786857605, + -0.2419217824935913, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9999911785125732, + 0.0010176560608670115, + -0.004081597551703453, + -17.547029495239258 + ], + [ + 0.004206550307571888, + -0.24191971123218536, + 0.9702872037887573, + -0.22522686421871185 + ], + [ + -5.945942627150202e-10, + -0.970295786857605, + -0.24192185699939728, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.999843418598175, + 0.004281132016330957, + -0.01717069186270237, + -17.527618408203125 + ], + [ + 0.017696348950266838, + -0.24188373982906342, + 0.9701439738273621, + -0.22501425445079803 + ], + [ + 8.990061473035382e-10, + -0.9702959060668945, + -0.24192163348197937, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9995136857032776, + 0.00754382973536849, + -0.030256658792495728, + -17.50821304321289 + ], + [ + 0.031182924285531044, + -0.2418040633201599, + 0.969823956489563, + -0.22453981637954712 + ], + [ + 1.7070401758800813e-09, + -0.9702958464622498, + -0.24192170798778534, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9990020990371704, + 0.010805151425302029, + -0.04333712160587311, + -17.488813400268555 + ], + [ + 0.04466382414102554, + -0.24168036878108978, + 0.9693275094032288, + -0.22380360960960388 + ], + [ + -3.2479394729278965e-09, + -0.970295786857605, + -0.2419217973947525, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9983086585998535, + 0.014064508490264416, + -0.056409694254398346, + -17.46942710876465 + ], + [ + 0.05813659727573395, + -0.24151258170604706, + 0.9686546921730042, + -0.22280576825141907 + ], + [ + -1.4103020973266212e-09, + -0.970295786857605, + -0.24192175269126892, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9974334836006165, + 0.01732132025063038, + -0.06947200745344162, + -17.450054168701172 + ], + [ + 0.07159879803657532, + -0.24130071699619293, + 0.9678056836128235, + -0.2215465009212494 + ], + [ + 1.296108997905776e-08, + -0.9702959656715393, + -0.24192161858081818, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9963768720626831, + 0.020574958994984627, + -0.08252166956663132, + -17.430702209472656 + ], + [ + 0.08504795283079147, + -0.241045281291008, + 0.9667803049087524, + -0.22002600133419037 + ], + [ + -3.0928810623720437e-09, + -0.9702958464622498, + -0.2419217973947525, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9951388835906982, + 0.023824861273169518, + -0.09555631130933762, + -17.4113712310791 + ], + [ + 0.09848164021968842, + -0.24074575304985046, + 0.9655791521072388, + -0.21824456751346588 + ], + [ + -2.271313137569564e-09, + -0.9702958464622498, + -0.24192176759243011, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.993719756603241, + 0.02707042172551155, + -0.1085735559463501, + -17.392066955566406 + ], + [ + 0.11189737915992737, + -0.24040250480175018, + 0.9642020463943481, + -0.2162025272846222 + ], + [ + -1.5591128388336983e-10, + -0.970295786857605, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9921197891235352, + 0.030311085283756256, + -0.12157104909420013, + -17.372791290283203 + ], + [ + 0.1252927929162979, + -0.24001546204090118, + 0.9626496434211731, + -0.21390023827552795 + ], + [ + 1.8473542695573997e-08, + -0.970295786857605, + -0.24192185699939728, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9903392791748047, + 0.033546172082424164, + -0.1345464438199997, + -17.353548049926758 + ], + [ + 0.13866539299488068, + -0.23958458006381989, + 0.960922122001648, + -0.2113381326198578 + ], + [ + -1.2145666694607371e-08, + -0.9702958464622498, + -0.24192172288894653, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9883785247802734, + 0.03677520900964737, + -0.1474972814321518, + -17.334341049194336 + ], + [ + 0.15201272070407867, + -0.23911042511463165, + 0.9590194821357727, + -0.2085166573524475 + ], + [ + 3.018339356231081e-09, + -0.9702957272529602, + -0.24192190170288086, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9862378835678101, + 0.03999753296375275, + -0.16042135655879974, + -17.315176010131836 + ], + [ + 0.16533243656158447, + -0.23859235644340515, + 0.956942617893219, + -0.2054363489151001 + ], + [ + 8.037487120304831e-09, + -0.9702959060668945, + -0.24192170798778534, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.983917772769928, + 0.04321255162358284, + -0.17331619560718536, + -17.296051025390625 + ], + [ + 0.1786220222711563, + -0.23803111910820007, + 0.9546912908554077, + -0.20209775865077972 + ], + [ + -1.1998256610468161e-08, + -0.970295786857605, + -0.24192175269126892, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9814185500144958, + 0.046419765800237656, + -0.18617947399616241, + -17.276975631713867 + ], + [ + 0.19187910854816437, + -0.23742668330669403, + 0.9522662162780762, + -0.19850148260593414 + ], + [ + -4.967675160116869e-10, + -0.9702957272529602, + -0.24192193150520325, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9787407517433167, + 0.04961846396327019, + -0.19900889694690704, + -17.257949829101562 + ], + [ + 0.20510128140449524, + -0.23677878081798553, + 0.9496679902076721, + -0.19464819133281708 + ], + [ + -2.50697134163147e-08, + -0.970295786857605, + -0.24192185699939728, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9758847951889038, + 0.05280814319849014, + -0.21180211007595062, + -17.238975524902344 + ], + [ + 0.21828612685203552, + -0.23608757555484772, + 0.9468970894813538, + -0.19053858518600464 + ], + [ + -1.3319910507902932e-08, + -0.9702959656715393, + -0.2419215589761734, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9728512763977051, + 0.05598825216293335, + -0.22455675899982452, + -17.220060348510742 + ], + [ + 0.2314312607049942, + -0.23535382747650146, + 0.9439536333084106, + -0.18617340922355652 + ], + [ + -1.773876334709712e-08, + -0.9702959060668945, + -0.24192169308662415, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9696406722068787, + 0.05915815010666847, + -0.2372705638408661, + -17.20120620727539 + ], + [ + 0.24453426897525787, + -0.23457711935043335, + 0.9408383369445801, + -0.1815534383058548 + ], + [ + -2.4656273467371648e-08, + -0.9702959060668945, + -0.24192170798778534, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9662535786628723, + 0.06231730431318283, + -0.2499411255121231, + -17.182415008544922 + ], + [ + 0.25759273767471313, + -0.23375782370567322, + 0.9375517964363098, + -0.1766795516014099 + ], + [ + -4.38454694773327e-09, + -0.970295786857605, + -0.2419218122959137, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9626906514167786, + 0.06546513736248016, + -0.2625662684440613, + -17.163692474365234 + ], + [ + 0.27060437202453613, + -0.23289582133293152, + 0.9340947866439819, + -0.1715525984764099 + ], + [ + 1.660870196928954e-08, + -0.9702959060668945, + -0.24192176759243011, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9589524865150452, + 0.06860098242759705, + -0.275143563747406, + -17.14504051208496 + ], + [ + 0.2835666835308075, + -0.23199166357517242, + 0.9304674863815308, + -0.1661735326051712 + ], + [ + -2.342553706569106e-08, + -0.9702957272529602, + -0.24192193150520325, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9550398588180542, + 0.07172437757253647, + -0.2876707911491394, + -17.126461029052734 + ], + [ + 0.29647743701934814, + -0.2310449630022049, + 0.9266712069511414, + -0.16054333746433258 + ], + [ + 3.4095073431217315e-09, + -0.970295786857605, + -0.2419217973947525, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9509533643722534, + 0.07483470439910889, + -0.3001457452774048, + -17.107961654663086 + ], + [ + 0.30933427810668945, + -0.2300562560558319, + 0.922706127166748, + -0.15466302633285522 + ], + [ + -1.311510899881796e-10, + -0.9702958464622498, + -0.24192170798778534, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9466938376426697, + 0.07793144881725311, + -0.31256598234176636, + -17.089542388916016 + ], + [ + 0.32213476300239563, + -0.22902581095695496, + 0.9185731410980225, + -0.1485336720943451 + ], + [ + 1.678736083476906e-08, + -0.9702958464622498, + -0.24192173779010773, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9422619938850403, + 0.0810139924287796, + -0.3249293267726898, + -17.07120704650879 + ], + [ + 0.3348765969276428, + -0.2279537320137024, + 0.9142728447914124, + -0.14215639233589172 + ], + [ + 2.4525157016341836e-08, + -0.970295786857605, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9376586675643921, + 0.0840817466378212, + -0.33723360300064087, + -17.052959442138672 + ], + [ + 0.34755754470825195, + -0.22684000432491302, + 0.9098063111305237, + -0.13553233444690704 + ], + [ + -6.6872090087599645e-09, + -0.9702958464622498, + -0.24192172288894653, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.932884693145752, + 0.08713426440954208, + -0.34947648644447327, + -17.034801483154297 + ], + [ + 0.360175222158432, + -0.22568519413471222, + 0.9051741361618042, + -0.12866273522377014 + ], + [ + -2.2832129076277852e-08, + -0.9702958464622498, + -0.24192184209823608, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9279409050941467, + 0.09017091989517212, + -0.36165571212768555, + -17.016740798950195 + ], + [ + 0.37272730469703674, + -0.22448915243148804, + 0.9003772139549255, + -0.12154880911111832 + ], + [ + 2.0172478798485827e-08, + -0.9702958464622498, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9228282570838928, + 0.09319115430116653, + -0.3737691640853882, + -16.998775482177734 + ], + [ + 0.38521161675453186, + -0.2232523411512375, + 0.8954163789749146, + -0.11419187486171722 + ], + [ + 2.9546420421411312e-08, + -0.9702957272529602, + -0.24192188680171967, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9175477027893066, + 0.09619433432817459, + -0.3858145773410797, + -16.980911254882812 + ], + [ + 0.39762574434280396, + -0.22197480499744415, + 0.8902926445007324, + -0.10659325867891312 + ], + [ + -3.561894246217889e-08, + -0.970295786857605, + -0.2419218122959137, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.912100076675415, + 0.09918013215065002, + -0.3977898359298706, + -16.963151931762695 + ], + [ + 0.4099676311016083, + -0.22065681219100952, + 0.8850069642066956, + -0.09875435382127762 + ], + [ + 1.4772947309893425e-08, + -0.9702959060668945, + -0.24192172288894653, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9064865112304688, + 0.10214778780937195, + -0.409692645072937, + -16.94550132751465 + ], + [ + 0.42223480343818665, + -0.21929876506328583, + 0.8795601725578308, + -0.09067657589912415 + ], + [ + -3.594926312189273e-08, + -0.9702959060668945, + -0.24192169308662415, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9007079601287842, + 0.10509692132472992, + -0.4215208888053894, + -16.927959442138672 + ], + [ + 0.43442514538764954, + -0.21790079772472382, + 0.8739532232284546, + -0.08236140757799149 + ], + [ + -3.032109674450112e-09, + -0.9702959060668945, + -0.24192170798778534, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8947654366493225, + 0.10802693665027618, + -0.4332723915576935, + -16.910531997680664 + ], + [ + 0.44653642177581787, + -0.21646328270435333, + 0.8681871294975281, + -0.07381035387516022 + ], + [ + 2.7057112106376735e-08, + -0.9702957272529602, + -0.24192184209823608, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8886601328849792, + 0.11093726009130478, + -0.4449451267719269, + -16.893220901489258 + ], + [ + 0.4585665166378021, + -0.214986190199852, + 0.8622632622718811, + -0.0650249719619751 + ], + [ + 1.1052151194235194e-08, + -0.9702958464622498, + -0.24192173779010773, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8823930621147156, + 0.11382739990949631, + -0.45653679966926575, + -16.87602996826172 + ], + [ + 0.4705130457878113, + -0.21347014605998993, + 0.8561822772026062, + -0.05600685626268387 + ], + [ + -1.612571942644081e-08, + -0.970295786857605, + -0.24192184209823608, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.875965416431427, + 0.1166967824101448, + -0.4680453836917877, + -16.858963012695312 + ], + [ + 0.4823739528656006, + -0.21191513538360596, + 0.8499455451965332, + -0.04675765708088875 + ], + [ + -2.0729299166077908e-08, + -0.970295786857605, + -0.2419218122959137, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8693783283233643, + 0.11954494565725327, + -0.47946882247924805, + -16.842021942138672 + ], + [ + 0.49414709210395813, + -0.21032169461250305, + 0.8435541987419128, + -0.03727905452251434 + ], + [ + -1.147301418313873e-07, + -0.9702958464622498, + -0.24192188680171967, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8626329898834229, + 0.12237139046192169, + -0.4908050298690796, + -16.82520866394043 + ], + [ + 0.5058303475379944, + -0.20868957042694092, + 0.8370093107223511, + -0.027572771534323692 + ], + [ + 1.734975896283686e-08, + -0.9702959060668945, + -0.24192164838314056, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8557307124137878, + 0.12517555058002472, + -0.5020518898963928, + -16.808530807495117 + ], + [ + 0.5174214839935303, + -0.2070198357105255, + 0.8303119540214539, + -0.017640575766563416 + ], + [ + 2.26169589723213e-08, + -0.9702958464622498, + -0.24192173779010773, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8486726880073547, + 0.12795697152614594, + -0.5132072567939758, + -16.7919864654541 + ], + [ + 0.5289183855056763, + -0.2053123563528061, + 0.8234636187553406, + -0.007484275382012129 + ], + [ + 5.5796288478404676e-08, + -0.9702958464622498, + -0.24192176759243011, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8414601683616638, + 0.130715012550354, + -0.5242693424224854, + -16.77558135986328 + ], + [ + 0.5403191447257996, + -0.2035675346851349, + 0.8164653182029724, + 0.0028942814096808434 + ], + [ + 4.102065531697008e-08, + -0.970295786857605, + -0.2419217824935913, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8340945243835449, + 0.13344928622245789, + -0.5352360606193542, + -16.75931739807129 + ], + [ + 0.5516215562820435, + -0.2017856389284134, + 0.8093184232711792, + 0.013493206351995468 + ], + [ + -2.0448844395559718e-08, + -0.970295786857605, + -0.2419217824935913, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8265771269798279, + 0.13615933060646057, + -0.5461052656173706, + -16.74319839477539 + ], + [ + 0.5628235340118408, + -0.19996702671051025, + 0.8020243048667908, + 0.02431057021021843 + ], + [ + -1.6189147800105275e-09, + -0.970295786857605, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.818909227848053, + 0.13884451985359192, + -0.5568751096725464, + -16.72722625732422 + ], + [ + 0.5739230513572693, + -0.19811201095581055, + 0.7945841550827026, + 0.035344403237104416 + ], + [ + 2.126526510437543e-09, + -0.970295786857605, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8110923767089844, + 0.1415044665336609, + -0.5675435662269592, + -16.71140480041504 + ], + [ + 0.5849181413650513, + -0.19622093439102173, + 0.786999523639679, + 0.046592697501182556 + ], + [ + -3.0044414955909815e-08, + -0.9702958464622498, + -0.2419218122959137, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8031277656555176, + 0.14413873851299286, + -0.5781087875366211, + -16.695735931396484 + ], + [ + 0.5958068370819092, + -0.19429418444633484, + 0.7792714834213257, + 0.058053407818078995 + ], + [ + 2.957029821004653e-08, + -0.9702957272529602, + -0.24192190170288086, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7950171232223511, + 0.1467466503381729, + -0.5885688066482544, + -16.68022346496582 + ], + [ + 0.6065870523452759, + -0.1923319697380066, + 0.7714017629623413, + 0.06972444802522659 + ], + [ + -2.9705525150802714e-08, + -0.9702958464622498, + -0.2419217824935913, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7867617607116699, + 0.14932796359062195, + -0.5989216566085815, + -16.66486930847168 + ], + [ + 0.6172568202018738, + -0.19033467769622803, + 0.7633917331695557, + 0.08160369098186493 + ], + [ + 7.661591894247977e-08, + -0.9702959060668945, + -0.24192170798778534, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7783631682395935, + 0.15188196301460266, + -0.609165608882904, + -16.649677276611328 + ], + [ + 0.6278143525123596, + -0.18830303847789764, + 0.7552425265312195, + 0.0936889797449112 + ], + [ + -7.583395955634842e-08, + -0.9702958464622498, + -0.2419217824935913, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.769822895526886, + 0.15440842509269714, + -0.6192986369132996, + -16.63465118408203 + ], + [ + 0.638257622718811, + -0.1862369179725647, + 0.7469559907913208, + 0.1059781089425087 + ], + [ + -5.2840618991467636e-08, + -0.9702958464622498, + -0.24192175269126892, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7611425518989563, + 0.15690679848194122, + -0.6293189525604248, + -16.61979103088379 + ], + [ + 0.6485847234725952, + -0.18413688242435455, + 0.7385335564613342, + 0.11846884340047836 + ], + [ + -1.2660679615805748e-08, + -0.9702959060668945, + -0.24192170798778534, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7523236870765686, + 0.15937654674053192, + -0.6392247080802917, + -16.605100631713867 + ], + [ + 0.6587936878204346, + -0.18200337886810303, + 0.7299766540527344, + 0.13115891814231873 + ], + [ + 6.872067359608991e-09, + -0.9702959060668945, + -0.24192166328430176, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7433679699897766, + 0.16181731224060059, + -0.6490139961242676, + -16.5905818939209 + ], + [ + 0.6688826680183411, + -0.1798369139432907, + 0.7212868332862854, + 0.14404600858688354 + ], + [ + -5.90034632264036e-10, + -0.970295786857605, + -0.2419217973947525, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7342768907546997, + 0.1642286777496338, + -0.6586854457855225, + -16.57623863220215 + ], + [ + 0.6788501739501953, + -0.17763756215572357, + 0.7124658226966858, + 0.15712778270244598 + ], + [ + -3.245372681703884e-08, + -0.9702958464622498, + -0.24192176759243011, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7250521779060364, + 0.16661010682582855, + -0.6682368516921997, + -16.562074661254883 + ], + [ + 0.6886940002441406, + -0.17540593445301056, + 0.7035150527954102, + 0.17040185630321503 + ], + [ + -2.6918911544271396e-08, + -0.970295786857605, + -0.2419218122959137, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7156954407691956, + 0.1689613312482834, + -0.6776666641235352, + -16.5480899810791 + ], + [ + 0.6984125375747681, + -0.17314228415489197, + 0.6944363713264465, + 0.18386580049991608 + ], + [ + 7.866299256420461e-08, + -0.970295786857605, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7062085270881653, + 0.17128166556358337, + -0.6869732141494751, + -16.53428840637207 + ], + [ + 0.7080039381980896, + -0.17084713280200958, + 0.6852312684059143, + 0.19751718640327454 + ], + [ + 6.076537317767361e-08, + -0.9702958464622498, + -0.24192173779010773, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.696593165397644, + 0.17357082664966583, + -0.6961545348167419, + -16.520671844482422 + ], + [ + 0.7174663543701172, + -0.1685212105512619, + 0.6759013533592224, + 0.21135352551937103 + ], + [ + -2.544251032077227e-08, + -0.9702956676483154, + -0.24192196130752563, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.686850905418396, + 0.17582841217517853, + -0.7052094340324402, + -16.50724220275879 + ], + [ + 0.726798415184021, + -0.16616414487361908, + 0.6664486527442932, + 0.2253722846508026 + ], + [ + -1.847166686275159e-08, + -0.9702958464622498, + -0.24192173779010773, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.676983654499054, + 0.1780540496110916, + -0.7141358256340027, + -16.49400520324707 + ], + [ + 0.7359981536865234, + -0.16377702355384827, + 0.6568744778633118, + 0.23957091569900513 + ], + [ + 1.403202887217958e-09, + -0.9702959060668945, + -0.24192173779010773, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.6669932007789612, + 0.18024717271327972, + -0.7229322195053101, + -16.480958938598633 + ], + [ + 0.7450637817382812, + -0.1613602340221405, + 0.6471806764602661, + 0.25394684076309204 + ], + [ + -5.1176606064018415e-08, + -0.970295786857605, + -0.2419218122959137, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.6568814516067505, + 0.18240764737129211, + -0.7315970659255981, + -16.468109130859375 + ], + [ + 0.7539938688278198, + -0.15891391038894653, + 0.6373693346977234, + 0.2684974670410156 + ], + [ + 5.9264980478701546e-08, + -0.970295786857605, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.6466500163078308, + 0.1845346987247467, + -0.7401288747787476, + -16.455455780029297 + ], + [ + 0.762786865234375, + -0.15643872320652008, + 0.6274418234825134, + 0.2832200825214386 + ], + [ + -7.469174079233198e-08, + -0.970295786857605, + -0.24192170798778534, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.6363009214401245, + 0.18662844598293304, + -0.748525857925415, + -16.443004608154297 + ], + [ + 0.7714409828186035, + -0.15393505990505219, + 0.6174001693725586, + 0.29811209440231323 + ], + [ + 9.499906639121036e-09, + -0.970295786857605, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.6258360147476196, + 0.18868806958198547, + -0.7567867636680603, + -16.430753707885742 + ], + [ + 0.779954731464386, + -0.1514032483100891, + 0.6072461605072021, + 0.3131707012653351 + ], + [ + 4.667709418981758e-08, + -0.9702958464622498, + -0.24192170798778534, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.6152573227882385, + 0.19071346521377563, + -0.7649097442626953, + -16.4187068939209 + ], + [ + 0.7883264422416687, + -0.14884410798549652, + 0.5969816446304321, + 0.32839322090148926 + ], + [ + 3.8615333153302345e-08, + -0.9702958464622498, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.6045666337013245, + 0.192703977227211, + -0.772893488407135, + -16.4068660736084 + ], + [ + 0.7965545654296875, + -0.1462578922510147, + 0.5866084694862366, + 0.3437768816947937 + ], + [ + -7.143501790096707e-09, + -0.9702957272529602, + -0.24192185699939728, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.5937657952308655, + 0.1946595162153244, + -0.7807368040084839, + -16.395235061645508 + ], + [ + 0.8046379685401917, + -0.1436447948217392, + 0.5761285424232483, + 0.3593188524246216 + ], + [ + 1.851887887482917e-08, + -0.9702958464622498, + -0.24192173779010773, + -1.4839080572128296 + ], + [ + 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_000017__traj000__zigzag/caption.txt b/blenderobj_eval/target/scene_000017__traj000__zigzag/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..3e73fa21e64f1de0d89a5a796b87516d1816aa7a --- /dev/null +++ b/blenderobj_eval/target/scene_000017__traj000__zigzag/caption.txt @@ -0,0 +1 @@ +Various small items, including boxes, a roll of tape, and a cap, are seen falling and scattering across a smooth, light-colored surface in a modern, minimalist room with red and white cabinetry and a grid-patterned floor. The objects tumble and bounce, gradually settling into a disorganized pile. A steady orbital camera move. The camera tracks along a smooth horizontal arc at a low elevation of 14°, holding 1.48302 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It views the objects from close to their own height, so they slide past one another and the background parallax shifts steadily across the shot, while the framing stays centered on the group of objects. The motion of the scene plays forward and then rewinds back to where it started. diff --git a/blenderobj_eval/target/scene_000017__traj000__zigzag/transforms.json b/blenderobj_eval/target/scene_000017__traj000__zigzag/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..5b9881a339f6d9f1b999ff568cf5b091807fe6b2 --- /dev/null +++ b/blenderobj_eval/target/scene_000017__traj000__zigzag/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9896224141120911, + -0.034762248396873474, + 0.13942384719848633, + -17.759851455688477 + ], + [ + -0.14369212090969086, + -0.23941105604171753, + 0.9602266550064087, + -0.21030661463737488 + ], + [ + 1.0598668609418382e-09, + -0.9702959656715393, + -0.24192160367965698, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9914708137512207, + -0.03152936324477196, + 0.12645742297172546, + -17.74062156677246 + ], + [ + -0.1303287297487259, + -0.23985826969146729, + 0.9620200991630554, + -0.21296639740467072 + ], + [ + -1.4398904291113013e-09, + -0.9702959060668945, + -0.24192166328430176, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9931387901306152, + -0.02829073928296566, + 0.11346795409917831, + -17.721359252929688 + ], + [ + -0.11694162338972092, + -0.2402619868516922, + 0.9636383652687073, + -0.21536652743816376 + ], + [ + 2.7765967303139405e-10, + -0.970295786857605, + -0.24192187190055847, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.994625985622406, + -0.02504696324467659, + 0.10045785456895828, + -17.702064514160156 + ], + [ + -0.10353323817253113, + -0.24062182009220123, + 0.9650813341140747, + -0.2175065577030182 + ], + [ + -3.879530474648618e-09, + -0.9702957272529602, + -0.24192190170288086, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9959321618080139, + -0.02179861068725586, + 0.0874294713139534, + -17.682743072509766 + ], + [ + -0.09010600298643112, + -0.24093779921531677, + 0.9663488268852234, + -0.21938613057136536 + ], + [ + 1.1387687237629507e-08, + -0.970295786857605, + -0.24192190170288086, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9970570802688599, + -0.01854630932211876, + 0.07438520342111588, + -17.66339874267578 + ], + [ + -0.07666239887475967, + -0.24120986461639404, + 0.9674403667449951, + -0.22100485861301422 + ], + [ + 4.631485417405656e-09, + -0.9702958464622498, + -0.2419218122959137, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9980005621910095, + -0.015290618874132633, + 0.06132737547159195, + -17.644033432006836 + ], + [ + -0.063204824924469, + -0.24143807590007782, + 0.9683557748794556, + -0.2223624885082245 + ], + [ + 9.874555395583684e-09, + -0.9702958464622498, + -0.2419217824935913, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9987624287605286, + -0.012032168917357922, + 0.048258379101753235, + -17.624650955200195 + ], + [ + -0.049735743552446365, + -0.24162253737449646, + 0.9690949320793152, + -0.22345873713493347 + ], + [ + -2.0083934515469082e-10, + -0.9702957272529602, + -0.24192193150520325, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9993425011634827, + -0.008771508932113647, + 0.03518060967326164, + -17.605257034301758 + ], + [ + -0.03625761345028877, + -0.24176275730133057, + 0.969657838344574, + -0.22429344058036804 + ], + [ + 2.4316644253730146e-09, + -0.9702958464622498, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9997406601905823, + -0.0055092619732022285, + 0.022096434608101845, + -17.585853576660156 + ], + [ + -0.022772887721657753, + -0.24185913801193237, + 0.9700441360473633, + -0.22486642003059387 + ], + [ + -1.357189804984671e-09, + -0.970295786857605, + -0.24192187190055847, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9999569058418274, + -0.0022460068576037884, + 0.009008239023387432, + -17.566442489624023 + ], + [ + -0.009284013882279396, + -0.2419113665819168, + 0.9702539443969727, + -0.2251775711774826 + ], + [ + -1.4738490428101159e-09, + -0.970295786857605, + -0.2419217824935913, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9999911785125732, + 0.0010176560608670115, + -0.004081597551703453, + -17.547029495239258 + ], + [ + 0.004206550307571888, + -0.24191971123218536, + 0.9702872037887573, + -0.22522686421871185 + ], + [ + -5.945942627150202e-10, + -0.970295786857605, + -0.24192185699939728, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.999843418598175, + 0.004281132016330957, + -0.01717069186270237, + -17.527618408203125 + ], + [ + 0.017696348950266838, + -0.24188373982906342, + 0.9701439738273621, + -0.22501425445079803 + ], + [ + 8.990061473035382e-10, + -0.9702959060668945, + -0.24192163348197937, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9995136857032776, + 0.00754382973536849, + -0.030256658792495728, + -17.50821304321289 + ], + [ + 0.031182924285531044, + -0.2418040633201599, + 0.969823956489563, + -0.22453981637954712 + ], + [ + 1.7070401758800813e-09, + -0.9702958464622498, + -0.24192170798778534, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9990020990371704, + 0.010805151425302029, + -0.04333712160587311, + -17.488813400268555 + ], + [ + 0.04466382414102554, + -0.24168036878108978, + 0.9693275094032288, + -0.22380360960960388 + ], + [ + -3.2479394729278965e-09, + -0.970295786857605, + -0.2419217973947525, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9983086585998535, + 0.014064508490264416, + -0.056409694254398346, + -17.46942710876465 + ], + [ + 0.05813659727573395, + -0.24151258170604706, + 0.9686546921730042, + -0.22280576825141907 + ], + [ + -1.4103020973266212e-09, + -0.970295786857605, + -0.24192175269126892, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9974334836006165, + 0.01732132025063038, + -0.06947200745344162, + -17.450054168701172 + ], + [ + 0.07159879803657532, + -0.24130071699619293, + 0.9678056836128235, + -0.2215465009212494 + ], + [ + 1.296108997905776e-08, + -0.9702959656715393, + -0.24192161858081818, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9963768720626831, + 0.020574958994984627, + -0.08252166956663132, + -17.430702209472656 + ], + [ + 0.08504795283079147, + -0.241045281291008, + 0.9667803049087524, + -0.22002600133419037 + ], + [ + -3.0928810623720437e-09, + -0.9702958464622498, + -0.2419217973947525, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9951388835906982, + 0.023824861273169518, + -0.09555631130933762, + -17.4113712310791 + ], + [ + 0.09848164021968842, + -0.24074575304985046, + 0.9655791521072388, + -0.21824456751346588 + ], + [ + -2.271313137569564e-09, + -0.9702958464622498, + -0.24192176759243011, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.993719756603241, + 0.02707042172551155, + -0.1085735559463501, + -17.392066955566406 + ], + [ + 0.11189737915992737, + -0.24040250480175018, + 0.9642020463943481, + -0.2162025272846222 + ], + [ + -1.5591128388336983e-10, + -0.970295786857605, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9921197891235352, + 0.030311085283756256, + -0.12157104909420013, + -17.372791290283203 + ], + [ + 0.1252927929162979, + -0.24001546204090118, + 0.9626496434211731, + -0.21390023827552795 + ], + [ + 1.8473542695573997e-08, + -0.970295786857605, + -0.24192185699939728, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9903392791748047, + 0.033546172082424164, + -0.1345464438199997, + -17.353548049926758 + ], + [ + 0.13866539299488068, + -0.23958458006381989, + 0.960922122001648, + -0.2113381326198578 + ], + [ + -1.2145666694607371e-08, + -0.9702958464622498, + -0.24192172288894653, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9883785247802734, + 0.03677520900964737, + -0.1474972814321518, + -17.334341049194336 + ], + [ + 0.15201272070407867, + -0.23911042511463165, + 0.9590194821357727, + -0.2085166573524475 + ], + [ + 3.018339356231081e-09, + -0.9702957272529602, + -0.24192190170288086, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9862378835678101, + 0.03999753296375275, + -0.16042135655879974, + -17.315176010131836 + ], + [ + 0.16533243656158447, + -0.23859235644340515, + 0.956942617893219, + -0.2054363489151001 + ], + [ + 8.037487120304831e-09, + -0.9702959060668945, + -0.24192170798778534, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.983917772769928, + 0.04321255162358284, + -0.17331619560718536, + -17.296051025390625 + ], + [ + 0.1786220222711563, + -0.23803111910820007, + 0.9546912908554077, + -0.20209775865077972 + ], + [ + -1.1998256610468161e-08, + -0.970295786857605, + -0.24192175269126892, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9814185500144958, + 0.046419765800237656, + -0.18617947399616241, + -17.276975631713867 + ], + [ + 0.19187910854816437, + -0.23742668330669403, + 0.9522662162780762, + -0.19850148260593414 + ], + [ + -4.967675160116869e-10, + -0.9702957272529602, + -0.24192193150520325, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9787407517433167, + 0.04961846396327019, + -0.19900889694690704, + -17.257949829101562 + ], + [ + 0.20510128140449524, + -0.23677878081798553, + 0.9496679902076721, + -0.19464819133281708 + ], + [ + -2.50697134163147e-08, + -0.970295786857605, + -0.24192185699939728, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9758847951889038, + 0.05280814319849014, + -0.21180211007595062, + -17.238975524902344 + ], + [ + 0.21828612685203552, + -0.23608757555484772, + 0.9468970894813538, + -0.19053858518600464 + ], + [ + -1.3319910507902932e-08, + -0.9702959656715393, + -0.2419215589761734, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9728512763977051, + 0.05598825216293335, + -0.22455675899982452, + -17.220060348510742 + ], + [ + 0.2314312607049942, + -0.23535382747650146, + 0.9439536333084106, + -0.18617340922355652 + ], + [ + -1.773876334709712e-08, + -0.9702959060668945, + -0.24192169308662415, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9696406722068787, + 0.05915815010666847, + -0.2372705638408661, + -17.20120620727539 + ], + [ + 0.24453426897525787, + -0.23457711935043335, + 0.9408383369445801, + -0.1815534383058548 + ], + [ + -2.4656273467371648e-08, + -0.9702959060668945, + -0.24192170798778534, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9662535786628723, + 0.06231730431318283, + -0.2499411255121231, + -17.182415008544922 + ], + [ + 0.25759273767471313, + -0.23375782370567322, + 0.9375517964363098, + -0.1766795516014099 + ], + [ + -4.38454694773327e-09, + -0.970295786857605, + -0.2419218122959137, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9626906514167786, + 0.06546513736248016, + -0.2625662684440613, + -17.163692474365234 + ], + [ + 0.27060437202453613, + -0.23289582133293152, + 0.9340947866439819, + -0.1715525984764099 + ], + [ + 1.660870196928954e-08, + -0.9702959060668945, + -0.24192176759243011, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9589524865150452, + 0.06860098242759705, + -0.275143563747406, + -17.14504051208496 + ], + [ + 0.2835666835308075, + -0.23199166357517242, + 0.9304674863815308, + -0.1661735326051712 + ], + [ + -2.342553706569106e-08, + -0.9702957272529602, + -0.24192193150520325, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9550398588180542, + 0.07172437757253647, + -0.2876707911491394, + -17.126461029052734 + ], + [ + 0.29647743701934814, + -0.2310449630022049, + 0.9266712069511414, + -0.16054333746433258 + ], + [ + 3.4095073431217315e-09, + -0.970295786857605, + -0.2419217973947525, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9509533643722534, + 0.07483470439910889, + -0.3001457452774048, + -17.107961654663086 + ], + [ + 0.30933427810668945, + -0.2300562560558319, + 0.922706127166748, + -0.15466302633285522 + ], + [ + -1.311510899881796e-10, + -0.9702958464622498, + -0.24192170798778534, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9466938376426697, + 0.07793144881725311, + -0.31256598234176636, + -17.089542388916016 + ], + [ + 0.32213476300239563, + -0.22902581095695496, + 0.9185731410980225, + -0.1485336720943451 + ], + [ + 1.678736083476906e-08, + -0.9702958464622498, + -0.24192173779010773, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9422619938850403, + 0.0810139924287796, + -0.3249293267726898, + -17.07120704650879 + ], + [ + 0.3348765969276428, + -0.2279537320137024, + 0.9142728447914124, + -0.14215639233589172 + ], + [ + 2.4525157016341836e-08, + -0.970295786857605, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9376586675643921, + 0.0840817466378212, + -0.33723360300064087, + -17.052959442138672 + ], + [ + 0.34755754470825195, + -0.22684000432491302, + 0.9098063111305237, + -0.13553233444690704 + ], + [ + -6.6872090087599645e-09, + -0.9702958464622498, + -0.24192172288894653, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.932884693145752, + 0.08713426440954208, + -0.34947648644447327, + -17.034801483154297 + ], + [ + 0.360175222158432, + -0.22568519413471222, + 0.9051741361618042, + -0.12866273522377014 + ], + [ + -2.2832129076277852e-08, + -0.9702958464622498, + -0.24192184209823608, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9279409050941467, + 0.09017091989517212, + -0.36165571212768555, + -17.016740798950195 + ], + [ + 0.37272730469703674, + -0.22448915243148804, + 0.9003772139549255, + -0.12154880911111832 + ], + [ + 2.0172478798485827e-08, + -0.9702958464622498, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9228282570838928, + 0.09319115430116653, + -0.3737691640853882, + -16.998775482177734 + ], + [ + 0.38521161675453186, + -0.2232523411512375, + 0.8954163789749146, + -0.11419187486171722 + ], + [ + 2.9546420421411312e-08, + -0.9702957272529602, + -0.24192188680171967, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9175477027893066, + 0.09619433432817459, + -0.3858145773410797, + -16.980911254882812 + ], + [ + 0.39762574434280396, + -0.22197480499744415, + 0.8902926445007324, + -0.10659325867891312 + ], + [ + -3.561894246217889e-08, + -0.970295786857605, + -0.2419218122959137, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.912100076675415, + 0.09918013215065002, + -0.3977898359298706, + -16.963151931762695 + ], + [ + 0.4099676311016083, + -0.22065681219100952, + 0.8850069642066956, + -0.09875435382127762 + ], + [ + 1.4772947309893425e-08, + -0.9702959060668945, + -0.24192172288894653, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9064865112304688, + 0.10214778780937195, + -0.409692645072937, + -16.94550132751465 + ], + [ + 0.42223480343818665, + -0.21929876506328583, + 0.8795601725578308, + -0.09067657589912415 + ], + [ + -3.594926312189273e-08, + -0.9702959060668945, + -0.24192169308662415, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.9007079601287842, + 0.10509692132472992, + -0.4215208888053894, + -16.927959442138672 + ], + [ + 0.43442514538764954, + -0.21790079772472382, + 0.8739532232284546, + -0.08236140757799149 + ], + [ + -3.032109674450112e-09, + -0.9702959060668945, + -0.24192170798778534, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8947654366493225, + 0.10802693665027618, + -0.4332723915576935, + -16.910531997680664 + ], + [ + 0.44653642177581787, + -0.21646328270435333, + 0.8681871294975281, + -0.07381035387516022 + ], + [ + 2.7057112106376735e-08, + -0.9702957272529602, + -0.24192184209823608, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8886601328849792, + 0.11093726009130478, + -0.4449451267719269, + -16.893220901489258 + ], + [ + 0.4585665166378021, + -0.214986190199852, + 0.8622632622718811, + -0.0650249719619751 + ], + [ + 1.1052151194235194e-08, + -0.9702958464622498, + -0.24192173779010773, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8823930621147156, + 0.11382739990949631, + -0.45653679966926575, + -16.87602996826172 + ], + [ + 0.4705130457878113, + -0.21347014605998993, + 0.8561822772026062, + -0.05600685626268387 + ], + [ + -1.612571942644081e-08, + -0.970295786857605, + -0.24192184209823608, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.875965416431427, + 0.1166967824101448, + -0.4680453836917877, + -16.858963012695312 + ], + [ + 0.4823739528656006, + -0.21191513538360596, + 0.8499455451965332, + -0.04675765708088875 + ], + [ + -2.0729299166077908e-08, + -0.970295786857605, + -0.2419218122959137, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8693783283233643, + 0.11954494565725327, + -0.47946882247924805, + -16.842021942138672 + ], + [ + 0.49414709210395813, + -0.21032169461250305, + 0.8435541987419128, + -0.03727905452251434 + ], + [ + -1.147301418313873e-07, + -0.9702958464622498, + -0.24192188680171967, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8626329898834229, + 0.12237139046192169, + -0.4908050298690796, + -16.82520866394043 + ], + [ + 0.5058303475379944, + -0.20868957042694092, + 0.8370093107223511, + -0.027572771534323692 + ], + [ + 1.734975896283686e-08, + -0.9702959060668945, + -0.24192164838314056, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8557307124137878, + 0.12517555058002472, + -0.5020518898963928, + -16.808530807495117 + ], + [ + 0.5174214839935303, + -0.2070198357105255, + 0.8303119540214539, + -0.017640575766563416 + ], + [ + 2.26169589723213e-08, + -0.9702958464622498, + -0.24192173779010773, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8486726880073547, + 0.12795697152614594, + -0.5132072567939758, + -16.7919864654541 + ], + [ + 0.5289183855056763, + -0.2053123563528061, + 0.8234636187553406, + -0.007484275382012129 + ], + [ + 5.5796288478404676e-08, + -0.9702958464622498, + -0.24192176759243011, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8414601683616638, + 0.130715012550354, + -0.5242693424224854, + -16.77558135986328 + ], + [ + 0.5403191447257996, + -0.2035675346851349, + 0.8164653182029724, + 0.0028942814096808434 + ], + [ + 4.102065531697008e-08, + -0.970295786857605, + -0.2419217824935913, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8340945243835449, + 0.13344928622245789, + -0.5352360606193542, + -16.75931739807129 + ], + [ + 0.5516215562820435, + -0.2017856389284134, + 0.8093184232711792, + 0.013493206351995468 + ], + [ + -2.0448844395559718e-08, + -0.970295786857605, + -0.2419217824935913, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8265771269798279, + 0.13615933060646057, + -0.5461052656173706, + -16.74319839477539 + ], + [ + 0.5628235340118408, + -0.19996702671051025, + 0.8020243048667908, + 0.02431057021021843 + ], + [ + -1.6189147800105275e-09, + -0.970295786857605, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.818909227848053, + 0.13884451985359192, + -0.5568751096725464, + -16.72722625732422 + ], + [ + 0.5739230513572693, + -0.19811201095581055, + 0.7945841550827026, + 0.035344403237104416 + ], + [ + 2.126526510437543e-09, + -0.970295786857605, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8110923767089844, + 0.1415044665336609, + -0.5675435662269592, + -16.71140480041504 + ], + [ + 0.5849181413650513, + -0.19622093439102173, + 0.786999523639679, + 0.046592697501182556 + ], + [ + -3.0044414955909815e-08, + -0.9702958464622498, + -0.2419218122959137, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.8031277656555176, + 0.14413873851299286, + -0.5781087875366211, + -16.695735931396484 + ], + [ + 0.5958068370819092, + -0.19429418444633484, + 0.7792714834213257, + 0.058053407818078995 + ], + [ + 2.957029821004653e-08, + -0.9702957272529602, + -0.24192190170288086, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7950171232223511, + 0.1467466503381729, + -0.5885688066482544, + -16.68022346496582 + ], + [ + 0.6065870523452759, + -0.1923319697380066, + 0.7714017629623413, + 0.06972444802522659 + ], + [ + -2.9705525150802714e-08, + -0.9702958464622498, + -0.2419217824935913, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7867617607116699, + 0.14932796359062195, + -0.5989216566085815, + -16.66486930847168 + ], + [ + 0.6172568202018738, + -0.19033467769622803, + 0.7633917331695557, + 0.08160369098186493 + ], + [ + 7.661591894247977e-08, + -0.9702959060668945, + -0.24192170798778534, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7783631682395935, + 0.15188196301460266, + -0.609165608882904, + -16.649677276611328 + ], + [ + 0.6278143525123596, + -0.18830303847789764, + 0.7552425265312195, + 0.0936889797449112 + ], + [ + -7.583395955634842e-08, + -0.9702958464622498, + -0.2419217824935913, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.769822895526886, + 0.15440842509269714, + -0.6192986369132996, + -16.63465118408203 + ], + [ + 0.638257622718811, + -0.1862369179725647, + 0.7469559907913208, + 0.1059781089425087 + ], + [ + -5.2840618991467636e-08, + -0.9702958464622498, + -0.24192175269126892, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7611425518989563, + 0.15690679848194122, + -0.6293189525604248, + -16.61979103088379 + ], + [ + 0.6485847234725952, + -0.18413688242435455, + 0.7385335564613342, + 0.11846884340047836 + ], + [ + -1.2660679615805748e-08, + -0.9702959060668945, + -0.24192170798778534, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7523236870765686, + 0.15937654674053192, + -0.6392247080802917, + -16.605100631713867 + ], + [ + 0.6587936878204346, + -0.18200337886810303, + 0.7299766540527344, + 0.13115891814231873 + ], + [ + 6.872067359608991e-09, + -0.9702959060668945, + -0.24192166328430176, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7433679699897766, + 0.16181731224060059, + -0.6490139961242676, + -16.5905818939209 + ], + [ + 0.6688826680183411, + -0.1798369139432907, + 0.7212868332862854, + 0.14404600858688354 + ], + [ + -5.90034632264036e-10, + -0.970295786857605, + -0.2419217973947525, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7342768907546997, + 0.1642286777496338, + -0.6586854457855225, + -16.57623863220215 + ], + [ + 0.6788501739501953, + -0.17763756215572357, + 0.7124658226966858, + 0.15712778270244598 + ], + [ + -3.245372681703884e-08, + -0.9702958464622498, + -0.24192176759243011, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7250521779060364, + 0.16661010682582855, + -0.6682368516921997, + -16.562074661254883 + ], + [ + 0.6886940002441406, + -0.17540593445301056, + 0.7035150527954102, + 0.17040185630321503 + ], + [ + -2.6918911544271396e-08, + -0.970295786857605, + -0.2419218122959137, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7156954407691956, + 0.1689613312482834, + -0.6776666641235352, + -16.5480899810791 + ], + [ + 0.6984125375747681, + -0.17314228415489197, + 0.6944363713264465, + 0.18386580049991608 + ], + [ + 7.866299256420461e-08, + -0.970295786857605, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.7062085270881653, + 0.17128166556358337, + -0.6869732141494751, + -16.53428840637207 + ], + [ + 0.7080039381980896, + -0.17084713280200958, + 0.6852312684059143, + 0.19751718640327454 + ], + [ + 6.076537317767361e-08, + -0.9702958464622498, + -0.24192173779010773, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.696593165397644, + 0.17357082664966583, + -0.6961545348167419, + -16.520671844482422 + ], + [ + 0.7174663543701172, + -0.1685212105512619, + 0.6759013533592224, + 0.21135352551937103 + ], + [ + -2.544251032077227e-08, + -0.9702956676483154, + -0.24192196130752563, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.686850905418396, + 0.17582841217517853, + -0.7052094340324402, + -16.50724220275879 + ], + [ + 0.726798415184021, + -0.16616414487361908, + 0.6664486527442932, + 0.2253722846508026 + ], + [ + -1.847166686275159e-08, + -0.9702958464622498, + -0.24192173779010773, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.676983654499054, + 0.1780540496110916, + -0.7141358256340027, + -16.49400520324707 + ], + [ + 0.7359981536865234, + -0.16377702355384827, + 0.6568744778633118, + 0.23957091569900513 + ], + [ + 1.403202887217958e-09, + -0.9702959060668945, + -0.24192173779010773, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.6669932007789612, + 0.18024717271327972, + -0.7229322195053101, + -16.480958938598633 + ], + [ + 0.7450637817382812, + -0.1613602340221405, + 0.6471806764602661, + 0.25394684076309204 + ], + [ + -5.1176606064018415e-08, + -0.970295786857605, + -0.2419218122959137, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.6568814516067505, + 0.18240764737129211, + -0.7315970659255981, + -16.468109130859375 + ], + [ + 0.7539938688278198, + -0.15891391038894653, + 0.6373693346977234, + 0.2684974670410156 + ], + [ + 5.9264980478701546e-08, + -0.970295786857605, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.6466500163078308, + 0.1845346987247467, + -0.7401288747787476, + -16.455455780029297 + ], + [ + 0.762786865234375, + -0.15643872320652008, + 0.6274418234825134, + 0.2832200825214386 + ], + [ + -7.469174079233198e-08, + -0.970295786857605, + -0.24192170798778534, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.6363009214401245, + 0.18662844598293304, + -0.748525857925415, + -16.443004608154297 + ], + [ + 0.7714409828186035, + -0.15393505990505219, + 0.6174001693725586, + 0.29811209440231323 + ], + [ + 9.499906639121036e-09, + -0.970295786857605, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.6258360147476196, + 0.18868806958198547, + -0.7567867636680603, + -16.430753707885742 + ], + [ + 0.779954731464386, + -0.1514032483100891, + 0.6072461605072021, + 0.3131707012653351 + ], + [ + 4.667709418981758e-08, + -0.9702958464622498, + -0.24192170798778534, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.6152573227882385, + 0.19071346521377563, + -0.7649097442626953, + -16.4187068939209 + ], + [ + 0.7883264422416687, + -0.14884410798549652, + 0.5969816446304321, + 0.32839322090148926 + ], + [ + 3.8615333153302345e-08, + -0.9702958464622498, + -0.2419218271970749, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.6045666337013245, + 0.192703977227211, + -0.772893488407135, + -16.4068660736084 + ], + [ + 0.7965545654296875, + -0.1462578922510147, + 0.5866084694862366, + 0.3437768816947937 + ], + [ + -7.143501790096707e-09, + -0.9702957272529602, + -0.24192185699939728, + -1.4839080572128296 + ], + [ + 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": [ + [ + 0.5937657952308655, + 0.1946595162153244, + -0.7807368040084839, + -16.395235061645508 + ], + [ + 0.8046379685401917, + -0.1436447948217392, + 0.5761285424232483, + 0.3593188524246216 + ], + [ + 1.851887887482917e-08, + -0.9702958464622498, + -0.24192173779010773, + -1.4839080572128296 + ], + [ + 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_000038__traj002__forward/extras/blender_meta.json b/blenderobj_eval/target/scene_000038__traj002__forward/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c01634704eab826c00123f319a7cdc314a2aaa2c --- /dev/null +++ b/blenderobj_eval/target/scene_000038__traj002__forward/extras/blender_meta.json @@ -0,0 +1,376 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000038", + "trajectory_index": 2, + "trajectory_id": "T4", + "trajectory_name": "spherical_figure_eight", + "pattern": "forward", + "pattern_params": { + "kind": "time_forward", + "stride": 1, + "cam_start": 0, + "src_frame_range": [ + 0, + 80 + ] + }, + "frame_count": 81, + "resolution": [ + 832, + 480 + ], + "resolution_order": "width_height", + "files": { + "preview": { + "file": "rgb.mp4", + "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)" + }, + "lossless": { + "file": "rgb_lossless.mkv", + "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)" + } + }, + "metric_reference": "rgb_lossless.mkv", + "source_fps": 30, + "playback_fps": 30, + "time_stride": 1, + "timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "timestamp_range": [ + 0.0, + 2.666666667 + ], + "scene_time_span_seconds": 2.666666667, + "playback_timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_duration_seconds": 2.7, + "source_cam_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_frame_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "written_at": "2026-09-17T14:34:27" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000038__traj002__forward/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000038__traj002__forward/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..31b94bf9f76efb1f8f1621d5ac2fb327c620a801 --- /dev/null +++ b/blenderobj_eval/target/scene_000038__traj002__forward/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "forward", + "original_pattern": "forward", + "trajectory": { + "dir": "traj002", + "index": 2, + "id": "T4", + "name": "spherical_figure_eight" + }, + "source_fps": 30, + "playback_fps": 30, + "time_stride": 1, + "source_cam_idx": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_motion_frame": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "scene_time_range_seconds": [ + 0.0, + 2.666666667 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/blenderobj_eval/target/scene_000038__traj002__forward/extras/traj_caption.txt b/blenderobj_eval/target/scene_000038__traj002__forward/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..c378e2e338d77cb23b8b1bf8d641615119c75209 --- /dev/null +++ b/blenderobj_eval/target/scene_000038__traj002__forward/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_000043__traj000__forward/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000043__traj000__forward/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..f5efa7fa57b7a94c139536b1e0eadf7b402176f4 --- /dev/null +++ b/blenderobj_eval/target/scene_000043__traj000__forward/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "forward", + "original_pattern": "forward", + "trajectory": { + "dir": "traj000", + "index": 0, + "id": "T0", + "name": "low_elevation_arc" + }, + "source_fps": 30, + "playback_fps": 30, + "time_stride": 1, + "source_cam_idx": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_motion_frame": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "scene_time_range_seconds": [ + 0.0, + 2.666666667 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/camxtime_eval/target/eval_scene_011__bullettime_mid/caption.txt b/camxtime_eval/target/eval_scene_011__bullettime_mid/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..7eb69f4da05f4006c27bdc17a84528a81ef8070d --- /dev/null +++ b/camxtime_eval/target/eval_scene_011__bullettime_mid/caption.txt @@ -0,0 +1 @@ +A person in a dark shirt and pants stands in a modern living room with light wood floors and ceiling accents, performing a series of subtle, rhythmic hand and arm movements. The room features a large flat-screen TV, a white armchair with a cup on its side table, and framed artwork on the walls. The lighting is bright and even, suggesting daytime, with a large window or glass wall revealing a hazy, sunlit outdoor landscape. The person’s feet remain mostly stationary, shifting weight slightly as they move their arms in a controlled, expressive manner. The camera sweeps along an arc around the scene while scene time is frozen at a middle moment. diff --git a/camxtime_eval/target/eval_scene_011__bullettime_mid/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_011__bullettime_mid/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..25844ef9161178a0080ba19287d17a8d5aefec9f --- /dev/null +++ b/camxtime_eval/target/eval_scene_011__bullettime_mid/extras/temporal_mapping.json @@ -0,0 +1,263 @@ +{ + "pattern": "bullettime_mid", + "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": [ + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60, + 60 + ], + "timestamps_seconds": [ + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0, + 2.0 + ], + "preprocessed_latent": null, + "pattern_parameters": { + "fixed_motion_frame": 60 + }, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.0021296616459265394, + "max_input_determinant_error": 0.001979380152899446, + "max_rotation_element_change": 0.0012911107786995335, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_011__bullettime_mid/transforms.json b/camxtime_eval/target/eval_scene_011__bullettime_mid/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9cf1557f08ac800c9ec13aba4c1371b2dc4177ba --- /dev/null +++ b/camxtime_eval/target/eval_scene_011__bullettime_mid/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": [ + [ + 0.9999991282824103, + 0.0010986099942065827, + 0.0007324551188209606, + -0.00022874756541568786 + ], + [ + -0.0010986546976525745, + 0.999999394640578, + 6.0632770365946766e-05, + 0.0002443808189127594 + ], + [ + -0.000732388063654669, + -6.143743276726384e-05, + 0.9999997299165467, + -0.00018295279005542397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999985061807363, + -0.002192037784474567, + -0.00500710819483145, + 0.004677117336541414 + ], + [ + 0.0022024237039465077, + 0.9999954329003932, + 0.002069663784696952, + -0.0017614044481888413 + ], + [ + 0.005002548545652437, + -0.0020806606414369155, + 0.9999853225719583, + -0.0007969228317961097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998531677408374, + -0.006430026411915296, + -0.015883882364023123, + 0.01180942915380001 + ], + [ + 0.006508472940112744, + 0.9999668534917674, + 0.0048920034506877, + -0.003526726271957159 + ], + [ + 0.015851900157390433, + -0.004994664965319086, + 0.9998618757524881, + -0.00031423274776898324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997450109803818, + -0.00884077349747085, + -0.020778684842967892, + 0.015507894568145275 + ], + [ + 0.008978808952602483, + 0.9999381767242453, + 0.006559246845852525, + -0.0038803459610790014 + ], + [ + 0.020719411420926703, + -0.006744142151421176, + 0.9997625830851106, + 0.001629356062039733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9994560804670412, + -0.01266718406138333, + -0.030448081473455128, + 0.021995872259140015 + ], + [ + 0.012960216328057996, + 0.9998713948426188, + 0.00944598159042588, + -0.006087012123316526 + ], + [ + 0.03032451170569922, + -0.009835457459200923, + 0.9994917147062201, + -0.0018052429659292102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9992750288003062, + -0.014451137588403102, + -0.03522188862836205, + 0.025185249745845795 + ], + [ + 0.014832908188589953, + 0.9998337783645076, + 0.010601909074420962, + -0.006821690127253532 + ], + [ + 0.03506282434169509, + -0.011116666035933667, + 0.9993232800677816, + -0.001179540646262467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9988544353840749, + -0.018102866801855397, + -0.04429563327365783, + 0.03162842616438866 + ], + [ + 0.018741781537740667, + 0.999725615421606, + 0.014051316475057791, + -0.008647522889077663 + ], + [ + 0.04402911012445843, + -0.014865398865987778, + 0.9989196451057528, + -0.00409386120736599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9986036472992424, + -0.01988709792532787, + -0.04894138266087941, + 0.03439320996403694 + ], + [ + 0.020610796812289004, + 0.9996849158780474, + 0.014327038098080795, + -0.009639637544751167 + ], + [ + 0.04864103879866011, + -0.015315753393474841, + 0.9986988920803799, + -0.004345539957284927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9979270244557197, + -0.023971455183305037, + -0.059724561089627495, + 0.0419241264462471 + ], + [ + 0.02504639086216878, + 0.9995363272587422, + 0.01731498757971336, + -0.010737256146967411 + ], + [ + 0.05928180298989996, + -0.01877497873503274, + 0.9980647113327703, + -0.0010955285979434848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.997634224805176, + -0.02597618982197782, + -0.06364896746772693, + 0.04461659491062164 + ], + [ + 0.027183644700275, + 0.9994651542010468, + 0.01817842123748419, + -0.011424264870584011 + ], + [ + 0.06314271896414006, + -0.019865626096622232, + 0.9978067718459351, + -0.00017746815865393728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9968041457620259, + -0.028988172814586672, + -0.07443910819259984, + 0.05211884155869484 + ], + [ + 0.030724749171114826, + 0.999279304621984, + 0.022290382288708114, + -0.014367260038852692 + ], + [ + 0.07373930281749336, + -0.024506268403743536, + 0.9969764079600446, + 2.6469282602192834e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9963749808624025, + -0.03071702740259189, + -0.07933071119682504, + 0.05562204495072365 + ], + [ + 0.03263495612019832, + 0.9992028048327468, + 0.022993791627403722, + -0.014664710499346256 + ], + [ + 0.07856116820973476, + -0.025499392971601156, + 0.9965831243843142, + -0.00012730195885524154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9954703234381398, + -0.034368738646285146, + -0.0886432454157004, + 0.06124637648463249 + ], + [ + 0.03674729850012348, + 0.9990032220952263, + 0.02534163168185267, + -0.016167310997843742 + ], + [ + 0.08768392787111849, + -0.028484242086094284, + 0.9957410189129869, + 0.0019716343376785517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9950482623570991, + -0.03614019734234825, + -0.09258964151660577, + 0.06385745853185654 + ], + [ + 0.03884819274227282, + 0.998863517035329, + 0.027613262329397256, + -0.017450835555791855 + ], + [ + 0.0914864662164669, + -0.031073468938452305, + 0.995321388310004, + 0.0013921897625550628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9939515644247022, + -0.039698173272298784, + -0.1023930789483822, + 0.07095834612846375 + ], + [ + 0.043031735021145955, + 0.9986063623270596, + 0.030554916150877177, + -0.019625423476099968 + ], + [ + 0.10103740574043342, + -0.034776258550335275, + 0.9942746373525191, + 0.0013895705342292786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9934355192183401, + -0.041001970893127224, + -0.10679282531268278, + 0.07386080175638199 + ], + [ + 0.04462703726041198, + 0.9984981566833443, + 0.03177827316456343, + -0.02021336741745472 + ], + [ + 0.10532946739039273, + -0.03633551269547449, + 0.9937733312060719, + 0.002646115841343999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9922831227364991, + -0.04354274204060246, + -0.11609579642643035, + 0.08000148087739944 + ], + [ + 0.04787578707411495, + 0.9982469603087589, + 0.03479820751641809, + -0.02257206104695797 + ], + [ + 0.11437706651394695, + -0.04008785164993564, + 0.9926282540839529, + 0.002716316608712077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9916441723771983, + -0.04598314972928123, + -0.12052960354749537, + 0.08363910019397736 + ], + [ + 0.050741735643062634, + 0.9980368297026145, + 0.036711889369578816, + -0.023448189720511436 + ], + [ + 0.11860485510412902, + -0.042521012430669185, + 0.9920306708200105, + 0.0023551685735583305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.990265857773745, + -0.04893357306392926, + -0.13030363139539, + 0.08988035470247269 + ], + [ + 0.054514551027218715, + 0.9977269534309148, + 0.03961174224603097, + -0.025045616552233696 + ], + [ + 0.12806910108972155, + -0.04632959987591401, + 0.990682529128988, + 0.005724561866372824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9894848580118716, + -0.051289541621629145, + -0.13523719416443444, + 0.0927359089255333 + ], + [ + 0.0574391221419242, + 0.9974665371969895, + 0.041967301793324294, + -0.026592200621962547 + ], + [ + 0.13274209209135893, + -0.04929391536985069, + 0.9899240611757646, + 0.004460601136088371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9880396773575131, + -0.054653364913396535, + -0.14418947836407597, + 0.09915373474359512 + ], + [ + 0.06167611420848651, + 0.9970952078055908, + 0.04469008287379757, + -0.02823418192565441 + ], + [ + 0.1413281744854963, + -0.05304862179895199, + 0.9885404345912352, + 0.006680082529783249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9871204423700344, + -0.05537908466926189, + -0.1500879383441016, + 0.1026889905333519 + ], + [ + 0.06312865792511414, + 0.9968806944891241, + 0.047367219714220234, + -0.029862310737371445 + ], + [ + 0.14699661493980815, + -0.056232000996549986, + 0.9875373194265429, + 0.0075643304735422134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9855835073041428, + -0.057937043882119524, + -0.15896052678657807, + 0.11017461121082306 + ], + [ + 0.06679731749668807, + 0.99646385376417, + 0.0509696627093582, + -0.03264772146940231 + ], + [ + 0.15544538753308773, + -0.06085299571640211, + 0.9859683790097065, + 0.0065970756113529205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9847346650551664, + -0.05864715255386286, + -0.16388456588712966, + 0.11322642117738724 + ], + [ + 0.06823586174732814, + 0.9962336748906536, + 0.05350076808292446, + -0.034516360610723495 + ], + [ + 0.16012965562408626, + -0.06386686551872728, + 0.9850276731536656, + 0.007643077522516251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9830536451788645, + -0.061437481659987386, + -0.1727164339251639, + 0.11750513315200806 + ], + [ + 0.07212201315781608, + 0.9958068730339508, + 0.056276876569419265, + -0.03589756041765213 + ], + [ + 0.16853470241647708, + -0.0677798455709708, + 0.9833625712908565, + 0.010882862843573093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9823243260972919, + -0.06203915895494773, + -0.17660708115379606, + 0.12075313180685043 + ], + [ + 0.07317576101288846, + 0.9956742636278042, + 0.05725442122154219, + -0.03735002502799034 + ], + [ + 0.1722911093402255, + -0.06916576830623598, + 0.9826148126997281, + 0.010435967706143856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9804748471588486, + -0.06534624882692168, + -0.18546951731506175, + 0.12631946802139282 + ], + [ + 0.07780429155542964, + 0.9951191393627336, + 0.06069918195106566, + -0.039124637842178345 + ], + [ + 0.18059780260122124, + -0.07394434554596377, + 0.9807735046673052, + 0.012488283216953278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9794313796168639, + -0.06691405963202973, + -0.19035934767005103, + 0.12986278533935547 + ], + [ + 0.08002177596223026, + 0.9948619815069807, + 0.062017361471232324, + -0.040992677211761475 + ], + [ + 0.18523144439769645, + -0.075974642977536, + 0.9797536249643471, + 0.011300237849354744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9774150671106944, + -0.06791509922394146, + -0.20011827973076007, + 0.1357003003358841 + ], + [ + 0.08276747008292852, + 0.9943274217642536, + 0.06680212738920266, + -0.04330306500196457 + ], + [ + 0.19444622002257653, + -0.08185668955591742, + 0.9774917646169086, + 0.01437932625412941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9766940395226561, + -0.0695331101775836, + -0.2030613201718839, + 0.13790827989578247 + ], + [ + 0.08489625322718285, + 0.9940705231274606, + 0.06794425094945458, + -0.04392828047275543 + ], + [ + 0.19713289768301565, + -0.08359989018012215, + 0.9768058553330693, + 0.014348533935844898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.974809934845378, + -0.07056122189331866, + -0.2115814379657945, + 0.1443605124950409 + ], + [ + 0.08781657379605423, + 0.9934370379096027, + 0.07328779622909054, + -0.04714084044098854 + ], + [ + 0.20502156055760024, + -0.09002202882803971, + 0.9746087389471788, + 0.015043651685118675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9736600609520235, + -0.07157331889759418, + -0.21647943488674637, + 0.14772430062294006 + ], + [ + 0.08964687749726562, + 0.9931575611424601, + 0.07484314331020171, + -0.0484832338988781 + ], + [ + 0.2096414154261794, + -0.0922784848572211, + 0.9734141760682161, + 0.014804408885538578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9714770980857691, + -0.07402970767763181, + -0.22528171314160558, + 0.15296882390975952 + ], + [ + 0.09380773219359617, + 0.9925002257266416, + 0.0783799165173052, + -0.0504203625023365 + ], + [ + 0.2177897088375547, + -0.09727746046093898, + 0.9711357981305825, + 0.016462303698062897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.970775471232202, + -0.07416087212295232, + -0.22824361874948432, + 0.1576535999774933 + ], + [ + 0.09464202696393897, + 0.9922817704705399, + 0.08012349670357428, + -0.052651721984148026 + ], + [ + 0.2205399537182635, + -0.09938336398921988, + 0.9703015385827917, + 0.015012456104159355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9683038073583771, + -0.07595975931258576, + -0.23794506008834182, + 0.16283001005649567 + ], + [ + 0.09833758931619593, + 0.9916339142198592, + 0.08361757408870894, + -0.0551266111433506 + ], + [ + 0.2296028205026009, + -0.10436615895095329, + 0.9676725942606181, + 0.017392443493008614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9672954061829994, + -0.07641815161724586, + -0.24186744981636013, + 0.16696903109550476 + ], + [ + 0.09974533112824426, + 0.9913152351642487, + 0.0857028205449889, + -0.056569140404462814 + ], + [ + 0.23321763675884985, + -0.10702509348117044, + 0.9665170268908683, + 0.01830701157450676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9650109460897379, + -0.07729540352107162, + -0.2505579663900245, + 0.17242813110351562 + ], + [ + 0.10255057845165731, + 0.9907075387383237, + 0.08934176820660984, + -0.05925353989005089 + ], + [ + 0.24132395816872523, + -0.11191064865135815, + 0.9639703075988452, + 0.019588105380535126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9637901051782874, + -0.07814735506189864, + -0.2549541606980669, + 0.17557302117347717 + ], + [ + 0.10444657718059712, + 0.990332530223598, + 0.09128193740375452, + -0.06064247339963913 + ], + [ + 0.24535595708212118, + -0.114605717474107, + 0.9626349172176127, + 0.020848121494054794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.961466213270429, + -0.07919962528401749, + -0.2632681904338108, + 0.18003207445144653 + ], + [ + 0.10760154914479271, + 0.9896202955732666, + 0.09525532641862894, + -0.06332843005657196 + ], + [ + 0.25299135827348523, + -0.11991284311678199, + 0.960008480532639, + 0.02222568169236183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9604490214429218, + -0.07863981511551242, + -0.26712067813617807, + 0.1841583102941513 + ], + [ + 0.10810348408951943, + 0.9893539540712052, + 0.09742889864602997, + -0.06491249054670334 + ], + [ + 0.25661510855177766, + -0.12245216634371726, + 0.9587252750505171, + 0.0231210645288229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.957539291135171, + -0.08045829773477137, + -0.27684827660286554, + 0.18952195346355438 + ], + [ + 0.11258905370103454, + 0.9883749691833997, + 0.10216959077151797, + -0.06768050789833069 + ], + [ + 0.26540951550209974, + -0.12900148300440867, + 0.9554665909719731, + 0.02565831132233143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9568996839374339, + -0.0809669566884759, + -0.2789038307464525, + 0.19212572276592255 + ], + [ + 0.11400062618490221, + 0.9879894364515189, + 0.10431074100810135, + -0.06890001147985458 + ], + [ + 0.2671083153140116, + -0.1316101264523953, + 0.9546370632367545, + 0.025022514164447784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9558427219309935, + -0.08007388531475791, + -0.2827593744195738, + 0.19544509053230286 + ], + [ + 0.11466264068589475, + 0.9875214381817065, + 0.10795317486054484, + -0.07162456959486008 + ], + [ + 0.2705867139430299, + -0.1356081930494353, + 0.9530966625769813, + 0.025836503133177757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9527867161332453, + -0.08213154153081215, + -0.29232154119359516, + 0.20192831754684448 + ], + [ + 0.11899558003471589, + 0.9867131648067466, + 0.11062179861698017, + -0.07423119992017746 + ], + [ + 0.2793519742049945, + -0.14018395158799993, + 0.9499004864852659, + 0.028003640472888947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9515537632848514, + -0.08251298563639729, + -0.2962043935862629, + 0.203793466091156 + ], + [ + 0.12049884948705475, + 0.9863365464677251, + 0.1123398610218991, + -0.07465797662734985 + ], + [ + 0.2828877212795454, + -0.1425897061624407, + 0.9484949724936742, + 0.029820771887898445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.948449666831758, + -0.08199478369656232, + -0.3061373628508627, + 0.21099554002285004 + ], + [ + 0.12330193056347673, + 0.9853167037172527, + 0.11810007322219386, + -0.07892406731843948 + ], + [ + 0.29195866729050274, + -0.14975930295751935, + 0.9446334144903151, + 0.033467233180999756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9471780443316824, + -0.08218205705465273, + -0.30999977715197474, + 0.21334196627140045 + ], + [ + 0.12483981875292434, + 0.9848506954734547, + 0.12035001985537724, + -0.0810018852353096 + ], + [ + 0.29541288392645493, + -0.15269321243499517, + 0.9430885488046901, + 0.03452898934483528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9452870686242765, + -0.0815909388030959, + -0.3158722472724561, + 0.22009830176830292 + ], + [ + 0.12665774689075276, + 0.9840576344103799, + 0.12485346335286497, + -0.08468875288963318 + ], + [ + 0.3006495851390453, + -0.15803003152526623, + 0.9405510810646295, + 0.03586459532380104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9441428450698262, + -0.08026617261375124, + -0.3196116857021866, + 0.22392785549163818 + ], + [ + 0.1267938341878191, + 0.9836993991708809, + 0.1275100611042124, + -0.08716537058353424 + ], + [ + 0.3041670786186526, + -0.16091250294737097, + 0.9389300052079531, + 0.035034503787755966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9414334815613535, + -0.08141106291534989, + -0.3272235300681507, + 0.22806884348392487 + ], + [ + 0.13059153988695651, + 0.9827136868520641, + 0.13122369977857082, + -0.08890867978334427 + ], + [ + 0.3108839807793614, + -0.1662710092247466, + 0.9357911636610817, + 0.037859655916690826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9395670077246044, + -0.08023143148503716, + -0.33283142188996234, + 0.23143239319324493 + ], + [ + 0.1309452784866286, + 0.9824514326144742, + 0.1328251354067703, + -0.09076695144176483 + ], + [ + 0.316333956504027, + -0.16838081825323573, + 0.9335848799155217, + 0.038833748549222946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9357913667843543, + -0.08180315085175535, + -0.342932591572448, + 0.2358538657426834 + ], + [ + 0.13611665783620386, + 0.9811187999693699, + 0.13739780131489027, + -0.09369397908449173 + ], + [ + 0.3252180396462851, + -0.17525451451357613, + 0.9292572742955738, + 0.0420721098780632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.934483629005089, + -0.08060693069808235, + -0.34676053674677815, + 0.238493874669075 + ], + [ + 0.13657917519343443, + 0.9806719084581206, + 0.14010259406802086, + -0.09528424590826035 + ], + [ + 0.32876507725876286, + -0.17828384863621852, + 0.9274310719889096, + 0.041963618248701096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.932270184287494, + -0.0805239044199917, + -0.3526871195628245, + 0.2441437989473343 + ], + [ + 0.1401556710222678, + 0.9791686097571558, + 0.14691909864458608, + -0.10001219809055328 + ], + [ + 0.3335096570848585, + -0.18639939507197878, + 0.924135582124149, + 0.045183975249528885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9309074214193109, + -0.08011228198665477, + -0.3563613264950897, + 0.24714964628219604 + ], + [ + 0.14106451048651886, + 0.9788063881644098, + 0.14845490348837198, + -0.10153695940971375 + ], + [ + 0.33691568177757436, + -0.1884677074817689, + 0.9224791307172852, + 0.04664929583668709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9262649154066932, + -0.07934713169928392, + -0.36842548660173885, + 0.25329211354255676 + ], + [ + 0.14500461150927507, + 0.977362463244557, + 0.15406582385972512, + -0.10492786020040512 + ], + [ + 0.34786055989099396, + -0.19612916185929088, + 0.9168022593453269, + 0.05145006254315376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9254309285740684, + -0.07980377737342656, + -0.3704172695157034, + 0.25622665882110596 + ], + [ + 0.1465529376932658, + 0.976875753817236, + 0.15567915100449467, + -0.10674494504928589 + ], + [ + 0.3494278650766291, + -0.19835604029355647, + 0.9157265139696729, + 0.050664182752370834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9226081827199383, + -0.07739217332318361, + -0.37789494927364015, + 0.2604101896286011 + ], + [ + 0.14812624779294425, + 0.9756376282875832, + 0.16183273149818037, + -0.11102629452943802 + ], + [ + 0.356163945245719, + -0.2052843632079486, + 0.9115950714705026, + 0.05502937734127045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9211201873158602, + -0.076970035711677, + -0.3815929953782403, + 0.2634710669517517 + ], + [ + 0.14947205581070308, + 0.9750478138410457, + 0.16413368105151346, + -0.11323756724596024 + ], + [ + 0.3594380406285852, + -0.20822433653716177, + 0.9096410944008314, + 0.056977588683366776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.918861442925093, + -0.0766230030906938, + -0.3870691980808847, + 0.26824623346328735 + ], + [ + 0.1520297151363634, + 0.9739765439255115, + 0.16809716713398948, + -0.115558922290802 + ], + [ + 0.36411621004999434, + -0.21330402546665572, + 0.9065984658593615, + 0.05795356631278992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.917258911141697, + -0.07659390278574604, + -0.39085734480395246, + 0.2705206871032715 + ], + [ + 0.1538804303433178, + 0.9732862502687268, + 0.17039568126920357, + -0.11607947200536728 + ], + [ + 0.3673648092679857, + -0.21644225348551593, + 0.9045417888730225, + 0.058816250413656235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.913689802830962, + -0.07497928041756603, + -0.39943591690129904, + 0.27639201283454895 + ], + [ + 0.15655810481311472, + 0.9719192993893381, + 0.17567707673986196, + -0.12158601731061935 + ], + [ + 0.37504733570583215, + -0.22304928375271973, + 0.899771367069076, + 0.060012735426425934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9120883541544158, + -0.07447404264359116, + -0.4031729792387017, + 0.2775043845176697 + ], + [ + 0.15838874792417296, + 0.9710249173482702, + 0.17895143033739125, + -0.12259350717067719 + ], + [ + 0.3781637723882371, + -0.227077578948486, + 0.8974563690742811, + 0.0639236718416214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9081177163726163, + -0.07335614076260058, + -0.4122391172882582, + 0.28225255012512207 + ], + [ + 0.16127696575100386, + 0.9698517403494213, + 0.1826946689406906, + -0.12496072053909302 + ], + [ + 0.38640904949073607, + -0.23239293955199375, + 0.8925702034675195, + 0.06648839265108109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.907351067123866, + -0.07241191505220375, + -0.41409003314213383, + 0.286485880613327 + ], + [ + 0.1623146344504628, + 0.9690093123049912, + 0.1862120084995075, + -0.1273195594549179 + ], + [ + 0.3877731301062437, + -0.23617253698235213, + 0.8909851470944539, + 0.06828992068767548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9036443797922666, + -0.06964377508061959, + -0.4225832219366614, + 0.2911938726902008 + ], + [ + 0.16506551346579768, + 0.9670966570537297, + 0.19359088867964006, + -0.13169927895069122 + ], + [ + 0.39519642095307744, + -0.24469123504535337, + 0.8854072443558713, + 0.07127507776021957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9020796529478194, + -0.06793499227892025, + -0.42618908545574624, + 0.2910672724246979 + ], + [ + 0.16586381460766325, + 0.9662616463870495, + 0.1970472677435131, + -0.13445740938186646 + ], + [ + 0.3984237627719224, + -0.24844167835822567, + 0.8829129275943416, + 0.07368418574333191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8995981897097867, + -0.06705650087545298, + -0.43153971168504923, + 0.29700586199760437 + ], + [ + 0.16851812851547987, + 0.9649122613732444, + 0.20136029453000798, + -0.13913026452064514 + ], + [ + 0.402895442307946, + -0.25386562103189914, + 0.8793335595924753, + 0.07363032549619675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8986396227360515, + -0.06714056358934303, + -0.43351928811727897, + 0.30016785860061646 + ], + [ + 0.1705722307147692, + 0.9639349276345387, + 0.20429040455974476, + -0.14081427454948425 + ], + [ + 0.4041682107214698, + -0.2575298041142074, + 0.877682435414486, + 0.07347806543111801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8946887946118948, + -0.06410901848760402, + -0.442065599820287, + 0.3046560287475586 + ], + [ + 0.17267465271024932, + 0.9623516094425362, + 0.20991151496465027, + -0.14430862665176392 + ], + [ + 0.41196532027260374, + -0.26413900422299585, + 0.8720752039479023, + 0.07678957283496857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8921819290141012, + -0.06269888261045173, + -0.44730331505598947, + 0.30655166506767273 + ], + [ + 0.17411782935104161, + 0.9615198674530814, + 0.21251476653421209, + -0.1467353105545044 + ], + [ + 0.4167665858040424, + -0.26748531662954866, + 0.8687676434725408, + 0.07971801608800888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.889853885469685, + -0.059546695208300054, + -0.45234307069333346, + 0.3108329772949219 + ], + [ + 0.17575060797562297, + 0.9596731335905491, + 0.219406473151308, + -0.15116176009178162 + ], + [ + 0.42103656172677345, + -0.27473927231880513, + 0.864434234592216, + 0.0830036848783493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8880677421559372, + -0.058110037643943714, + -0.45602511867996476, + 0.3139611780643463 + ], + [ + 0.1763037887294804, + 0.9591805704162605, + 0.22110994418064384, + -0.15444117784500122 + ], + [ + 0.424561726279804, + -0.27675956507581867, + 0.8620623432892524, + 0.08334257453680038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8847355441449393, + -0.05587647656589282, + -0.46273192703026167, + 0.31903043389320374 + ], + [ + 0.1789215926086667, + 0.9574411482398001, + 0.22648070857278815, + -0.1561466008424759 + ], + [ + 0.43038364353787445, + -0.2831682662726087, + 0.8570797234512253, + 0.08456466346979141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8829736726694974, + -0.05429612308605057, + -0.4662718352960674, + 0.32099223136901855 + ], + [ + 0.18116258184193199, + 0.9557523035109562, + 0.23177069114507517, + -0.15929150581359863 + ], + [ + 0.4330561306723458, + -0.2891184278999262, + 0.8537405474356778, + 0.087884820997715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8793890444322277, + -0.05241486285483267, + -0.4732098801636346, + 0.32684311270713806 + ], + [ + 0.18292047104962705, + 0.9548325623841261, + 0.2341684843909298, + -0.16328394412994385 + ], + [ + 0.4395622934278541, + -0.2924849739095528, + 0.8492570460311604, + 0.08894871920347214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8793249999990106, + -0.05157419596235387, + -0.4734212148685117, + 0.32913246750831604 + ], + [ + 0.1831761275298388, + 0.954265342815525, + 0.23627137322228034, + -0.16430708765983582 + ], + [ + 0.4395839517997814, + -0.2944787900885335, + 0.8485565340671659, + 0.09025682508945465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8758768097513657, + -0.04791238655328433, + -0.4801502029100258, + 0.3308667242527008 + ], + [ + 0.1863156067979843, + 0.9514708169982714, + 0.2449281099917705, + -0.16846626996994019 + ], + [ + 0.44511381556099694, + -0.3039863280073804, + 0.842298049137786, + 0.09508894383907318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8749688543400098, + -0.04720267272363341, + -0.4818728168538631, + 0.33337509632110596 + ], + [ + 0.18797314346580316, + 0.9502888001336934, + 0.24822830957819836, + -0.17003200948238373 + ], + [ + 0.44620130128733987, + -0.30777118778113544, + 0.8403459375169693, + 0.09618547558784485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8714770693027795, + -0.04360995179677772, + -0.48849349001160686, + 0.33732759952545166 + ], + [ + 0.18926534248280144, + 0.9487863276293378, + 0.25294887751975054, + -0.17343828082084656 + ], + [ + 0.4524448561032659, + -0.3128940341520056, + 0.8350993806594382, + 0.10075194388628006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8693988779434716, + -0.0429093497254082, + -0.49224422671756657, + 0.3389440178871155 + ], + [ + 0.19085683174888174, + 0.948066814843322, + 0.2544464273037002, + -0.17485931515693665 + ], + [ + 0.4557622854135823, + -0.31516361195255516, + 0.8324377675812213, + 0.10376287996768951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/camxtime_eval/target/eval_scene_012__fastmo/caption.txt b/camxtime_eval/target/eval_scene_012__fastmo/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e131d3e1de3f4ead403ce9d869a8b145008acd9 --- /dev/null +++ b/camxtime_eval/target/eval_scene_012__fastmo/caption.txt @@ -0,0 +1 @@ +A person in a blue and white varsity jacket and white pants stands in a modern, minimalist living room with light wood and white walls. They are positioned near a large flat-screen TV, with a white armchair and framed artwork visible. The room is brightly lit by recessed ceiling lights, and a large window reveals a hazy, golden-hued outdoor landscape. The person remains mostly still, making slight, subtle movements with their hands. The camera sweeps along an arc around the scene. Scene time advances in fast motion at double speed. diff --git a/camxtime_eval/target/eval_scene_012__fastmo/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_012__fastmo/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..29fded57a0802823f7cbc00ac3e9060027c0fdc3 --- /dev/null +++ b/camxtime_eval/target/eval_scene_012__fastmo/extras/temporal_mapping.json @@ -0,0 +1,261 @@ +{ + "pattern": "fastmo", + "source_cam_idx": [ + 0, + 1, + 3, + 4, + 6, + 7, + 9, + 10, + 12, + 13, + 15, + 16, + 18, + 19, + 21, + 22, + 24, + 25, + 27, + 28, + 30, + 31, + 33, + 34, + 36, + 37, + 39, + 40, + 42, + 43, + 45, + 46, + 48, + 49, + 51, + 52, + 54, + 55, + 57, + 58, + 60, + 61, + 62, + 64, + 65, + 67, + 68, + 70, + 71, + 73, + 74, + 76, + 77, + 79, + 80, + 82, + 83, + 85, + 86, + 88, + 89, + 91, + 92, + 94, + 95, + 97, + 98, + 100, + 101, + 103, + 104, + 106, + 107, + 109, + 110, + 112, + 113, + 115, + 116, + 118, + 119 + ], + "source_motion_frame": [ + 0, + 2, + 6, + 8, + 12, + 14, + 18, + 20, + 24, + 26, + 30, + 32, + 36, + 38, + 42, + 44, + 48, + 50, + 54, + 56, + 60, + 62, + 66, + 68, + 72, + 74, + 78, + 80, + 84, + 86, + 90, + 92, + 96, + 98, + 102, + 104, + 108, + 110, + 114, + 116, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119 + ], + "timestamps_seconds": [ + 0.0, + 0.06666667014360428, + 0.20000000298023224, + 0.2666666805744171, + 0.4000000059604645, + 0.46666666865348816, + 0.6000000238418579, + 0.6666666865348816, + 0.800000011920929, + 0.8666666746139526, + 1.0, + 1.0666667222976685, + 1.2000000476837158, + 1.2666666507720947, + 1.399999976158142, + 1.4666666984558105, + 1.600000023841858, + 1.6666666269302368, + 1.7999999523162842, + 1.8666666746139526, + 2.0, + 2.066666603088379, + 2.200000047683716, + 2.2666666507720947, + 2.4000000953674316, + 2.4666666984558105, + 2.5999999046325684, + 2.6666667461395264, + 2.799999952316284, + 2.866666555404663, + 3.0, + 3.066666603088379, + 3.200000047683716, + 3.2666666507720947, + 3.4000000953674316, + 3.4666666984558105, + 3.5999999046325684, + 3.6666667461395264, + 3.799999952316284, + 3.866666555404663, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105, + 3.9666666984558105 + ], + "preprocessed_latent": "CamxTime_latents/eval/EvalScene012_traj01_fastmo.safetensors", + "pattern_parameters": null, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.00189806640379242, + "max_input_determinant_error": 0.001556322918949804, + "max_rotation_element_change": 0.001315720695362177, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_012__fastmo/transforms.json b/camxtime_eval/target/eval_scene_012__fastmo/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..18ba4c802eff26fd19d6fdcbfbe6ae06c5617e49 --- /dev/null +++ b/camxtime_eval/target/eval_scene_012__fastmo/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": [ + [ + 0.9999992772942555, + 0.0010987811972646574, + 0.00048794553766281796, + -0.00016005303768906742 + ], + [ + -0.00109848317444809, + 0.999999210239131, + -0.0006106192183321269, + 0.0002444468846078962 + ], + [ + -0.0004886160892186978, + 0.0006100827770715873, + 0.9999996945266145, + -0.00021339576051104814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999787065736798, + -0.001947391403057107, + -0.006228488255892641, + 0.005624841433018446 + ], + [ + 0.0019663901486027023, + 0.9999934287019763, + 0.003045630090599467, + -0.0022498525213450193 + ], + [ + 0.006222516292784717, + -0.003057812876647015, + 0.999975964746852, + -0.0008126283646561205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998322578086081, + -0.006539013212770532, + -0.017108405873841694, + 0.012128005735576153 + ], + [ + 0.006643312003653544, + 0.9999596514981824, + 0.006046633878026024, + -0.004015476908534765 + ], + [ + 0.01706817655647549, + -0.006159276080513204, + 0.9998353567799056, + -0.0008367447881028056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997337873640931, + -0.008333296277221448, + -0.021515356743570108, + 0.015540645457804203 + ], + [ + 0.008508973104930416, + 0.9999310998728707, + 0.00808658665512819, + -0.005298200994729996 + ], + [ + 0.021446486410286215, + -0.00826750749545385, + 0.9997358133729461, + 0.0005295609589666128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999435776671858, + -0.012776549764039073, + -0.031062647737240438, + 0.020746031776070595 + ], + [ + 0.013094406071612627, + 0.999863748234296, + 0.010050945054838504, + -0.00603143684566021 + ], + [ + 0.030929998996969903, + -0.010452021000299641, + 0.9994669031133829, + -0.0008200122392736375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999240571999409, + -0.015566586196628205, + -0.03572059160312501, + 0.02470231242477894 + ], + [ + 0.015975407999784124, + 0.9998097867059998, + 0.011188241423241955, + -0.006649563554674387 + ], + [ + 0.03553963434722848, + -0.01175039578428107, + 0.9992991857243647, + -0.0011521416017785668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9987813800231363, + -0.01905041504738134, + -0.04552841536450053, + 0.03115297295153141 + ], + [ + 0.019744306469878115, + 0.9996949215829644, + 0.014840017629880489, + -0.009659573435783386 + ], + [ + 0.04523181713245109, + -0.01572086027398476, + 0.9988528106138277, + -0.003597095375880599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9984986618238075, + -0.02083566437045653, + -0.05065863624603685, + 0.03411838412284851 + ], + [ + 0.02161080545579461, + 0.9996568792524705, + 0.014801920509288788, + -0.00990197155624628 + ], + [ + 0.050332846369129824, + -0.015874471753516525, + 0.9986063317058071, + -0.0032229910138994455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9978410193535115, + -0.025042618822708435, + -0.06071381505099227, + 0.03981520235538483 + ], + [ + 0.026164828418425205, + 0.9994998765856454, + 0.017759461115514096, + -0.010696226730942726 + ], + [ + 0.06023870723529801, + -0.019309685336110615, + 0.9979972115205736, + 0.0016958566848188639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9975389061083578, + -0.027159228944405322, + -0.0646413728449926, + 0.04237651079893112 + ], + [ + 0.028432239003579465, + 0.9994178693795426, + 0.018855507155703995, + -0.011534756980836391 + ], + [ + 0.06409164208680675, + -0.020647000944468148, + 0.9977304058545151, + 0.0007401935872621834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.996716868546491, + -0.02944309431811196, + -0.07542272967648822, + 0.049583785235881805 + ], + [ + 0.031238975916872105, + 0.999253171416075, + 0.022742598764926448, + -0.014142586849629879 + ], + [ + 0.07469678934561337, + -0.025024060659535094, + 0.9968922640133013, + 0.0012339504901319742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9962996354903951, + -0.030568527846806796, + -0.08032808616532087, + 0.05294739454984665 + ], + [ + 0.03265621921266586, + 0.9991587791396944, + 0.024805350527831362, + -0.015725500881671906 + ], + [ + 0.07950224945521042, + -0.02733677327983913, + 0.9964597800002803, + 0.00010121125524165109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9954443100070832, + -0.035042834157201164, + -0.0886714466373091, + 0.05882645770907402 + ], + [ + 0.03752864407771068, + 0.9989434982754962, + 0.02652335059532825, + -0.01705646701157093 + ], + [ + 0.08764831172481743, + -0.029730237593149647, + 0.9957077314274726, + 0.0021367052104324102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9948944303022256, + -0.036565851574737664, + -0.09406386687897192, + 0.061390962451696396 + ], + [ + 0.03939047346503499, + 0.9988216738941961, + 0.02834879820022484, + -0.01798154227435589 + ], + [ + 0.09291643102170391, + -0.03190928168748031, + 0.9951624664286622, + 0.0019246056908741593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9938519713933441, + -0.039660025605727324, + -0.10336992467113604, + 0.0678415521979332 + ], + [ + 0.04306899493001728, + 0.998592377150206, + 0.030956840491536113, + -0.019688231870532036 + ], + [ + 0.1019966697166207, + -0.03521855571219976, + 0.9941611200908355, + 0.003109098644927144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9932259455138404, + -0.040960934788797726, + -0.1087401626785855, + 0.07071275264024734 + ], + [ + 0.044679836638506755, + 0.9984891744150454, + 0.031985633867683286, + -0.019803542643785477 + ], + [ + 0.10726571379566621, + -0.036627454145613136, + 0.9935554822186413, + 0.0044592032209038734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9920125422013502, + -0.044466850071083, + -0.11804158318139454, + 0.07732097804546356 + ], + [ + 0.04887208981649084, + 0.9982024621617792, + 0.03468952826330276, + -0.021805010735988617 + ], + [ + 0.11628686491682148, + -0.040181385975566024, + 0.9924025500112845, + 0.004617401398718357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9915274250178745, + -0.04597464490843743, + -0.1214894952782597, + 0.07995175570249557 + ], + [ + 0.05074224491576308, + 0.9980466446666245, + 0.03644337594955341, + -0.022568490356206894 + ], + [ + 0.11957671185616342, + -0.04229925643832088, + 0.9919234763258871, + 0.0040391553193330765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9901012974180378, + -0.0496150656530872, + -0.13129267348697754, + 0.08497560769319534 + ], + [ + 0.05527137729999482, + 0.9976781409309947, + 0.03979198361273099, + -0.024638865143060684 + ], + [ + 0.12901354852293556, + -0.046654821494825895, + 0.9905447147548696, + 0.005615306086838245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9894058563361993, + -0.050347925244025066, + -0.13616584693400358, + 0.08852189034223557 + ], + [ + 0.0564437405200605, + 0.9975519854150744, + 0.041281237270062554, + -0.025605972856283188 + ], + [ + 0.13375408630668625, + -0.048529607643841406, + 0.9898256015976745, + 0.005824061576277018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9879132641003265, + -0.05436198865927302, + -0.1451625185908823, + 0.09403818845748901 + ], + [ + 0.061469990864888475, + 0.9970969386898398, + 0.044934786951994925, + -0.027291463688015938 + ], + [ + 0.14229835852078415, + -0.053314810741104154, + 0.9883869222718051, + 0.00750625180080533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9869885313464262, + -0.05504783044857823, + -0.151074072406653, + 0.09777205437421799 + ], + [ + 0.06296028328993074, + 0.9968563716508088, + 0.048097578184734396, + -0.0294637493789196 + ], + [ + 0.14795148434090713, + -0.056983424450356285, + 0.9873516332184965, + 0.0072238026186823845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9854371485357581, + -0.05774124054579676, + -0.15993616047018888, + 0.10435716062784195 + ], + [ + 0.06673416734078859, + 0.9964441448116328, + 0.051435563377358905, + -0.03166237473487854 + ], + [ + 0.15639749740659262, + -0.06135972140457531, + 0.9857863903473757, + 0.008573475293815136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9847346650551664, + -0.05864715255386286, + -0.16388456588712966, + 0.10712984949350357 + ], + [ + 0.06823586174732814, + 0.9962336748906536, + 0.05350076808292446, + -0.03337792679667473 + ], + [ + 0.16012965562408626, + -0.06386686551872728, + 0.9850276731536656, + 0.00805376935750246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9830885753179925, + -0.060932227077372655, + -0.17269660327473635, + 0.11188461631536484 + ], + [ + 0.07163726119166075, + 0.9958324714662297, + 0.056442816924922576, + -0.0348099023103714 + ], + [ + 0.16853769871514782, + -0.06785980015336059, + 0.9833565434952618, + 0.011146700009703636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9821461537365797, + -0.06202659750102543, + -0.1775996449965142, + 0.1146056056022644 + ], + [ + 0.07340042930306881, + 0.9956029719606615, + 0.058198790375943665, + -0.03599707782268524 + ], + [ + 0.17320886143199293, + -0.07019560830667196, + 0.9823804084446555, + 0.011017901822924614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9803334846702146, + -0.06473259956870377, + -0.18642947564007142, + 0.12127937376499176 + ], + [ + 0.07743318177612603, + 0.9950888783633637, + 0.061662196827283404, + -0.038524456322193146 + ], + [ + 0.18152234351280186, + -0.07488534376377703, + 0.9805313988317771, + 0.012462930753827095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9791397713713853, + -0.06569925325975703, + -0.19227302525290205, + 0.12481626868247986 + ], + [ + 0.07923839376537552, + 0.9948255643324194, + 0.06358752632527535, + -0.03979311138391495 + ], + [ + 0.18710046785691398, + -0.07749648167365136, + 0.9792791789147411, + 0.013550608418881893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9774618028382869, + -0.06733604087054684, + -0.20008568562494924, + 0.13045452535152435 + ], + [ + 0.08228182284341215, + 0.99433171488666, + 0.06733604087054688, + -0.04196568951010704 + ], + [ + 0.19441740051160877, + -0.08228182284341215, + 0.9774618028382871, + 0.014879009686410427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.976166585719714, + -0.06936866421921487, + -0.2056375095860633, + 0.13276958465576172 + ], + [ + 0.08524492558282264, + 0.9939422979764642, + 0.06936865975096046, + -0.04251233488321304 + ], + [ + 0.19957980756252702, + -0.08524492194674844, + 0.9761665860372384, + 0.014725228771567345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9744044668366564, + -0.07035109853313362, + -0.21351032280419874, + 0.13880671560764313 + ], + [ + 0.08796757811548761, + 0.9933595995849167, + 0.07415127182314127, + -0.045621857047080994 + ], + [ + 0.20687590533763786, + -0.09103531648582895, + 0.9741226467663392, + 0.01705683395266533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9732774096933694, + -0.07091502095173192, + -0.21840820402169217, + 0.14218701422214508 + ], + [ + 0.08936806803236769, + 0.9931107800837184, + 0.07579133788019973, + -0.04727586731314659 + ], + [ + 0.21152879755893259, + -0.09328471624507391, + 0.9729098259953738, + 0.016843868419528008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9709949541718627, + -0.0744538279325316, + -0.22721229385527283, + 0.14768129587173462 + ], + [ + 0.09439963617782283, + 0.992457850758029, + 0.07820564658801153, + -0.048937492072582245 + ], + [ + 0.2196759150709903, + -0.09738604609977346, + 0.9706999795831746, + 0.017271094024181366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.97012039726249, + -0.07387673074142606, + -0.231103101386, + 0.1508919894695282 + ], + [ + 0.09483330330602914, + 0.9921994318444612, + 0.08091311408909567, + -0.050439752638339996 + ], + [ + 0.22332276954967173, + -0.10041173289256115, + 0.9695588813982253, + 0.017515966668725014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9678466307031095, + -0.07571683207855591, + -0.23987467723089495, + 0.157293438911438 + ], + [ + 0.09850426161749279, + 0.9915457980881679, + 0.08446206685187707, + -0.05341079458594322 + ], + [ + 0.23145152814321746, + -0.10537500478617366, + 0.9671226905033732, + 0.018905160948634148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9665616589422195, + -0.07663143774498067, + -0.24471653440665095, + 0.1596963107585907 + ], + [ + 0.10047151666959485, + 0.991176701238151, + 0.08645357864639086, + -0.05501057952642441 + ], + [ + 0.23593226528174507, + -0.10814975576391055, + 0.9657326734284339, + 0.018939506262540817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9644044404243649, + -0.07697398335547886, + -0.2529803968218838, + 0.1671634018421173 + ], + [ + 0.10272291707934897, + 0.9906132971883814, + 0.09018479772263384, + -0.05770506709814072 + ], + [ + 0.24366386190093187, + -0.11296150370791702, + 0.9632588546613887, + 0.02011595293879509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.963346900955143, + -0.07739246545342561, + -0.2568523986867968, + 0.1693335473537445 + ], + [ + 0.10414891916527638, + 0.9902752395504653, + 0.0922385633559693, + -0.058836739510297775 + ], + [ + 0.24721600081067896, + -0.11560863386576609, + 0.9620389247420632, + 0.02069883607327938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9609509581269705, + -0.07912399500435938, + -0.26516532482473326, + 0.17418617010116577 + ], + [ + 0.10773085313933113, + 0.9896196501542562, + 0.09511577845152146, + -0.06012833118438721 + ], + [ + 0.254886875607058, + -0.11996808510231871, + 0.9595000464826219, + 0.023929521441459656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9598875716056036, + -0.07897410818142814, + -0.2690333438703186, + 0.17615218460559845 + ], + [ + 0.10864648867797701, + 0.9893139982081457, + 0.09723041420953556, + -0.0612504743039608 + ], + [ + 0.2584797678253433, + -0.12255979433060347, + 0.9582104708458349, + 0.025327159091830254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 615.0857543945312, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9575215657293544, + -0.0805935584364041, + -0.2768702394656429, + 0.18170534074306488 + ], + [ + 0.11259837356601483, + 0.9884234118197102, + 0.10168955323419958, + -0.06470410525798798 + ], + [ + 0.2654695037730183, + -0.12854507888379485, + 0.9555114364889965, + 0.0268420223146677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9563704047720064, + -0.08081729042270096, + -0.28075650383376877, + 0.1851237267255783 + ], + [ + 0.11407096250038083, + 0.9879959680864591, + 0.10417188948626224, + -0.06622865796089172 + ], + [ + 0.26896740395532104, + -0.13165307673440169, + 0.9541090100171477, + 0.027154767885804176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9552539291806524, + -0.08061659788155986, + -0.2845889929897639, + 0.1872289925813675 + ], + [ + 0.11507694744435477, + 0.9876312129679976, + 0.10649827856942849, + -0.06786736845970154 + ], + [ + 0.27248344344531167, + -0.13448253164394786, + 0.9527157087666922, + 0.028121601790189743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9521983924378105, + -0.0820226256279321, + -0.29426265533354623, + 0.19256408512592316 + ], + [ + 0.11908842623011355, + 0.9867364992005714, + 0.11031331689073391, + -0.07027825713157654 + ], + [ + 0.2813115144761836, + -0.14008343952980626, + 0.9493368536997893, + 0.03068551793694496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9502305703740449, + -0.08303146936575388, + -0.30027926705249175, + 0.1947302371263504 + ], + [ + 0.12148496746901116, + 0.9862864696020155, + 0.11171572207637351, + -0.07015549391508102 + ], + [ + 0.2868854576406258, + -0.14263511129787076, + 0.9472866299169286, + 0.03452354669570923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9478272483760614, + -0.0822942455352269, + -0.30797916226207794, + 0.20002947747707367 + ], + [ + 0.12384387939146947, + 0.9852768738241804, + 0.11786507304762203, + -0.0742192342877388 + ], + [ + 0.29374512893516186, + -0.1498570620926414, + 0.9440639068240178, + 0.037221480160951614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9459579236715151, + -0.08205968636842113, + -0.3137352618310424, + 0.20345287024974823 + ], + [ + 0.12501404085731155, + 0.9849546705318093, + 0.1193138155709622, + -0.07631181925535202 + ], + [ + 0.29922415716583245, + -0.15208716208375872, + 0.9419842880312311, + 0.03813435509800911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 615.0857543945312, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9448165266302507, + -0.08022211604881768, + -0.3176257909915343, + 0.20875966548919678 + ], + [ + 0.1255641174440166, + 0.9841878941499567, + 0.12493134682368093, + -0.08124744892120361 + ], + [ + 0.3025812013606476, + -0.15791960329649848, + 0.9399500069034646, + 0.03722652792930603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 615.0857543945312, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9433635813278182, + -0.08161869477777323, + -0.32156421145259145, + 0.21302278339862823 + ], + [ + 0.12843334712114787, + 0.9835342361484232, + 0.1271427609862119, + -0.08227577805519104 + ], + [ + 0.30589218488155767, + -0.16124141833508798, + 0.9383129415294647, + 0.03855021297931671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 615.0857543945312, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.940804990272359, + -0.08138470971637266, + -0.32903267209048975, + 0.21754945814609528 + ], + [ + 0.13053290123628367, + 0.9828674641879345, + 0.13012574509150024, + -0.08452814072370529 + ], + [ + 0.3128052620616614, + -0.16537253963449075, + 0.9353099973598988, + 0.039681997150182724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 615.0857543945312, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9388091835908742, + -0.08137344453897137, + -0.3346874352725226, + 0.22070421278476715 + ], + [ + 0.132339578061097, + 0.9823244500669562, + 0.1323816863439268, + -0.08685196936130524 + ], + [ + 0.317999296986718, + -0.16857353684524112, + 0.9329841423043795, + 0.04161452129483223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 615.0857543945312, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9361921144458938, + -0.0799217656259371, + -0.34228180820569276, + 0.22527821362018585 + ], + [ + 0.13442962850600776, + 0.9811849174522672, + 0.1385815021708241, + -0.09036388993263245 + ], + [ + 0.3247660693931283, + -0.175751725861847, + 0.9293214357946975, + 0.04386109858751297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9338123061336642, + -0.0803739069303984, + -0.3486181463981358, + 0.2272893786430359 + ], + [ + 0.1369680612138841, + 0.9805139499766896, + 0.14082664559102545, + -0.0915016382932663 + ], + [ + 0.3305061680523347, + -0.17925520630055372, + 0.926624651028402, + 0.04556433483958244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.931639278992573, + -0.0798853574043104, + -0.35449482860908377, + 0.23266373574733734 + ], + [ + 0.140175732855507, + 0.979038240510343, + 0.14776632747968366, + -0.09586398303508759 + ], + [ + 0.3352596273884162, + -0.18735648718631812, + 0.9233084690137865, + 0.0462840273976326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9301402316604507, + -0.08058020901884386, + -0.3582540709623869, + 0.23535297811031342 + ], + [ + 0.14185695243860277, + 0.9787360435939373, + 0.14816329510009807, + -0.09695501625537872 + ], + [ + 0.3386971427270615, + -0.18863347233342817, + 0.9217926332011767, + 0.0489937923848629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 615.0857543945312, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9255600179861515, + -0.07925166721453143, + -0.3702132174155732, + 0.24173609912395477 + ], + [ + 0.14488648280952285, + 0.977553406408016, + 0.15296157922553466, + -0.09891542792320251 + ], + [ + 0.34978073160847434, + -0.19521401298011676, + 0.9162668437369321, + 0.05168420821428299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9247964495843476, + -0.07888780129928201, + -0.3721938226816104, + 0.24413752555847168 + ], + [ + 0.14594970032154642, + 0.9769836726263998, + 0.1555685970801372, + -0.10146208107471466 + ], + [ + 0.35135482323747314, + -0.19819086312844106, + 0.9150246827054273, + 0.052604008466005325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 615.0857543945312, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9218952336166829, + -0.07690301402943184, + -0.3797303051746467, + 0.2497369647026062 + ], + [ + 0.14801448066208406, + 0.9756680236880164, + 0.16175172662773676, + -0.10726022720336914 + ], + [ + 0.3580515210820573, + -0.20532372971945909, + 0.9108464603131066, + 0.05370437726378441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9203966078917715, + -0.0769316820341506, + -0.38334266718005244, + 0.25104662775993347 + ], + [ + 0.14941475918265498, + 0.9752428688821312, + 0.16302323893524714, + -0.10735853016376495 + ], + [ + 0.3613105505236587, + -0.2073230884246754, + 0.9091049571344028, + 0.05649825930595398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 615.0857543945312, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9173608820385556, + -0.07582184473020277, + -0.39076855038136243, + 0.2566031515598297 + ], + [ + 0.1520032346379107, + 0.9740237239755353, + 0.1678475552173514, + -0.11140740662813187 + ], + [ + 0.36789132738494246, + -0.21337486495493893, + 0.9050564282078805, + 0.059146393090486526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 615.0857543945312, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9165404540612343, + -0.07586396293016599, + -0.3926808566734016, + 0.2577524185180664 + ], + [ + 0.15355329417037697, + 0.973344645703997, + 0.17035723210003664, + -0.11203780770301819 + ], + [ + 0.3692898345725911, + -0.21643673396142968, + 0.9037589049483592, + 0.060113511979579926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9127800884564846, + -0.07557648736047966, + -0.4013984363143721, + 0.26381734013557434 + ], + [ + 0.1579881256326156, + 0.971568656020485, + 0.17633518876742138, + -0.11490990221500397 + ], + [ + 0.3766593451335898, + -0.22437143578628813, + 0.8987687113639052, + 0.06239863485097885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9113359919353512, + -0.07422574949393311, + -0.40491634681162625, + 0.2660468816757202 + ], + [ + 0.15891853548283477, + 0.9707970823146854, + 0.17971623201393047, + -0.11755336076021194 + ], + [ + 0.3797520360487889, + -0.22813058339766254, + 0.8965181693838898, + 0.06391265988349915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9073349951877372, + -0.07284040301743333, + -0.4140500962394851, + 0.27024078369140625 + ], + [ + 0.16153686874561943, + 0.9696754785196682, + 0.18339930859606116, + -0.11961199343204498 + ], + [ + 0.38813534565088165, + -0.23328896683279016, + 0.8915869062579153, + 0.06751873344182968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9060066659656812, + -0.07185431225466142, + -0.4171197418441863, + 0.27306845784187317 + ], + [ + 0.16312340660136265, + 0.968634152653362, + 0.1874530141989506, + -0.12232168763875961 + ], + [ + 0.3905671202809037, + -0.23787567366991305, + 0.889310119379943, + 0.06776311248540878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9019598439262071, + -0.06952672566341657, + -0.42618596218451, + 0.2782920300960541 + ], + [ + 0.16577984362892526, + 0.9670760676441166, + 0.19308268393711825, + -0.12782107293605804 + ], + [ + 0.3987298375980678, + -0.2448058696365678, + 0.8837899087455697, + 0.07044507563114166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9011856692707162, + -0.0683056513032241, + -0.42801720467889287, + 0.28010889887809753 + ], + [ + 0.16704812152366613, + 0.9659517695071977, + 0.1975654425281097, + -0.1302364468574524 + ], + [ + 0.39994914001220877, + -0.24954261557087928, + 0.8819122226262308, + 0.07250430434942245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8986843469513504, + -0.0671828756791589, + -0.43342001079795867, + 0.2850021421909332 + ], + [ + 0.16949192577641634, + 0.9646260363584429, + 0.20191358814106908, + -0.13262681663036346 + ], + [ + 0.40452309160445443, + -0.2549177733993421, + 0.8782812745151151, + 0.07409561425447464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8976870500320452, + -0.06749525394805664, + -0.4354335206426495, + 0.2854898273944855 + ], + [ + 0.17203765175878075, + 0.9634535615503843, + 0.20532968882556915, + -0.13511012494564056 + ], + [ + 0.40566119679122553, + -0.2592327630342429, + 0.8764915105051176, + 0.07566596567630768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8929281352295639, + -0.06445582764448136, + -0.44556120970986585, + 0.2907031178474426 + ], + [ + 0.1744610962057034, + 0.961905591880254, + 0.21047792810697047, + -0.13753457367420197 + ], + [ + 0.41502129008782, + -0.2656747609242616, + 0.8701576007722268, + 0.08177407085895538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8921377978087139, + -0.06319726328714127, + -0.44732119962509453, + 0.29148921370506287 + ], + [ + 0.17538188830267773, + 0.9609564465942193, + 0.21401845949449996, + -0.14061805605888367 + ], + [ + 0.4163308095450118, + -0.2693859938119049, + 0.8683892234255143, + 0.08195725083351135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8880544656874121, + -0.05886112908446497, + -0.4559546396907764, + 0.2960395812988281 + ], + [ + 0.17671612928509436, + 0.9592797409128305, + 0.22034924171574957, + -0.14555193483829498 + ], + [ + 0.42441804347027673, + -0.2762566671722408, + 0.8622943686582605, + 0.08496308326721191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8861408703707568, + -0.058606182852724176, + -0.459695195961401, + 0.29803159832954407 + ], + [ + 0.17777345239804404, + 0.9590686235926257, + 0.22041772810422228, + -0.14609302580356598 + ], + [ + 0.4279613971855852, + -0.2770427594642738, + 0.8602885283132525, + 0.08713247627019882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8827604344767056, + -0.05641683597275097, + -0.4664237943558643, + 0.30345454812049866 + ], + [ + 0.18209961598184532, + 0.9562466673711731, + 0.2289804380308256, + -0.15024246275424957 + ], + [ + 0.43309784712205895, + -0.28707046479975634, + 0.8544102077210275, + 0.08900289982557297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8810413182280448, + -0.05456819355870735, + -0.46988137633527083, + 0.30385878682136536 + ], + [ + 0.18217461951913574, + 0.9558483431016429, + 0.2305783012187004, + -0.15128347277641296 + ], + [ + 0.43655309365304834, + -0.2887494714135129, + 0.8520828241317678, + 0.0935768187046051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 615.0857543945312, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8793195277397287, + -0.051823973289388, + -0.47340410214538836, + 0.310280978679657 + ], + [ + 0.1833952942561771, + 0.954244968812068, + 0.2361836267431466, + -0.15694591403007507 + ], + [ + 0.43950350872350363, + -0.294500959742675, + 0.8485905081547714, + 0.09379248321056366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8775900745346077, + -0.05064753355197667, + -0.476728946492074, + 0.3131115436553955 + ], + [ + 0.18498137149460195, + 0.9531719173375138, + 0.23925966688747005, + -0.15876120328903198 + ], + [ + 0.44228673197182555, + -0.2981578832501807, + 0.8458630641997875, + 0.09451369196176529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8739396169640345, + -0.048123044438612414, + -0.48364627414538675, + 0.31534892320632935 + ], + [ + 0.1881686022232282, + 0.9509861254204731, + 0.24539349297630675, + -0.1619110256433487 + ], + [ + 0.4481318143561242, + -0.30546613863358946, + 0.8401596961948204, + 0.09806664288043976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8712356729287336, + -0.04577894668168828, + -0.4887255776579864, + 0.3196337819099426 + ], + [ + 0.18933364800480867, + 0.9499375875776012, + 0.24853842648660973, + -0.1636120080947876 + ], + [ + 0.4528809688534156, + -0.3090677397399535, + 0.8362870083305304, + 0.10051879286766052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8693950424824649, + -0.043398347518919474, + -0.4922081303062138, + 0.3214125335216522 + ], + [ + 0.19124454645965383, + 0.9480527010693547, + 0.254207787930546, + -0.16702201962471008 + ], + [ + 0.4556070495024775, + -0.31513911123141697, + 0.832532015610162, + 0.10391627997159958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8675105774336146, + -0.04334582553343747, + -0.49552652547529763, + 0.32396385073661804 + ], + [ + 0.19314186555861707, + 0.9473854912395681, + 0.25525859585388827, + -0.16836772859096527 + ], + [ + 0.45839024619785895, + -0.3171464494481795, + 0.8302388281651731, + 0.10547645390033722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/camxtime_eval/target/eval_scene_016__zigzag/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_016__zigzag/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..4a446a7030872647d69cc47b7cebba2207413e65 --- /dev/null +++ b/camxtime_eval/target/eval_scene_016__zigzag/extras/temporal_mapping.json @@ -0,0 +1,261 @@ +{ + "pattern": "zigzag", + "source_cam_idx": [ + 0, + 1, + 3, + 4, + 6, + 7, + 9, + 10, + 12, + 13, + 15, + 16, + 18, + 19, + 21, + 22, + 24, + 25, + 27, + 28, + 30, + 31, + 33, + 34, + 36, + 37, + 39, + 40, + 42, + 43, + 45, + 46, + 48, + 49, + 51, + 52, + 54, + 55, + 57, + 58, + 60, + 61, + 62, + 64, + 65, + 67, + 68, + 70, + 71, + 73, + 74, + 76, + 77, + 79, + 80, + 82, + 83, + 85, + 86, + 88, + 89, + 91, + 92, + 94, + 95, + 97, + 98, + 100, + 101, + 103, + 104, + 106, + 107, + 109, + 110, + 112, + 113, + 115, + 116, + 118, + 119 + ], + "source_motion_frame": [ + 0, + 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, + 59, + 58, + 57, + 55, + 54, + 52, + 51, + 49, + 48, + 46, + 45, + 43, + 42, + 40, + 39, + 37, + 36, + 34, + 33, + 31, + 30, + 28, + 27, + 25, + 24, + 22, + 21, + 19, + 18, + 16, + 15, + 13, + 12, + 10, + 9, + 7, + 6, + 4, + 3, + 1, + 0 + ], + "timestamps_seconds": [ + 0.0, + 0.03333333507180214, + 0.10000000149011612, + 0.13333334028720856, + 0.20000000298023224, + 0.23333333432674408, + 0.30000001192092896, + 0.3333333432674408, + 0.4000000059604645, + 0.4333333373069763, + 0.5, + 0.5333333611488342, + 0.6000000238418579, + 0.6333333253860474, + 0.699999988079071, + 0.7333333492279053, + 0.800000011920929, + 0.8333333134651184, + 0.8999999761581421, + 0.9333333373069763, + 1.0, + 1.0333333015441895, + 1.100000023841858, + 1.1333333253860474, + 1.2000000476837158, + 1.2333333492279053, + 1.2999999523162842, + 1.3333333730697632, + 1.399999976158142, + 1.4333332777023315, + 1.5, + 1.5333333015441895, + 1.600000023841858, + 1.6333333253860474, + 1.7000000476837158, + 1.7333333492279053, + 1.7999999523162842, + 1.8333333730697632, + 1.899999976158142, + 1.9333332777023315, + 1.9666666984558105, + 1.9333332777023315, + 1.899999976158142, + 1.8333333730697632, + 1.7999999523162842, + 1.7333333492279053, + 1.7000000476837158, + 1.6333333253860474, + 1.600000023841858, + 1.5333333015441895, + 1.5, + 1.4333332777023315, + 1.399999976158142, + 1.3333333730697632, + 1.2999999523162842, + 1.2333333492279053, + 1.2000000476837158, + 1.1333333253860474, + 1.100000023841858, + 1.0333333015441895, + 1.0, + 0.9333333373069763, + 0.8999999761581421, + 0.8333333134651184, + 0.800000011920929, + 0.7333333492279053, + 0.699999988079071, + 0.6333333253860474, + 0.6000000238418579, + 0.5333333611488342, + 0.5, + 0.4333333373069763, + 0.4000000059604645, + 0.3333333432674408, + 0.30000001192092896, + 0.23333333432674408, + 0.20000000298023224, + 0.13333334028720856, + 0.10000000149011612, + 0.03333333507180214, + 0.0 + ], + "preprocessed_latent": "CamxTime_latents/eval/EvalScene016_traj01_zigzag.safetensors", + "pattern_parameters": null, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.006366085225822937, + "max_input_determinant_error": 0.005818290018048788, + "max_rotation_element_change": 0.00289244236489139, + "translation_changed": false + } +} diff --git a/dycheck_eval/target/teddy__camera_2/extras/frame_mapping.json b/dycheck_eval/target/teddy__camera_2/extras/frame_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..32f1d3846e0677f1a2c18a048189569bb50d8498 --- /dev/null +++ b/dycheck_eval/target/teddy__camera_2/extras/frame_mapping.json @@ -0,0 +1,803 @@ +{ + "original_scene": "teddy", + "source_frame_names": [ + "0_00065", + "0_00066", + "0_00067", + "0_00068", + "0_00069", + "0_00070", + "0_00071", + "0_00072", + "0_00073", + "0_00074", + "0_00075", + "0_00076", + "0_00077", + "0_00078", + "0_00079", + "0_00080", + "0_00081", + "0_00082", + "0_00083", + "0_00084", + "0_00085", + "0_00086", + "0_00087", + "0_00088", + "0_00089", + "0_00090", + "0_00091", + "0_00092", + "0_00093", + "0_00094", + "0_00095", + "0_00096", + "0_00097", + "0_00098", + "0_00099", + "0_00100", + "0_00101", + "0_00102", + "0_00103", + "0_00104", + "0_00105", + "0_00106", + "0_00107", + "0_00108", + "0_00109", + "0_00110", + "0_00111", + "0_00112", + "0_00113", + "0_00114", + "0_00115", + "0_00116", + "0_00117", + "0_00118", + "0_00119", + "0_00120", + "0_00121", + "0_00122", + "0_00123", + "0_00124", + "0_00125", + "0_00126", + "0_00127", + "0_00128", + "0_00129", + "0_00130", + "0_00131", + "0_00132", + "0_00133", + "0_00134", + "0_00135", + "0_00136", + "0_00137", + "0_00138", + "0_00139", + "0_00140", + "0_00141", + "0_00142", + "0_00143", + "0_00144", + "0_00145", + "0_00146", + "0_00147", + "0_00148", + "0_00149", + "0_00150", + "0_00151", + "0_00152", + "0_00153", + "0_00154", + "0_00155", + "0_00156", + "0_00157", + "0_00158", + "0_00218", + "0_00219", + "0_00220", + "0_00221", + "0_00222", + "0_00223", + "0_00224", + "0_00225", + "0_00226", + "0_00227", + "0_00228", + "0_00229", + "0_00230", + "0_00231", + "0_00232", + "0_00233", + "0_00234", + "0_00235", + "0_00236", + "0_00237", + "0_00238", + "0_00239", + "0_00240", + "0_00241", + "0_00242", + "0_00243", + "0_00244", + "0_00245", + "0_00246", + "0_00247", + "0_00248", + "0_00249", + "0_00250", + "0_00251", + "0_00252", + "0_00253", + "0_00254", + "0_00255", + "0_00256", + "0_00257", + "0_00258", + "0_00259", + "0_00260", + "0_00261", + "0_00262", + "0_00263", + "0_00264", + "0_00265", + "0_00266", + "0_00267", + "0_00268", + "0_00269", + "0_00270", + "0_00271", + "0_00272", + "0_00273", + "0_00274", + "0_00275", + "0_00276", + "0_00277", + "0_00278", + "0_00279", + "0_00280", + "0_00281", + "0_00282", + "0_00283", + "0_00284", + "0_00285", + "0_00286", + "0_00287", + "0_00288", + "0_00289", + "0_00290", + "0_00291", + "0_00292", + "0_00293", + "0_00294", + "0_00295", + "0_00296", + "0_00297", + "0_00298", + "0_00299", + "0_00300", + "0_00301", + "0_00302", + "0_00303", + "0_00304", + "0_00305", + "0_00306", + "0_00307", + "0_00308", + "0_00309", + "0_00310", + "0_00311", + "0_00312", + "0_00313", + "0_00314", + "0_00315", + "0_00316", + "0_00317", + "0_00318", + "0_00319", + "0_00320", + "0_00321", + "0_00322", + "0_00323", + "0_00324", + "0_00325", + "0_00326", + "0_00327", + "0_00328", + "0_00329", + "0_00330", + "0_00331", + "0_00332", + "0_00333", + "0_00334", + "0_00335", + "0_00336", + "0_00337", + "0_00338", + "0_00423", + "0_00424", + "0_00425", + "0_00426", + "0_00427", + "0_00428", + "0_00429", + "0_00430", + "0_00431", + "0_00432", + "0_00433", + "0_00434", + "0_00435", + "0_00436", + "0_00437", + "0_00438", + "0_00439", + "0_00440", + "0_00441", + "0_00442", + "0_00443", + "0_00444", + "0_00445", + "0_00446", + "0_00447", + "0_00448", + "0_00449", + "0_00450", + "0_00451", + "0_00452", + "0_00453", + "0_00454", + "0_00455", + "0_00456", + "0_00457", + "0_00458", + "0_00459", + "0_00460", + "0_00461", + "0_00462", + "0_00463", + "0_00464", + "0_00465", + "0_00466", + "0_00467", + "0_00468", + "0_00469", + "0_00470", + "0_00471" + ], + "target_frame_names": [ + "2_00065", + "2_00066", + "2_00067", + "2_00068", + "2_00069", + "2_00070", + "2_00071", + "2_00072", + "2_00073", + "2_00074", + "2_00075", + "2_00076", + "2_00077", + "2_00078", + "2_00079", + "2_00080", + "2_00081", + "2_00082", + "2_00083", + "2_00084", + "2_00085", + "2_00086", + "2_00087", + "2_00088", + "2_00089", + "2_00090", + "2_00091", + "2_00092", + "2_00093", + "2_00094", + "2_00095", + "2_00096", + "2_00097", + "2_00098", + "2_00099", + "2_00100", + "2_00101", + "2_00102", + "2_00103", + "2_00104", + "2_00105", + "2_00106", + "2_00107", + "2_00108", + "2_00109", + "2_00110", + "2_00111", + "2_00112", + "2_00113", + "2_00114", + "2_00115", + "2_00116", + "2_00117", + "2_00118", + "2_00119", + "2_00120", + "2_00121", + "2_00122", + "2_00123", + "2_00124", + "2_00125", + "2_00126", + "2_00127", + "2_00128", + "2_00129", + "2_00130", + "2_00131", + "2_00132", + "2_00133", + "2_00134", + "2_00135", + "2_00136", + "2_00137", + "2_00138", + "2_00139", + "2_00140", + "2_00141", + "2_00142", + "2_00143", + "2_00144", + "2_00145", + "2_00146", + "2_00147", + "2_00148", + "2_00149", + "2_00150", + "2_00151", + "2_00152", + "2_00153", + "2_00154", + "2_00155", + "2_00156", + "2_00157", + "2_00158", + "2_00218", + "2_00219", + "2_00220", + "2_00221", + "2_00222", + "2_00223", + "2_00224", + "2_00225", + "2_00226", + "2_00227", + "2_00228", + "2_00229", + "2_00230", + "2_00231", + "2_00232", + "2_00233", + "2_00234", + "2_00235", + "2_00236", + "2_00237", + "2_00238", + "2_00239", + "2_00240", + "2_00241", + "2_00242", + "2_00243", + "2_00244", + "2_00245", + "2_00246", + "2_00247", + "2_00248", + "2_00249", + "2_00250", + "2_00251", + "2_00252", + "2_00253", + "2_00254", + "2_00255", + "2_00256", + "2_00257", + "2_00258", + "2_00259", + "2_00260", + "2_00261", + "2_00262", + "2_00263", + "2_00264", + "2_00265", + "2_00266", + "2_00267", + "2_00268", + "2_00269", + "2_00270", + "2_00271", + "2_00272", + "2_00273", + "2_00274", + "2_00275", + "2_00276", + "2_00277", + "2_00278", + "2_00279", + "2_00280", + "2_00281", + "2_00282", + "2_00283", + "2_00284", + "2_00285", + "2_00286", + "2_00287", + "2_00288", + "2_00289", + "2_00290", + "2_00291", + "2_00292", + "2_00293", + "2_00294", + "2_00295", + "2_00296", + "2_00297", + "2_00298", + "2_00299", + "2_00300", + "2_00301", + "2_00302", + "2_00303", + "2_00304", + "2_00305", + "2_00306", + "2_00307", + "2_00308", + "2_00309", + "2_00310", + "2_00311", + "2_00312", + "2_00313", + "2_00314", + "2_00315", + "2_00316", + "2_00317", + "2_00318", + "2_00319", + "2_00320", + "2_00321", + "2_00322", + "2_00323", + "2_00324", + "2_00325", + "2_00326", + "2_00327", + "2_00328", + "2_00329", + "2_00330", + "2_00331", + "2_00332", + "2_00333", + "2_00334", + "2_00335", + "2_00336", + "2_00337", + "2_00338", + "2_00423", + "2_00424", + "2_00425", + "2_00426", + "2_00427", + "2_00428", + "2_00429", + "2_00430", + "2_00431", + "2_00432", + "2_00433", + "2_00434", + "2_00435", + "2_00436", + "2_00437", + "2_00438", + "2_00439", + "2_00440", + "2_00441", + "2_00442", + "2_00443", + "2_00444", + "2_00445", + "2_00446", + "2_00447", + "2_00448", + "2_00449", + "2_00450", + "2_00451", + "2_00452", + "2_00453", + "2_00454", + "2_00455", + "2_00456", + "2_00457", + "2_00458", + "2_00459", + "2_00460", + "2_00461", + "2_00462", + "2_00463", + "2_00464", + "2_00465", + "2_00466", + "2_00467", + "2_00468", + "2_00469", + "2_00470", + "2_00471" + ], + "original_time_ids": [ + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268, + 269, + 270, + 271, + 272, + 273, + 274, + 275, + 276, + 277, + 278, + 279, + 280, + 281, + 282, + 283, + 284, + 285, + 286, + 287, + 288, + 289, + 290, + 291, + 292, + 293, + 294, + 295, + 296, + 297, + 298, + 299, + 300, + 301, + 302, + 303, + 304, + 305, + 306, + 307, + 308, + 309, + 310, + 311, + 312, + 313, + 314, + 315, + 316, + 317, + 318, + 319, + 320, + 321, + 322, + 323, + 324, + 325, + 326, + 327, + 328, + 329, + 330, + 331, + 332, + 333, + 334, + 335, + 336, + 337, + 338, + 423, + 424, + 425, + 426, + 427, + 428, + 429, + 430, + 431, + 432, + 433, + 434, + 435, + 436, + 437, + 438, + 439, + 440, + 441, + 442, + 443, + 444, + 445, + 446, + 447, + 448, + 449, + 450, + 451, + 452, + 453, + 454, + 455, + 456, + 457, + 458, + 459, + 460, + 461, + 462, + 463, + 464, + 465, + 466, + 467, + 468, + 469, + 470, + 471 + ], + "source_camera_id": 0, + "target_camera_id": 2 +} diff --git a/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/boom_up/transforms.json b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..397ec6f8df98f75f909e9b3608c6b6337e635fe2 --- /dev/null +++ b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/boom_up/transforms.json @@ -0,0 +1,4808 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 137, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00015281095693353564, + 9.454473183723167e-05, + -0.00017298538296017796 + ], + [ + -0.00015282332606147975, + 1.0, + 0.0001308531645918265, + -0.0003619329072535038 + ], + [ + -9.452473750570789e-05, + -0.00013086760009173304, + 1.0, + -0.00011619761789916083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + 0.00029360686312429607, + 0.00029413201264105737, + 0.0001689009998645976 + ], + [ + -0.00029381419881246984, + 0.9999997019767761, + 0.0007050363346934319, + -0.001208541011917131 + ], + [ + -0.00029392490978352726, + -0.0007051227148622274, + 0.9999997019767761, + 0.0004785953084458871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999985098838806, + 0.0007547845016233623, + 0.00156905478797853, + 2.5981239698868353e-05 + ], + [ + -0.0007575366762466729, + 0.999998152256012, + 0.0017541872803121805, + -0.0027924036155180893 + ], + [ + -0.0015677278861403465, + -0.0017553733196109533, + 0.9999972581863403, + 0.00143065784667509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999956488609314, + -8.561230060877278e-05, + 0.0029411306604743004, + 0.00012783777083313907 + ], + [ + 7.824521890142933e-05, + 0.9999968409538269, + 0.0025048688985407352, + -0.0037244304863955167 + ], + [ + -0.002941336017102003, + -0.002504628151655197, + 0.9999925494194031, + 0.0041864703710684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999929070472717, + 0.0001408472453476861, + 0.0037566900718957186, + -0.0015559720850005225 + ], + [ + -0.00015295388584490865, + 0.9999948143959045, + 0.003222595900297165, + -0.004174129978534492 + ], + [ + -0.0037562164943665266, + -0.0032231477089226246, + 0.9999877214431763, + 0.006107560738318545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999926090240479, + 0.0007249152986332774, + 0.0037689527962356806, + -0.001694783718609388 + ], + [ + -0.0007435694569721818, + 0.9999874830245972, + 0.004950384609401226, + -0.00601952855803949 + ], + [ + -0.0037653169129043818, + -0.004953150637447834, + 0.999980628490448, + 0.00833444666076342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999907612800598, + 0.0006774791399948299, + 0.004238612949848175, + -0.0016607437598662835 + ], + [ + -0.000704616482835263, + 0.9999792575836182, + 0.006404184736311436, + -0.007370198400252882 + ], + [ + -0.004234186373651028, + -0.006407111883163452, + 0.9999704957008362, + 0.013256999762619242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999868273735046, + 0.0015402118442580104, + 0.004901085514575243, + -0.00470536402777618 + ], + [ + -0.0015756342327222228, + 0.9999725818634033, + 0.0072318450547754765, + -0.008533633593469859 + ], + [ + -0.004889812786132097, + -0.007239471655339003, + 0.9999618530273438, + 0.016391923421350145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999898076057434, + 0.0018369132885709405, + 0.004124348051846027, + -0.0059610727989553094 + ], + [ + -0.0018679556669667363, + 0.9999698400497437, + 0.007535446900874376, + -0.008654902579591554 + ], + [ + -0.004110381938517094, + -0.007543074432760477, + 0.999963104724884, + 0.02174263729385155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999974370002747, + 0.000492562132421881, + 0.002214243169873953, + -0.004713453791448367 + ], + [ + -0.0005117107066325843, + 0.9999623894691467, + 0.008655671961605549, + -0.011191740796408233 + ], + [ + -0.0022098966874182224, + -0.00865678209811449, + 0.9999600648880005, + 0.02722966486163547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999983906745911, + -0.00048746351967565715, + 0.0017436784692108631, + -0.005789488924004699 + ], + [ + 0.0004714640963356942, + 0.9999579191207886, + 0.00916433148086071, + -0.011142517891986406 + ], + [ + -0.0017480722162872553, + -0.009163495153188705, + 0.999956488609314, + 0.03329576483434614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999987483024597, + -0.000861581414937973, + 0.0013272828655317426, + -0.005615137465407743 + ], + [ + 0.0008477658266201615, + 0.9999458193778992, + 0.0103745236992836, + -0.012524869271061001 + ], + [ + -0.0013361495221033692, + -0.01037338562309742, + 0.9999452829360962, + 0.041631100232274655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999989867210388, + -0.0009955024579539895, + 0.0010358664439991117, + -0.007155062554417836 + ], + [ + 0.0009837731486186385, + 0.9999361038208008, + 0.011262752115726471, + -0.013209694251418113 + ], + [ + -0.001047012279741466, + -0.011261722072958946, + 0.999936044216156, + 0.051036428402671044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999999403953552, + 8.155935211107135e-05, + 0.0003825852181762457, + -0.0101087681031084 + ], + [ + -8.610408985987306e-05, + 0.9999292492866516, + 0.01189410500228405, + -0.013979043296593078 + ], + [ + -0.0003815880627371371, + -0.011894136667251587, + 0.9999291896820068, + 0.05940802949754631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999988079071045, + -0.00021074646792840213, + -0.001545062055811286, + -0.010889578212000367 + ], + [ + 0.00023029600561130792, + 0.9999197721481323, + 0.012663671746850014, + -0.01535539364661364 + ], + [ + 0.0015422692522406578, + -0.012664012610912323, + 0.9999186396598816, + 0.07000308686538655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999916553497314, + -0.0003232348244637251, + -0.004071746487170458, + -0.014063577180529726 + ], + [ + 0.00037866109050810337, + 0.9999071955680847, + 0.013618994504213333, + -0.017467117074000484 + ], + [ + 0.004066966008394957, + -0.013620423153042793, + 0.9998989701271057, + 0.0808850742314997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999650716781616, + -0.0022558749187737703, + -0.008049050346016884, + -0.014219460272065857 + ], + [ + 0.0023709621746093035, + 0.9998946785926819, + 0.014317485503852367, + -0.01949039130088161 + ], + [ + 0.008015904575586319, + -0.014336069114506245, + 0.9998651146888733, + 0.09521155143704485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999201893806458, + -0.005450161639600992, + -0.011395951732993126, + -0.013338329427642747 + ], + [ + 0.005623819772154093, + 0.9998676776885986, + 0.015262505039572716, + -0.022626719251275063 + ], + [ + 0.011311260983347893, + -0.015325376763939857, + 0.9998185634613037, + 0.10932654675561934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998934268951416, + -0.0051442356780171394, + -0.01366463303565979, + -0.011776172351913855 + ], + [ + 0.005359760485589504, + 0.9998610615730286, + 0.015782974660396576, + -0.02468124996213352 + ], + [ + 0.013581544160842896, + -0.015854530036449432, + 0.9997820854187012, + 0.1243698013069875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998873472213745, + -0.0056027937680482864, + -0.013925569131970406, + -0.011384668372407118 + ], + [ + 0.005831229500472546, + 0.9998481869697571, + 0.016417931765317917, + -0.027385832347414076 + ], + [ + 0.013831468299031258, + -0.016497284173965454, + 0.9997682571411133, + 0.13954116454457535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999139904975891, + -0.005516846664249897, + -0.011897078715264797, + -0.00966043138931341 + ], + [ + 0.005725112743675709, + 0.9998297095298767, + 0.01754327304661274, + -0.03103346936404705 + ], + [ + 0.011798269115388393, + -0.01760987751185894, + 0.9997753500938416, + 0.1561822161242804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999696016311646, + -0.004238581284880638, + -0.00654827943071723, + -0.00909374655525693 + ], + [ + 0.004358425736427307, + 0.9998212456703186, + 0.018397150561213493, + -0.03414884141701109 + ], + [ + 0.006469130981713533, + -0.01842513121664524, + 0.9998093247413635, + 0.17345630905782694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999961256980896, + -0.0027829306200146675, + 0.00016908126417547464, + -0.013424698538694749 + ], + [ + 0.0027789915911853313, + 0.9997960925102234, + 0.020002709701657295, + -0.039095131022965204 + ], + [ + -0.00022471294505521655, + -0.02000216208398342, + 0.999799907207489, + 0.1897596871617305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999899864196777, + -0.002705466700717807, + 0.0035687144845724106, + -0.01544669064169284 + ], + [ + 0.002630546921864152, + 0.9997795224189758, + 0.020833712071180344, + -0.04194883393014179 + ], + [ + -0.003624292556196451, + -0.020824115723371506, + 0.9997766017913818, + 0.20539130120647742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999764561653137, + -0.0008035755599848926, + 0.006818163208663464, + -0.0176655385091983 + ], + [ + 0.000654155679512769, + 0.9997602105140686, + 0.021888969466090202, + -0.04600100545760463 + ], + [ + -0.006834117695689201, + -0.021883992478251457, + 0.9997371435165405, + 0.22250708408434602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999381899833679, + -0.0009113797568716109, + 0.011081578209996223, + -0.020311753523000173 + ], + [ + 0.0006548821111209691, + 0.9997323155403137, + 0.023127947002649307, + -0.049860743477064026 + ], + [ + -0.011099690571427345, + -0.023119259625673294, + 0.9996711015701294, + 0.2379949443617507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999895453453064, + -0.0012546045472845435, + 0.014403465203940868, + -0.022134885386570685 + ], + [ + 0.0009036760893650353, + 0.9997032284736633, + 0.024344880133867264, + -0.053510421207722494 + ], + [ + -0.014429734088480473, + -0.02432931959629059, + 0.9995998740196228, + 0.25303020523313213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9998534917831421, + -0.0018739805091172457, + 0.017014548182487488, + -0.024824923353769596 + ], + [ + 0.0014253167901188135, + 0.9996519088745117, + 0.02634335309267044, + -0.05747455827453557 + ], + [ + -0.01705799251794815, + -0.026315242052078247, + 0.9995081424713135, + 0.26825150871539816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9998077750205994, + -0.0024722174275666475, + 0.01945006474852562, + -0.025920316624208628 + ], + [ + 0.0019191859755665064, + 0.9995947480201721, + 0.028400860726833344, + -0.060478157024173175 + ], + [ + -0.019512396305799484, + -0.02835807204246521, + 0.9994073510169983, + 0.2837457510478356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9996970891952515, + -0.0019073485163971782, + 0.024537816643714905, + -0.025925905829696123 + ], + [ + 0.0011699559399858117, + 0.9995483160018921, + 0.03003060817718506, + -0.06239133293137831 + ], + [ + -0.024584010243415833, + -0.029992803931236267, + 0.9992477297782898, + 0.29786484893411397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9994542002677917, + -0.0014825770631432533, + 0.033002451062202454, + -0.028395148411886218 + ], + [ + 0.000432308588642627, + 0.9994938969612122, + 0.03180836886167526, + -0.06594960216213674 + ], + [ + -0.03303290903568268, + -0.03177674114704132, + 0.9989489912986755, + 0.3111438224201693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9991958141326904, + -0.002125207334756851, + 0.04003994166851044, + -0.03218680765096317 + ], + [ + 0.0007911827997304499, + 0.9994449615478516, + 0.03330377861857414, + -0.06986221754375627 + ], + [ + -0.04008849710226059, + -0.03324531391263008, + 0.9986429214477539, + 0.3220884939409135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9990509152412415, + -0.003292481880635023, + 0.04343291372060776, + -0.034340613565462474 + ], + [ + 0.001793720293790102, + 0.9994030594825745, + 0.03450144827365875, + -0.07359918215695549 + ], + [ + -0.04352058470249176, + -0.03439079970121384, + 0.9984604120254517, + 0.33333540225730224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.998942494392395, + -0.003975925035774708, + 0.04580545052886009, + -0.03445547365734135 + ], + [ + 0.002357017481699586, + 0.9993724822998047, + 0.035343073308467865, + -0.07701213302857736 + ], + [ + -0.04591722413897514, + -0.03519773483276367, + 0.998324990272522, + 0.3448006388019113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9987724423408508, + -0.0062836636789143085, + 0.049133285880088806, + -0.03552312048850581 + ], + [ + 0.004490536171942949, + 0.9993228316307068, + 0.03652075678110123, + -0.08093016222119331 + ], + [ + -0.049329496920108795, + -0.03625529259443283, + 0.9981243014335632, + 0.35502291154116394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9986397624015808, + -0.008156390860676765, + 0.05149795487523079, + -0.03759088548694683 + ], + [ + 0.006214732304215431, + 0.9992678165435791, + 0.03775178641080856, + -0.08471611251725869 + ], + [ + -0.051768165081739426, + -0.037380389869213104, + 0.997959315776825, + 0.363946026766344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9985973238945007, + -0.009955805726349354, + 0.05200241506099701, + -0.04041353085845271 + ], + [ + 0.007932771928608418, + 0.9992091059684753, + 0.03896522894501686, + -0.08852035035105313 + ], + [ + -0.05234921723604202, + -0.03849804773926735, + 0.9978864789009094, + 0.37340817391215003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9985966086387634, + -0.014606578275561333, + 0.05090663582086563, + -0.04130487075650736 + ], + [ + 0.012579301372170448, + 0.999123752117157, + 0.03991879150271416, + -0.09130386328872513 + ], + [ + -0.05144510418176651, + -0.03922240063548088, + 0.9979053139686584, + 0.3826280016862952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9985551834106445, + -0.0184905007481575, + 0.05045466497540474, + -0.041829868417014096 + ], + [ + 0.016463767737150192, + 0.9990522265434265, + 0.04029348865151405, + -0.09302549721563563 + ], + [ + -0.05115189030766487, + -0.039404597133398056, + 0.9979131817817688, + 0.391482198002803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.998429536819458, + -0.022734466940164566, + 0.051201917231082916, + -0.04098892972585471 + ], + [ + 0.020647455006837845, + 0.9989487528800964, + 0.040926989167928696, + -0.09523239429382717 + ], + [ + -0.05207854509353638, + -0.03980552777647972, + 0.9978493452072144, + 0.40077438299982426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9981499910354614, + -0.02952979877591133, + 0.05314650386571884, + -0.04133438505232334 + ], + [ + 0.02732277661561966, + 0.9987529516220093, + 0.0417853482067585, + -0.09728585490409067 + ], + [ + -0.05431414395570755, + -0.04025593772530556, + 0.9977120757102966, + 0.40974209863035116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.997906506061554, + -0.03559732809662819, + 0.053994741290807724, + -0.04187148145180853 + ], + [ + 0.03333868458867073, + 0.9985540509223938, + 0.042170148342847824, + -0.09897585988921277 + ], + [ + -0.05541780963540077, + -0.0402817539870739, + 0.9976503849029541, + 0.41763859124689856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9975355267524719, + -0.04401472955942154, + 0.05464034900069237, + -0.04173214539666386 + ], + [ + 0.04171247035264969, + 0.998221755027771, + 0.04258370026946068, + -0.1002295426586095 + ], + [ + -0.056417498737573624, + -0.04019956663250923, + 0.9975976347923279, + 0.42564640615464133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9971495270729065, + -0.05133833363652229, + 0.055292386561632156, + -0.0404218036270536 + ], + [ + 0.04897664114832878, + 0.9978629350662231, + 0.043253496289253235, + -0.10213111937046052 + ], + [ + -0.057394783943891525, + -0.040422163903713226, + 0.9975329041481018, + 0.43400443692089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9967167973518372, + -0.057651445269584656, + 0.0568501278758049, + -0.04032400938517907 + ], + [ + 0.055201753973960876, + 0.997515857219696, + 0.04375922307372093, + -0.10337939314982471 + ], + [ + -0.05923168361186981, + -0.04047732427716255, + 0.9974232912063599, + 0.442590283109423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9965928792953491, + -0.058395471423864365, + 0.058246441185474396, + -0.04016852818484254 + ], + [ + 0.05585945025086403, + 0.9974572658538818, + 0.04425773024559021, + -0.10447365352336098 + ], + [ + -0.060682788491249084, + -0.04085332155227661, + 0.9973207116127014, + 0.450629552716718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9965658187866211, + -0.05696986988186836, + 0.06009114906191826, + -0.03967689646627096 + ], + [ + 0.05428450182080269, + 0.997492253780365, + 0.0454130545258522, + -0.10691894450608422 + ], + [ + -0.06252763420343399, + -0.041995078325271606, + 0.9971593022346497, + 0.45960245864356264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9963860511779785, + -0.05627990514039993, + 0.06361956149339676, + -0.039029843409490936 + ], + [ + 0.05339501053094864, + 0.9975054264068604, + 0.046172402799129486, + -0.10940119571545545 + ], + [ + -0.06605943292379379, + -0.04260857403278351, + 0.9969055652618408, + 0.46841752453542806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9960622191429138, + -0.056859128177165985, + 0.06802242994308472, + -0.03814556326936273 + ], + [ + 0.05370757728815079, + 0.997435986995697, + 0.04729694128036499, + -0.11304824282141293 + ], + [ + -0.07053728401660919, + -0.04345737397670746, + 0.9965620636940002, + 0.47625283721615286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9959315061569214, + -0.05702411010861397, + 0.06977621465921402, + -0.03764993785880506 + ], + [ + 0.053753811866045, + 0.9974055290222168, + 0.04788236692547798, + -0.11759959520662533 + ], + [ + -0.07232563942670822, + -0.043936822563409805, + 0.9964128732681274, + 0.4835241218070116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9961288571357727, + -0.05440107360482216, + 0.06904976814985275, + -0.036853695260908675 + ], + [ + 0.0511900894343853, + 0.9975610375404358, + 0.047450773417949677, + -0.12253339807776845 + ], + [ + -0.0714627280831337, + -0.0437324196100235, + 0.996484100818634, + 0.49079800057498846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9962418675422668, + -0.054146818816661835, + 0.06760387122631073, + -0.03474907306954265 + ], + [ + 0.0511179193854332, + 0.9976438283920288, + 0.04575816169381142, + -0.12613646537065507 + ], + [ + -0.06992223858833313, + -0.04213042929768562, + 0.9966623783111572, + 0.4989524587523192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9962528347969055, + -0.0542583242058754, + 0.06735196709632874, + -0.032760919520960136 + ], + [ + 0.051276795566082, + 0.9976595044136047, + 0.045235175639390945, + -0.1304386647308574 + ], + [ + -0.06964871287345886, + -0.04161207750439644, + 0.9967033267021179, + 0.5078376763993326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9961004853248596, + -0.056014467030763626, + 0.06816273927688599, + -0.0317467069335501 + ], + [ + 0.0529915951192379, + 0.9975634217262268, + 0.04537714645266533, + -0.1349920718547176 + ], + [ + -0.07053843140602112, + -0.04158814623951912, + 0.9966417551040649, + 0.515564982749193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9960060119628906, + -0.057692475616931915, + 0.06814383715391159, + -0.03093136352870394 + ], + [ + 0.054644905030727386, + 0.9974561929702759, + 0.04577174782752991, + -0.13934610617511412 + ], + [ + -0.07061117142438889, + -0.04186522215604782, + 0.9966250061988831, + 0.5230202491340392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9959902167320251, + -0.05847842991352081, + 0.0677032470703125, + -0.02866967093637761 + ], + [ + 0.05543334037065506, + 0.9974014759063721, + 0.046015579253435135, + -0.14252526488374262 + ], + [ + -0.07021823525428772, + -0.04207805171608925, + 0.9966437816619873, + 0.5321593613719896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9958760142326355, + -0.058728210628032684, + 0.06915189325809479, + -0.025382537000319536 + ], + [ + 0.05561378598213196, + 0.9973859786987305, + 0.0461340993642807, + -0.14580797141089158 + ], + [ + -0.07168050110340118, + -0.042098045349121094, + 0.9965388178825378, + 0.5409866241847767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9954899549484253, + -0.06170159950852394, + 0.07206052541732788, + -0.02333533673766343 + ], + [ + 0.05847367271780968, + 0.9972249865531921, + 0.04607829451560974, + -0.14961798896684367 + ], + [ + -0.07470366358757019, + -0.04165683686733246, + 0.9963353276252747, + 0.5483490547603544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9952688217163086, + -0.06359197944402695, + 0.0734575167298317, + -0.022005739139721675 + ], + [ + 0.06034436076879501, + 0.9971347451210022, + 0.045617010444402695, + -0.15333564316525178 + ], + [ + -0.07614792138338089, + -0.04096844419836998, + 0.9962545037269592, + 0.5561118648935328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9952049255371094, + -0.06443510949611664, + 0.07358814030885696, + -0.019888026059112128 + ], + [ + 0.0612330287694931, + 0.9971098303794861, + 0.04497280344367027, + -0.15619599306408097 + ], + [ + -0.07627328485250473, + -0.04025113210082054, + 0.9962741732597351, + 0.5649256221648744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9950919151306152, + -0.06522076576948166, + 0.07441972941160202, + -0.018588564851704764 + ], + [ + 0.061980701982975006, + 0.9970601797103882, + 0.04504898563027382, + -0.1584721996503718 + ], + [ + -0.07713907212018967, + -0.04021529480814934, + 0.9962089657783508, + 0.5737505678416175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9950053095817566, + -0.06562334299087524, + 0.07521983236074448, + -0.01761374657644945 + ], + [ + 0.06223802641034126, + 0.9969774484634399, + 0.04650137573480606, + -0.16205087242757574 + ], + [ + -0.07804404944181442, + -0.04158758372068405, + 0.9960821270942688, + 0.5802447180701967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9949945211410522, + -0.06669652462005615, + 0.07441452145576477, + -0.01620060713852153 + ], + [ + 0.06325368583202362, + 0.9968567490577698, + 0.04770316183567047, + -0.1653373956680298 + ], + [ + -0.07736225426197052, + -0.042757391929626465, + 0.9960857629776001, + 0.5872910452239654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9951032996177673, + -0.067571260035038, + 0.0721353217959404, + -0.01497157157453544 + ], + [ + 0.06422685831785202, + 0.9967937469482422, + 0.04771936312317848, + -0.167278514714802 + ], + [ + -0.07512848824262619, + -0.042852673679590225, + 0.9962526559829712, + 0.5939656040001222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.995218813419342, + -0.06855342537164688, + 0.06956963986158371, + -0.013698093702687937 + ], + [ + 0.0653330609202385, + 0.9967296123504639, + 0.04755709692835808, + -0.16929239174898933 + ], + [ + -0.07260232418775558, + -0.04278452321887016, + 0.9964428544044495, + 0.5990026037482654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9953156113624573, + -0.0696500912308693, + 0.06704965233802795, + -0.012324320891981617 + ], + [ + 0.06653843075037003, + 0.9966489672660828, + 0.047575924545526505, + -0.17149752093588605 + ], + [ + -0.07013863325119019, + -0.04289168491959572, + 0.9966146945953369, + 0.6038187619106954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.995322048664093, + -0.07163078337907791, + 0.06483083218336105, + -0.011249214323127971 + ], + [ + 0.06859711557626724, + 0.996495246887207, + 0.04787095636129379, + -0.17398586238131802 + ], + [ + -0.0680326446890831, + -0.0431998148560524, + 0.9967473745346069, + 0.6086283200475223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9954203367233276, + -0.07270568609237671, + 0.06206626072525978, + -0.010911731520558104 + ], + [ + 0.06976461410522461, + 0.996393084526062, + 0.04830855876207352, + -0.1769783590646351 + ], + [ + -0.06535469740629196, + -0.04375729709863663, + 0.9969022274017334, + 0.6121087958214476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.99559485912323, + -0.07308924198150635, + 0.05872679129242897, + -0.010810562595725059 + ], + [ + 0.07025165855884552, + 0.9963244199752808, + 0.049013443291187286, + -0.18053114414215088 + ], + [ + -0.06209329143166542, + -0.04467187821865082, + 0.9970701336860657, + 0.6154787234961987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9958266615867615, + -0.07323498278856277, + 0.05446045473217964, + -0.009213547786588179 + ], + [ + 0.07058323174715042, + 0.9962958097457886, + 0.04911907762289047, + -0.18279887692016714 + ], + [ + -0.057855959981679916, + -0.045070089399814606, + 0.9973070621490479, + 0.6198917343829047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9960190057754517, + -0.07306047528982162, + 0.05107180029153824, + -0.00865404658457812 + ], + [ + 0.07057126611471176, + 0.9963047504425049, + 0.04895409569144249, + -0.18488897120251374 + ], + [ + -0.05445968359708786, + -0.045155007392168045, + 0.9974944591522217, + 0.6229145435671157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9961717128753662, + -0.0735897421836853, + 0.04718580096960068, + -0.007908276238423936 + ], + [ + 0.07134799659252167, + 0.9963172674179077, + 0.04755410552024841, + -0.18597534430377624 + ], + [ + -0.050511524081230164, + -0.044005438685417175, + 0.9977535009384155, + 0.6264785537496209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.996304452419281, + -0.07425748556852341, + 0.0431654192507267, + -0.007960891997551216 + ], + [ + 0.07225777953863144, + 0.9963164925575256, + 0.04617597907781601, + -0.1885500902638716 + ], + [ + -0.04643533006310463, + -0.042886294424533844, + 0.9980002641677856, + 0.6295334604294861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9965529441833496, + -0.07330599427223206, + 0.03883861377835274, + -0.008051615306998 + ], + [ + 0.07166951894760132, + 0.9965448379516602, + 0.04197457432746887, + -0.18995751282748055 + ], + [ + -0.041781406849622726, + -0.03904633969068527, + 0.9983634948730469, + 0.6326951896388303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9966990351676941, + -0.07295083999633789, + 0.03562513738870621, + -0.008285342200713999 + ], + [ + 0.07164378464221954, + 0.9967554807662964, + 0.036683738231658936, + -0.19229844685863046 + ], + [ + -0.038185663521289825, + -0.034010328352451324, + 0.998691737651825, + 0.6336600946262478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9968019127845764, + -0.07308874279260635, + 0.03231128305196762, + -0.008809381958973758 + ], + [ + 0.07209747284650803, + 0.9969204068183899, + 0.030848726630210876, + -0.19315913823597572 + ], + [ + -0.03446647524833679, + -0.02842050790786743, + 0.999001681804657, + 0.6362159285036957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9969727396965027, + -0.07199066877365112, + 0.02937217615544796, + -0.010562429292237057 + ], + [ + 0.07122749090194702, + 0.9971145987510681, + 0.02625202015042305, + -0.19412199241273542 + ], + [ + -0.031177325174212456, + -0.024080440402030945, + 0.9992237687110901, + 0.6377224698224488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9970915913581848, + -0.07131411880254745, + 0.0268830806016922, + -0.011893480671021868 + ], + [ + 0.07070062309503555, + 0.9972295761108398, + 0.023120740428566933, + -0.19473780130638796 + ], + [ + -0.028457440435886383, + -0.02115284465253353, + 0.9993711709976196, + 0.6387110234169727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9970829486846924, + -0.07194807380437851, + 0.025476088747382164, + -0.012906415026415798 + ], + [ + 0.07139218598604202, + 0.997203528881073, + 0.022096725180745125, + -0.19660346832345513 + ], + [ + -0.02699466235935688, + -0.020213475450873375, + 0.9994311928749084, + 0.6399786987643251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9972251057624817, + -0.07024294137954712, + 0.024657217785716057, + -0.014363716893336351 + ], + [ + 0.06973440945148468, + 0.9973464012145996, + 0.020912213250994682, + -0.19745826914029962 + ], + [ + -0.026060720905661583, + -0.019134728237986565, + 0.999477207660675, + 0.6426298570120708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9972787499427795, + -0.06950578838586807, + 0.02457793988287449, + -0.016240612768075046 + ], + [ + 0.06902136653661728, + 0.9974139332771301, + 0.020038142800331116, + -0.19901610209661372 + ], + [ + -0.02590714581310749, + -0.018287211656570435, + 0.9994970560073853, + 0.6441179250969606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9973351359367371, + -0.06875816732645035, + 0.02439253404736519, + -0.018110986990744576 + ], + [ + 0.06830472499132156, + 0.9974843263626099, + 0.01896042190492153, + -0.19975335939842112 + ], + [ + -0.025634855031967163, + -0.017243770882487297, + 0.9995226263999939, + 0.6461445399929824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9973889589309692, + -0.0680261105298996, + 0.024243749678134918, + -0.020532151793732363 + ], + [ + 0.06759145855903625, + 0.9975448846817017, + 0.01831889897584915, + -0.20040094379116508 + ], + [ + -0.02543039247393608, + -0.01663239672780037, + 0.999538242816925, + 0.6479471797287902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9974722862243652, + -0.06683147698640823, + 0.024136971682310104, + -0.022649676117169507 + ], + [ + 0.06641025096178055, + 0.9976326823234558, + 0.01785174570977688, + -0.2007186691988917 + ], + [ + -0.02527289092540741, + -0.016203681007027626, + 0.9995492696762085, + 0.649849892121411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9974761605262756, + -0.06644415855407715, + 0.02502881921827793, + -0.024039906197611025 + ], + [ + 0.06600800156593323, + 0.9976590871810913, + 0.01786806993186474, + -0.20143147198592914 + ], + [ + -0.026157459244132042, + -0.016170872375369072, + 0.9995270371437073, + 0.6510505617705776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9974320530891418, + -0.066026471555233, + 0.02774462103843689, + -0.025186786893755198 + ], + [ + 0.06557229906320572, + 0.9977034330368042, + 0.016973629593849182, + -0.2008417323231697 + ], + [ + -0.028801612555980682, + -0.015110764652490616, + 0.9994709491729736, + 0.6540661326143891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9973422884941101, + -0.06427687406539917, + 0.03430437296628952, + -0.02728910034193712 + ], + [ + 0.06373713910579681, + 0.9978286027908325, + 0.016603000462055206, + -0.20187726774636439 + ], + [ + -0.03529707342386246, + -0.014372413046658039, + 0.9992735385894775, + 0.6553018610582084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9971978068351746, + -0.061561260372400284, + 0.04250640049576759, + -0.02951984716962804 + ], + [ + 0.06095363572239876, + 0.9980210661888123, + 0.015447130426764488, + -0.20338535243097472 + ], + [ + -0.0433732308447361, + -0.012812923640012741, + 0.9989767670631409, + 0.6555234461721471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9969214200973511, + -0.06044849753379822, + 0.04993629455566406, + -0.03337855154977125 + ], + [ + 0.05985001474618912, + 0.9981175065040588, + 0.013395830988883972, + -0.20572761945864734 + ], + [ + -0.050652049481868744, + -0.010365903377532959, + 0.9986625909805298, + 0.6536821761552025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9968252778053284, + -0.0590817965567112, + 0.053373415023088455, + -0.037064406689365996 + ], + [ + 0.058602262288331985, + 0.9982261061668396, + 0.010506652295589447, + -0.2063768600278041 + ], + [ + -0.05389948561787605, + -0.007345493882894516, + 0.9985193610191345, + 0.6542765957221169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9968588948249817, + -0.057854894548654556, + 0.054085154086351395, + -0.04076634804882547 + ], + [ + 0.057380709797143936, + 0.9982994198799133, + 0.010280872695147991, + -0.2076173788484405 + ], + [ + -0.05458797886967659, + -0.007145135197788477, + 0.998483419418335, + 0.6542261800735586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9967024326324463, + -0.062055427581071854, + 0.052281834185123444, + -0.043476361981319156 + ], + [ + 0.061561573296785355, + 0.9980425834655762, + 0.011005599983036518, + -0.20898038131349228 + ], + [ + -0.05286245793104172, + -0.007750756107270718, + 0.9985716938972473, + 0.6529958215685945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9970519542694092, + -0.058376602828502655, + 0.04979538917541504, + -0.046877517967539674 + ], + [ + 0.05786430835723877, + 0.998256266117096, + 0.011669527739286423, + -0.2106297345722423 + ], + [ + -0.050389789044857025, + -0.00875375047326088, + 0.9986912608146667, + 0.65540152120897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9973938465118408, + -0.0521683432161808, + 0.04983992874622345, + -0.04798290114575887 + ], + [ + 0.051729414612054825, + 0.9986104965209961, + 0.010057361796498299, + -0.20964341619435478 + ], + [ + -0.050295352935791016, + -0.007452960591763258, + 0.998706579208374, + 0.6597890570523519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9970531463623047, + -0.05147377774119377, + 0.05688166245818138, + -0.045463069237987784 + ], + [ + 0.05099886283278465, + 0.9986509084701538, + 0.00977044366300106, + -0.21391141625011667 + ], + [ + -0.05730784311890602, + -0.0068407510407269, + 0.9983330965042114, + 0.6562682715949931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9950366020202637, + -0.052201803773641586, + 0.08471806347370148, + -0.04881330824676244 + ], + [ + 0.0523030050098896, + 0.9986307621002197, + 0.0010260477429255843, + -0.20918214145828695 + ], + [ + -0.08465562760829926, + 0.0034100539050996304, + 0.9964044094085693, + 0.6621464269547312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9947372078895569, + -0.05204939842224121, + 0.0882539302110672, + -0.05175237340085646 + ], + [ + 0.05202095955610275, + 0.9986425638198853, + 0.002623802050948143, + -0.20990307594046873 + ], + [ + -0.08827069401741028, + 0.0019810604862868786, + 0.9960945248603821, + 0.6615785289665356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9944118857383728, + -0.05018734931945801, + 0.09287761151790619, + -0.055414530810187844 + ], + [ + 0.050263866782188416, + 0.9987348318099976, + 0.0015166690573096275, + -0.2109757867806098 + ], + [ + -0.09283621609210968, + 0.0031601935625076294, + 0.9956763982772827, + 0.6608462023713133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9942619204521179, + -0.04800444468855858, + 0.09559683501720428, + -0.05793254134957405 + ], + [ + 0.048201728612184525, + 0.9988375902175903, + 0.0002457930240780115, + -0.2096958998371573 + ], + [ + -0.09549751877784729, + 0.0043635498732328415, + 0.9954200983047485, + 0.6626791180303211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9939408302307129, + -0.04743286967277527, + 0.09915495663881302, + -0.060762051339535154 + ], + [ + 0.04777016490697861, + 0.9988577961921692, + -0.0010289375204592943, + -0.20811084995374962 + ], + [ + -0.09899289160966873, + 0.005759350955486298, + 0.9950714707374573, + 0.6638359549455345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9936599135398865, + -0.047551821917295456, + 0.10187626630067825, + -0.06468064650235807 + ], + [ + 0.04790669307112694, + 0.9988512992858887, + -0.0010381382890045643, + -0.20783618180190816 + ], + [ + -0.10170987993478775, + 0.0059121111407876015, + 0.9947965145111084, + 0.6627712075954632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9936466813087463, + -0.04581461101770401, + 0.10279719531536102, + -0.06856683229151017 + ], + [ + 0.04620564728975296, + 0.9989309310913086, + -0.0014247368089854717, + -0.20698358118534088 + ], + [ + -0.10262201726436615, + 0.00616549514234066, + 0.9947013258934021, + 0.6627681297318572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9936120510101318, + -0.04432826489210129, + 0.1037788838148117, + -0.07205360438674688 + ], + [ + 0.04476667940616608, + 0.9989956617355347, + -0.0018979893065989017, + -0.20636014342308046 + ], + [ + -0.10359051823616028, + 0.0065317009575665, + 0.9945985674858093, + 0.6636127363541163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.993478536605835, + -0.042452987283468246, + 0.10582110285758972, + -0.0751193133977187 + ], + [ + 0.0429309718310833, + 0.9990755319595337, + -0.0022420664317905903, + -0.2060084482326227 + ], + [ + -0.10562808811664581, + 0.006770447362214327, + 0.9943826794624329, + 0.6649607589334825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9930721521377563, + -0.041942112147808075, + 0.10976609587669373, + -0.07834914611542926 + ], + [ + 0.04246654361486435, + 0.9990949034690857, + -0.0024432765785604715, + -0.20610304895569298 + ], + [ + -0.10956427454948425, + 0.007087736390531063, + 0.9939544200897217, + 0.6658952052814557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9925575256347656, + -0.04089852049946785, + 0.11470337957143784, + -0.08302868342520121 + ], + [ + 0.04141625389456749, + 0.9991397261619568, + -0.002133152447640896, + -0.2074526519898106 + ], + [ + -0.1145174577832222, + 0.006867860443890095, + 0.9933974742889404, + 0.6647295392741559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.992238461971283, + -0.03858504816889763, + 0.11821196228265762, + -0.08761816047241583 + ], + [ + 0.039100971072912216, + 0.9992331862449646, + -0.002047380432486534, + -0.20879910824929965 + ], + [ + -0.11804231256246567, + 0.00665369164198637, + 0.992986261844635, + 0.6649791236870977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9921202659606934, + -0.03679672256112099, + 0.11976390331983566, + -0.09180544175700668 + ], + [ + 0.03735599294304848, + 0.9992990493774414, + -0.002427326049655676, + -0.20981841718449312 + ], + [ + -0.1195906326174736, + 0.006882098037749529, + 0.9927994608879089, + 0.6644369257877663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.992163896560669, + -0.03616788238286972, + 0.11959368735551834, + -0.09459368759656654 + ], + [ + 0.03678654134273529, + 0.9993187189102173, + -0.002968678018078208, + -0.21003573554403643 + ], + [ + -0.11940484493970871, + 0.0073448531329631805, + 0.9928184747695923, + 0.6646369332666783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9922200441360474, + -0.03595837205648422, + 0.11919046938419342, + -0.09655537588302704 + ], + [ + 0.03664446622133255, + 0.9993219971656799, + -0.0035689359065145254, + -0.20915952890234835 + ], + [ + -0.11898133158683777, + 0.007908840663731098, + 0.9928649663925171, + 0.6651187193847042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9921925663948059, + -0.036252349615097046, + 0.1193300113081932, + -0.0984748459475882 + ], + [ + 0.03695765137672424, + 0.9993099570274353, + -0.0037021380849182606, + -0.20842312758459763 + ], + [ + -0.11911345273256302, + 0.008083390071988106, + 0.992847740650177, + 0.6657316086074228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9922837615013123, + -0.03734463453292847, + 0.11822976917028427, + -0.09973108685191939 + ], + [ + 0.038052625954151154, + 0.9992687702178955, + -0.0037357674445956945, + -0.2081175809397417 + ], + [ + -0.11800380796194077, + 0.008205894380807877, + 0.9929792284965515, + 0.6657985168810495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9925388097763062, + -0.03676077723503113, + 0.11625554412603378, + -0.1021917974247652 + ], + [ + 0.0374995619058609, + 0.9992879033088684, + -0.004173297435045242, + -0.20771892140893375 + ], + [ + -0.1160193458199501, + 0.008501690812408924, + 0.9932105541229248, + 0.6658615239074125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9929136037826538, + -0.037054579704999924, + 0.11291372030973434, + -0.10309160133988103 + ], + [ + 0.037839170545339584, + 0.9992722272872925, + -0.004812650382518768, + -0.20701728095026578 + ], + [ + -0.1126532182097435, + 0.009051106870174408, + 0.993593156337738, + 0.664978495486738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9931296110153198, + -0.03779323771595955, + 0.11074851453304291, + -0.10412424997262218 + ], + [ + 0.038625892251729965, + 0.9992392659187317, + -0.005381845869123936, + -0.20642773026929184 + ], + [ + -0.11046086251735687, + 0.00962262973189354, + 0.9938338994979858, + 0.6642132670180324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9932031631469727, + -0.03928679600358009, + 0.10956262052059174, + -0.10501840438091141 + ], + [ + 0.04020237550139427, + 0.999172568321228, + -0.006159412208944559, + -0.20526888528290918 + ], + [ + -0.10922998189926147, + 0.010522225871682167, + 0.9939607977867126, + 0.6642711473533007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9931519031524658, + -0.040807656943798065, + 0.10947147756814957, + -0.10640541948378086 + ], + [ + 0.04177039861679077, + 0.9991059899330139, + -0.006514727137982845, + -0.20447057538172778 + ], + [ + -0.10910775512456894, + 0.011042780242860317, + 0.9939686059951782, + 0.6646648529396557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9931012392044067, + -0.04114844277501106, + 0.10980332642793655, + -0.10770386770531973 + ], + [ + 0.04216104373335838, + 0.9990869164466858, + -0.00691519770771265, + -0.2033949800712221 + ], + [ + -0.10941851884126663, + 0.011496913619339466, + 0.9939292669296265, + 0.6652524538879173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9929545521736145, + -0.04177621379494667, + 0.11088751256465912, + -0.10853367954602136 + ], + [ + 0.042787063866853714, + 0.9990614056587219, + -0.006751073524355888, + -0.2027680234873996 + ], + [ + -0.11050139367580414, + 0.011448059231042862, + 0.9938100576400757, + 0.6661483884569915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9927260875701904, + -0.04155769944190979, + 0.11299505084753036, + -0.11004077829420567 + ], + [ + 0.042560867965221405, + 0.9990728497505188, + -0.00647918414324522, + -0.2028077892959118 + ], + [ + -0.11262103170156479, + 0.011241222731769085, + 0.9935744404792786, + 0.6660339124849998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9925193190574646, + -0.04183449223637581, + 0.11469627916812897, + -0.11131998863728608 + ], + [ + 0.04282226786017418, + 0.9990637302398682, + -0.0061606913805007935, + -0.20334648866863814 + ], + [ + -0.11433115601539612, + 0.011026158928871155, + 0.9933815002441406, + 0.6661703888984287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9923714399337769, + -0.04160330072045326, + 0.11605221778154373, + -0.11287389761110878 + ], + [ + 0.042577262967824936, + 0.9990755915641785, + -0.00592509051784873, + -0.20436176250086113 + ], + [ + -0.1156984344124794, + 0.010821076110005379, + 0.9932254552841187, + 0.6657204991192831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9922388195991516, + -0.04172558709979057, + 0.1171373501420021, + -0.11390810412190416 + ], + [ + 0.0427076555788517, + 0.9990702867507935, + -0.0058854022063314915, + -0.20527626468854793 + ], + [ + -0.11678286641836166, + 0.01084238663315773, + 0.993098258972168, + 0.666165473810671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9921472072601318, + -0.0417044572532177, + 0.11791792511940002, + -0.11491026393795277 + ], + [ + 0.04271174594759941, + 0.9990692734718323, + -0.0060270680114626884, + -0.20623085135046176 + ], + [ + -0.11755682528018951, + 0.011016218923032284, + 0.9930050373077393, + 0.6659746484468033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9921106696128845, + -0.04113752394914627, + 0.1184237003326416, + -0.11652646662996095 + ], + [ + 0.04216334968805313, + 0.9990916848182678, + -0.0061689564026892185, + -0.20721982586033205 + ], + [ + -0.11806236207485199, + 0.011113427579402924, + 0.9929440021514893, + 0.6656489330836955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9921705722808838, + -0.040383920073509216, + 0.11818083375692368, + -0.11778817594270496 + ], + [ + 0.041426852345466614, + 0.9991211891174316, + -0.006380652077496052, + -0.2081256364198292 + ], + [ + -0.11781930178403854, + 0.011226554401218891, + 0.9929715991020203, + 0.6647967331981122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9922382235527039, + -0.04174836352467537, + 0.11713404953479767, + -0.11793698522207491 + ], + [ + 0.04281478002667427, + 0.9990612268447876, + -0.006601773202419281, + -0.20873247244778803 + ], + [ + -0.11674846708774567, + 0.011565599590539932, + 0.9930941462516785, + 0.664444082849385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9923568367958069, + -0.04154236614704132, + 0.11619852483272552, + -0.11892118275384693 + ], + [ + 0.042584531009197235, + 0.9990717172622681, + -0.006499606184661388, + -0.20971229339347167 + ], + [ + -0.11582064628601074, + 0.011398187838494778, + 0.9932047128677368, + 0.6640878621208043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9924716949462891, + -0.040945712476968765, + 0.1154269352555275, + -0.1199250612188788 + ], + [ + 0.041992370039224625, + 0.9990957975387573, + -0.006649632006883621, + -0.2103882330305436 + ], + [ + -0.1150502935051918, + 0.011446621268987656, + 0.9932937026023865, + 0.6642952214269077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9925404191017151, + -0.04092920571565628, + 0.11484016478061676, + -0.1208411193014506 + ], + [ + 0.04202362149953842, + 0.9990912079811096, + -0.007124121300876141, + -0.2106696775292649 + ], + [ + -0.11444421112537384, + 0.011896978132426739, + 0.9933584332466125, + 0.6639925555195934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9925409555435181, + -0.04142451658844948, + 0.11465805023908615, + -0.12199694320888203 + ], + [ + 0.04255376383662224, + 0.9990666508674622, + -0.007417707704007626, + -0.2111596035606721 + ], + [ + -0.1142437532544136, + 0.01224150974303484, + 0.9933773279190063, + 0.6638838789521662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.992602527141571, + -0.04105403646826744, + 0.1142573431134224, + -0.12335135089507436 + ], + [ + 0.04219072684645653, + 0.9990810751914978, + -0.007547091692686081, + -0.21202273750129869 + ], + [ + -0.11384250968694687, + 0.012311862781643867, + 0.9934225082397461, + 0.6632771211361294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9926797747612, + -0.040385738015174866, + 0.11382365226745605, + -0.12486103470711148 + ], + [ + 0.04156218469142914, + 0.9991040229797363, + -0.007980654016137123, + -0.2123876055373865 + ], + [ + -0.11339937150478363, + 0.012652993202209473, + 0.9934689402580261, + 0.6631355380310732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9927608966827393, + -0.03864942491054535, + 0.11371913552284241, + -0.12674740759984535 + ], + [ + 0.0398876890540123, + 0.9991669058799744, + -0.008632815442979336, + -0.21285289030741245 + ], + [ + -0.11329074203968048, + 0.013106315396726131, + 0.9934754371643066, + 0.6624583183219382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9927971959114075, + -0.03803517296910286, + 0.11360922455787659, + -0.12825383167604312 + ], + [ + 0.03929052874445915, + 0.9991888403892517, + -0.008830349892377853, + -0.21358165662078296 + ], + [ + -0.1131812036037445, + 0.013230513781309128, + 0.9934862852096558, + 0.6623642629067249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9928642511367798, + -0.037470653653144836, + 0.11321013420820236, + -0.12954209268312245 + ], + [ + 0.038744814693927765, + 0.9992079138755798, + -0.009074865840375423, + -0.21411632943679304 + ], + [ + -0.11278042942285538, + 0.013396414928138256, + 0.9935296177864075, + 0.6617386225467164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9929565191268921, + -0.03580467402935028, + 0.11293946206569672, + -0.13099679201841355 + ], + [ + 0.037047915160655975, + 0.9992735981941223, + -0.008927824907004833, + -0.21503845006227496 + ], + [ + -0.11253777146339417, + 0.013049113564193249, + 0.9935617446899414, + 0.6621129644103348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/move_left/transforms.json b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d59a0565540c4f47c6e09b2e4431cff4ea5cd07d --- /dev/null +++ b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/move_left/transforms.json @@ -0,0 +1,4808 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 137, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00015281095693353564, + 9.454473183723167e-05, + -0.00017298538296017796 + ], + [ + -0.00015282332606147975, + 1.0, + 0.0001308531645918265, + -0.0003619329072535038 + ], + [ + -9.452473750570789e-05, + -0.00013086760009173304, + 1.0, + -0.00011619761789916083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + 0.00029360686312429607, + 0.00029413201264105737, + -0.0005661771865561604 + ], + [ + -0.00029381419881246984, + 0.9999997019767761, + 0.0007050363346934319, + -0.00047303107355272755 + ], + [ + -0.00029392490978352726, + -0.0007051227148622274, + 0.9999997019767761, + 0.00047829295711862335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999985098838806, + 0.0007547845016233623, + 0.00156905478797853, + -0.0014434948270397453 + ], + [ + -0.0007575366762466729, + 0.999998152256012, + 0.0017541872803121805, + -0.0013207040729706504 + ], + [ + -0.0015677278861403465, + -0.0017553733196109533, + 0.9999972581863403, + 0.0014303818975082215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999956488609314, + -8.561230060877278e-05, + 0.0029411306604743004, + -0.0020782238346702584 + ], + [ + 7.824521890142933e-05, + 0.9999968409538269, + 0.0025048688985407352, + -0.0015187277016861223 + ], + [ + -0.002941336017102003, + -0.002504628151655197, + 0.9999925494194031, + 0.004187433697242181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999929070472717, + 0.0001408472453476861, + 0.0037566900718957186, + -0.004496713437359122 + ], + [ + -0.00015295388584490865, + 0.9999948143959045, + 0.003222595900297165, + -0.0012325188953528755 + ], + [ + -0.0037562164943665266, + -0.0032231477089226246, + 0.9999877214431763, + 0.006109128587687498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999926090240479, + 0.0007249152986332774, + 0.0037689527962356806, + -0.005368562004364589 + ], + [ + -0.0007435694569721818, + 0.9999874830245972, + 0.004950384609401226, + -0.00234037027685725 + ], + [ + -0.0037653169129043818, + -0.004953150637447834, + 0.999980628490448, + 0.008330079625011422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999907612800598, + 0.0006774791399948299, + 0.004238612949848175, + -0.006069478828131276 + ], + [ + -0.000704616482835263, + 0.9999792575836182, + 0.006404184736311436, + -0.0029554166029008818 + ], + [ + -0.004234186373651028, + -0.006407111883163452, + 0.9999704957008362, + 0.013247413326547865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999868273735046, + 0.0015402118442580104, + 0.004901085514575243, + -0.009844427490059067 + ], + [ + -0.0015756342327222228, + 0.9999725818634033, + 0.0072318450547754765, + -0.003378606010622153 + ], + [ + -0.004889812786132097, + -0.007239471655339003, + 0.9999618530273438, + 0.016379829588935108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999898076057434, + 0.0018369132885709405, + 0.004124348051846027, + -0.011832560412585735 + ], + [ + -0.0018679556669667363, + 0.9999698400497437, + 0.007535446900874376, + -0.002761739075375611 + ], + [ + -0.004110381938517094, + -0.007543074432760477, + 0.999963104724884, + 0.021722444985061883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999974370002747, + 0.000492562132421881, + 0.002214243169873953, + -0.011327824286897393 + ], + [ + -0.0005117107066325843, + 0.9999623894691467, + 0.008655671961605549, + -0.00457095630995087 + ], + [ + -0.0022098966874182224, + -0.00865678209811449, + 0.9999600648880005, + 0.0271870016493588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999983906745911, + -0.00048746351967565715, + 0.0017436784692108631, + -0.013146002557786073 + ], + [ + 0.0004714640963356942, + 0.9999579191207886, + 0.00916433148086071, + -0.003793352781512487 + ], + [ + -0.0017480722162872553, + -0.009163495153188705, + 0.999956488609314, + 0.03324123966569245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999987483024597, + -0.000861581414937973, + 0.0013272828655317426, + -0.013710331308710225 + ], + [ + 0.0008477658266201615, + 0.9999458193778992, + 0.0103745236992836, + -0.004443929132043302 + ], + [ + -0.0013361495221033692, + -0.01037338562309742, + 0.9999452829360962, + 0.04155800494028132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999989867210388, + -0.0009955024579539895, + 0.0010358664439991117, + -0.015987366870703068 + ], + [ + 0.0009837731486186385, + 0.9999361038208008, + 0.011262752115726471, + -0.004395408980781212 + ], + [ + -0.001047012279741466, + -0.011261722072958946, + 0.999936044216156, + 0.05094629861037795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999999403953552, + 8.155935211107135e-05, + 0.0003825852181762457, + -0.01966681145131588 + ], + [ + -8.610408985987306e-05, + 0.9999292492866516, + 0.01189410500228405, + -0.004420073006964658 + ], + [ + -0.0003815880627371371, + -0.011894136667251587, + 0.9999291896820068, + 0.05929798307706198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999988079071045, + -0.00021074646792840213, + -0.001545062055811286, + -0.021185853036449237 + ], + [ + 0.00023029600561130792, + 0.9999197721481323, + 0.012663671746850014, + -0.005064472568675924 + ], + [ + 0.0015422692522406578, + -0.012664012610912323, + 0.9999186396598816, + 0.06985684572855996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999916553497314, + -0.0003232348244637251, + -0.004071746487170458, + -0.025096461998627466 + ], + [ + 0.00037866109050810337, + 0.9999071955680847, + 0.013618994504213333, + -0.0064429052966742725 + ], + [ + 0.004066966008394957, + -0.013620423153042793, + 0.9998989701271057, + 0.08068999273339561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999650716781616, + -0.0022558749187737703, + -0.008049050346016884, + -0.026010294937912154 + ], + [ + 0.0023709621746093035, + 0.9998946785926819, + 0.014317485503852367, + -0.007754818166551345 + ], + [ + 0.008015904575586319, + -0.014336069114506245, + 0.9998651146888733, + 0.09494858704069081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999201893806458, + -0.005450161639600992, + -0.011395951732993126, + -0.025905458815395833 + ], + [ + 0.005623819772154093, + 0.9998676776885986, + 0.015262505039572716, + -0.010198671027319505 + ], + [ + 0.011311260983347893, + -0.015325376763939857, + 0.9998185634613037, + 0.10899358878377825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998934268951416, + -0.0051442356780171394, + -0.01366463303565979, + -0.025078141415382137 + ], + [ + 0.005359760485589504, + 0.9998610615730286, + 0.015782974660396576, + -0.01151873274185859 + ], + [ + 0.013581544160842896, + -0.015854530036449432, + 0.9997820854187012, + 0.12398020620731746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998873472213745, + -0.0056027937680482864, + -0.013925569131970406, + -0.02543195710681817 + ], + [ + 0.005831229500472546, + 0.9998481869697571, + 0.016417931765317917, + -0.013498830735710832 + ], + [ + 0.013831468299031258, + -0.016497284173965454, + 0.9997682571411133, + 0.13911745403208495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999139904975891, + -0.005516846664249897, + -0.011897078715264797, + -0.024446178994634575 + ], + [ + 0.005725112743675709, + 0.9998297095298767, + 0.01754327304661274, + -0.016414284117191154 + ], + [ + 0.011798269115388393, + -0.01760987751185894, + 0.9997753500938416, + 0.15574974337976208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999696016311646, + -0.004238581284880638, + -0.00654827943071723, + -0.024599902320872336 + ], + [ + 0.004358425736427307, + 0.9998212456703186, + 0.018397150561213493, + -0.018777724344502478 + ], + [ + 0.006469130981713533, + -0.01842513121664524, + 0.9998093247413635, + 0.173071912362117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999961256980896, + -0.0027829306200146675, + 0.00016908126417547464, + -0.029646124449722908 + ], + [ + 0.0027789915911853313, + 0.9997960925102234, + 0.020002709701657295, + -0.02296691321398077 + ], + [ + -0.00022471294505521655, + -0.02000216208398342, + 0.999799907207489, + 0.1894397578374243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999899864196777, + -0.002705466700717807, + 0.0035687144845724106, + -0.03240404021652306 + ], + [ + 0.002630546921864152, + 0.9997795224189758, + 0.020833712071180344, + -0.025085285079822984 + ], + [ + -0.003624292556196451, + -0.020824115723371506, + 0.9997766017913818, + 0.20510042184409139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999764561653137, + -0.0008035755599848926, + 0.006818163208663464, + -0.035326362598468275 + ], + [ + 0.000654155679512769, + 0.9997602105140686, + 0.021888969466090202, + -0.028369722136994825 + ], + [ + -0.006834117695689201, + -0.021883992478251457, + 0.9997371435165405, + 0.2222414980587714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999381899833679, + -0.0009113797568716109, + 0.011081578209996223, + -0.038709723554989875 + ], + [ + 0.0006548821111209691, + 0.9997323155403137, + 0.023127947002649307, + -0.03149534948020386 + ], + [ + -0.011099690571427345, + -0.023119259625673294, + 0.9996711015701294, + 0.2377739964011947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999895453453064, + -0.0012546045472845435, + 0.014403465203940868, + -0.04127451884834206 + ], + [ + 0.0009036760893650353, + 0.9997032284736633, + 0.024344880133867264, + -0.03441572388272856 + ], + [ + -0.014429734088480473, + -0.02432931959629059, + 0.9995998740196228, + 0.2528409484513652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9998534917831421, + -0.0018739805091172457, + 0.017014548182487488, + -0.04471215993604239 + ], + [ + 0.0014253167901188135, + 0.9996519088745117, + 0.02634335309267044, + -0.03765682446109542 + ], + [ + -0.01705799251794815, + -0.026315242052078247, + 0.9995081424713135, + 0.2680677250849412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9998077750205994, + -0.0024722174275666475, + 0.01945006474852562, + -0.046555492939317926 + ], + [ + 0.0019191859755665064, + 0.9995947480201721, + 0.028400860726833344, + -0.03993777780560777 + ], + [ + -0.019512396305799484, + -0.02835807204246521, + 0.9994073510169983, + 0.2835636341944337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9996970891952515, + -0.0019073485163971782, + 0.024537816643714905, + -0.047283647516194516 + ], + [ + 0.0011699559399858117, + 0.9995483160018921, + 0.03003060817718506, + -0.041102382606528834 + ], + [ + -0.024584010243415833, + -0.029992803931236267, + 0.9992477297782898, + 0.2977495143628296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9994542002677917, + -0.0014825770631432533, + 0.033002451062202454, + -0.05047463614712744 + ], + [ + 0.000432308588642627, + 0.9994938969612122, + 0.03180836886167526, + -0.04391147888921242 + ], + [ + -0.03303290903568268, + -0.03177674114704132, + 0.9989489912986755, + 0.31117153200594816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9991958141326904, + -0.002125207334756851, + 0.04003994166851044, + -0.05501103681676528 + ], + [ + 0.0007911827997304499, + 0.9994449615478516, + 0.03330377861857414, + -0.04709878582229173 + ], + [ + -0.04008849710226059, + -0.03324531391263008, + 0.9986429214477539, + 0.3222444782636183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9990509152412415, + -0.003292481880635023, + 0.04343291372060776, + -0.05792516408597721 + ], + [ + 0.001793720293790102, + 0.9994030594825745, + 0.03450144827365875, + -0.05012602123486645 + ], + [ + -0.04352058470249176, + -0.03439079970121384, + 0.9984604120254517, + 0.3335502207279205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.998942494392395, + -0.003975925035774708, + 0.04580545052886009, + -0.05879099412876017 + ], + [ + 0.002357017481699586, + 0.9993724822998047, + 0.035343073308467865, + -0.05281984601460863 + ], + [ + -0.04591722413897514, + -0.03519773483276367, + 0.998324990272522, + 0.34506074405713555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9987724423408508, + -0.0062836636789143085, + 0.049133285880088806, + -0.06064952313899994 + ], + [ + 0.004490536171942949, + 0.9993228316307068, + 0.03652075678110123, + -0.05605935483472422 + ], + [ + -0.049329496920108795, + -0.03625529259443283, + 0.9981243014335632, + 0.35534976664930584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9986397624015808, + -0.008156390860676765, + 0.05149795487523079, + -0.06350108060766668 + ], + [ + 0.006214732304215431, + 0.9992678165435791, + 0.03775178641080856, + -0.05915959931992214 + ], + [ + -0.051768165081739426, + -0.037380389869213104, + 0.997959315776825, + 0.364316300393137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9985973238945007, + -0.009955805726349354, + 0.05200241506099701, + -0.06711052546606344 + ], + [ + 0.007932771928608418, + 0.9992091059684753, + 0.03896522894501686, + -0.062280682685291945 + ], + [ + -0.05234921723604202, + -0.03849804773926735, + 0.9978864789009094, + 0.3737748225164764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9985966086387634, + -0.014606578275561333, + 0.05090663582086563, + -0.06886995745932355 + ], + [ + 0.012579301372170448, + 0.999123752117157, + 0.03991879150271416, + -0.06446405102581004 + ], + [ + -0.05144510418176651, + -0.03922240063548088, + 0.9979053139686584, + 0.3829605311210103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9985551834106445, + -0.0184905007481575, + 0.05045466497540474, + -0.07024732135674533 + ], + [ + 0.016463767737150192, + 0.9990522265434265, + 0.04029348865151405, + -0.06557081969016615 + ], + [ + -0.05115189030766487, + -0.039404597133398056, + 0.9979131817817688, + 0.3918104311944369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.998429536819458, + -0.022734466940164566, + 0.051201917231082916, + -0.07027230924543212 + ], + [ + 0.020647455006837845, + 0.9989487528800964, + 0.040926989167928696, + -0.06717816589893226 + ], + [ + -0.05207854509353638, + -0.03980552777647972, + 0.9978493452072144, + 0.4011263298199457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9981499910354614, + -0.02952979877591133, + 0.05314650386571884, + -0.07156026122324607 + ], + [ + 0.02732277661561966, + 0.9987529516220093, + 0.0417853482067585, + -0.0687143791686086 + ], + [ + -0.05431414395570755, + -0.04025593772530556, + 0.9977120757102966, + 0.41015557528418656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.997906506061554, + -0.03559732809662819, + 0.053994741290807724, + -0.07302858233451844 + ], + [ + 0.03333868458867073, + 0.9985540509223938, + 0.042170148342847824, + -0.06987745546297554 + ], + [ + -0.05541780963540077, + -0.0402817539870739, + 0.9976503849029541, + 0.4180948988068849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9975355267524719, + -0.04401472955942154, + 0.05464034900069237, + -0.07389766801806058 + ], + [ + 0.04171247035264969, + 0.998221755027771, + 0.04258370026946068, + -0.07069028533776017 + ], + [ + -0.056417498737573624, + -0.04019956663250923, + 0.9975976347923279, + 0.42614725405788595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9971495270729065, + -0.05133833363652229, + 0.055292386561632156, + -0.07357252275242525 + ], + [ + 0.04897664114832878, + 0.9978629350662231, + 0.043253496289253235, + -0.07212956743040944 + ], + [ + -0.057394783943891525, + -0.040422163903713226, + 0.9975329041481018, + 0.4345410712309839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9967167973518372, + -0.057651445269584656, + 0.0568501278758049, + -0.07443592311704861 + ], + [ + 0.055201753973960876, + 0.997515857219696, + 0.04375922307372093, + -0.0728927603977568 + ], + [ + -0.05923168361186981, + -0.04047732427716255, + 0.9974232912063599, + 0.44319704179378117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9965928792953491, + -0.058395471423864365, + 0.058246441185474396, + -0.07507623096599297 + ], + [ + 0.05585945025086403, + 0.9974572658538818, + 0.04425773024559021, + -0.07331784344826113 + ], + [ + -0.060682788491249084, + -0.04085332155227661, + 0.9973207116127014, + 0.45128567478455167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9965658187866211, + -0.05696986988186836, + 0.06009114906191826, + -0.0753111918182934 + ], + [ + 0.05428450182080269, + 0.997492253780365, + 0.0454130545258522, + -0.07501632936627549 + ], + [ + -0.06252763420343399, + -0.041995078325271606, + 0.9971593022346497, + 0.46029694215120637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9963860511779785, + -0.05627990514039993, + 0.06361956149339676, + -0.07540874042931725 + ], + [ + 0.05339501053094864, + 0.9975054264068604, + 0.046172402799129486, + -0.07677385046092026 + ], + [ + -0.06605943292379379, + -0.04260857403278351, + 0.9969055652618408, + 0.46922795862945565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9960622191429138, + -0.056859128177165985, + 0.06802242994308472, + -0.0753074931747773 + ], + [ + 0.05370757728815079, + 0.997435986995697, + 0.04729694128036499, + -0.07974018130232306 + ], + [ + -0.07053728401660919, + -0.04345737397670746, + 0.9965620636940002, + 0.4772085987469729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9959315061569214, + -0.05702411010861397, + 0.06977621465921402, + -0.07558730932719568 + ], + [ + 0.053753811866045, + 0.9974055290222168, + 0.04788236692547798, + -0.08360037892673383 + ], + [ + -0.07232563942670822, + -0.043936822563409805, + 0.9964128732681274, + 0.4845469541792922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9961288571357727, + -0.05440107360482216, + 0.06904976814985275, + -0.07547611918519526 + ], + [ + 0.0511900894343853, + 0.9975610375404358, + 0.047450773417949677, + -0.08774034851504599 + ], + [ + -0.0714627280831337, + -0.0437324196100235, + 0.996484100818634, + 0.4918174972100293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9962418675422668, + -0.054146818816661835, + 0.06760387122631073, + -0.07413864880800247 + ], + [ + 0.0511179193854332, + 0.9976438283920288, + 0.04575816169381142, + -0.09064174378290772 + ], + [ + -0.06992223858833313, + -0.04213042929768562, + 0.9966623783111572, + 0.4999946516007185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9962528347969055, + -0.0542583242058754, + 0.06735196709632874, + -0.07292752265930176 + ], + [ + 0.051276795566082, + 0.9976595044136047, + 0.045235175639390945, + -0.09425344351021682 + ], + [ + -0.06964871287345886, + -0.04161207750439644, + 0.9967033267021179, + 0.5089096653987379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9961004853248596, + -0.056014467030763626, + 0.06816273927688599, + -0.07274824551799719 + ], + [ + 0.0529915951192379, + 0.9975634217262268, + 0.04537714645266533, + -0.098181552141357 + ], + [ + -0.07053843140602112, + -0.04158814623951912, + 0.9966417551040649, + 0.5166931923917111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9960060119628906, + -0.057692475616931915, + 0.06814383715391159, + -0.07276939171202043 + ], + [ + 0.054644905030727386, + 0.9974561929702759, + 0.04577174782752991, + -0.10191095209516146 + ], + [ + -0.07061117142438889, + -0.04186522215604782, + 0.9966250061988831, + 0.5241616324138115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9959902167320251, + -0.05847842991352081, + 0.0677032470703125, + -0.07131362355807248 + ], + [ + 0.05543334037065506, + 0.9974014759063721, + 0.046015579253435135, + -0.10443096528487171 + ], + [ + -0.07021823525428772, + -0.04207805171608925, + 0.9966437816619873, + 0.5332973835003727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9958760142326355, + -0.058728210628032684, + 0.06915189325809479, + -0.06880741684752352 + ], + [ + 0.05561378598213196, + 0.9973859786987305, + 0.0461340993642807, + -0.10702911641667871 + ], + [ + -0.07168050110340118, + -0.042098045349121094, + 0.9965388178825378, + 0.5422047253040706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9954899549484253, + -0.06170159950852394, + 0.07206052541732788, + -0.06764410041710911 + ], + [ + 0.05847367271780968, + 0.9972249865531921, + 0.04607829451560974, + -0.11027326478403719 + ], + [ + -0.07470366358757019, + -0.04165683686733246, + 0.9963353276252747, + 0.5497341055861291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9952688217163086, + -0.06359197944402695, + 0.0734575167298317, + -0.06716303801273599 + ], + [ + 0.06034436076879501, + 0.9971347451210022, + 0.045617010444402695, + -0.11338428853846648 + ], + [ + -0.07614792138338089, + -0.04096844419836998, + 0.9962545037269592, + 0.5576121661264231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9952049255371094, + -0.06443510949611664, + 0.07358814030885696, + -0.06585770404952415 + ], + [ + 0.0612330287694931, + 0.9971098303794861, + 0.04497280344367027, + -0.11559545534717686 + ], + [ + -0.07627328485250473, + -0.04025113210082054, + 0.9962741732597351, + 0.566488347909249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9950919151306152, + -0.06522076576948166, + 0.07441972941160202, + -0.06536706547965021 + ], + [ + 0.061980701982975006, + 0.9970601797103882, + 0.04504898563027382, + -0.11721869328004472 + ], + [ + -0.07713907212018967, + -0.04021529480814934, + 0.9962089657783508, + 0.5753795580171487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9950053095817566, + -0.06562334299087524, + 0.07521983236074448, + -0.06518606114036898 + ], + [ + 0.06223802641034126, + 0.9969774484634399, + 0.04650137573480606, + -0.12012506011489998 + ], + [ + -0.07804404944181442, + -0.04158758372068405, + 0.9960821270942688, + 0.5818798977826887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9949945211410522, + -0.06669652462005615, + 0.07441452145576477, + -0.06460122834233678 + ], + [ + 0.06325368583202362, + 0.9968567490577698, + 0.04770316183567047, + -0.12277607955038547 + ], + [ + -0.07736225426197052, + -0.042757391929626465, + 0.9960857629776001, + 0.5888686198302928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9951032996177673, + -0.067571260035038, + 0.0721353217959404, + -0.06419840779374628 + ], + [ + 0.06422685831785202, + 0.9967937469482422, + 0.04771936312317848, + -0.12407872502089423 + ], + [ + -0.07512848824262619, + -0.042852673679590225, + 0.9962526559829712, + 0.5954607336453217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.995218813419342, + -0.06855342537164688, + 0.06956963986158371, + -0.06375796376344035 + ], + [ + 0.0653330609202385, + 0.9967296123504639, + 0.04755709692835808, + -0.12546196579933167 + ], + [ + -0.07260232418775558, + -0.04278452321887016, + 0.9964428544044495, + 0.6004057943820953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9953156113624573, + -0.0696500912308693, + 0.06704965233802795, + -0.06322341697180972 + ], + [ + 0.06653843075037003, + 0.9966489672660828, + 0.047575924545526505, + -0.12704370852888508 + ], + [ + -0.07013863325119019, + -0.04289168491959572, + 0.9966146945953369, + 0.6051210057647789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.995322048664093, + -0.07163078337907791, + 0.06483083218336105, + -0.06302780764287008 + ], + [ + 0.06859711557626724, + 0.996495246887207, + 0.04787095636129379, + -0.1289555118912283 + ], + [ + -0.0680326446890831, + -0.0431998148560524, + 0.9967473745346069, + 0.6098334426717723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9954203367233276, + -0.07270568609237671, + 0.06206626072525978, + -0.06353264587986118 + ], + [ + 0.06976461410522461, + 0.996393084526062, + 0.04830855876207352, + -0.13132828000713798 + ], + [ + -0.06535469740629196, + -0.04375729709863663, + 0.9969022274017334, + 0.6131727853954276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.99559485912323, + -0.07308924198150635, + 0.05872679129242897, + -0.06424476765096188 + ], + [ + 0.07025165855884552, + 0.9963244199752808, + 0.049013443291187286, + -0.1342275060713291 + ], + [ + -0.06209329143166542, + -0.04467187821865082, + 0.9970701336860657, + 0.6163497941568494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9958266615867615, + -0.07323498278856277, + 0.05446045473217964, + -0.06345270474386566 + ], + [ + 0.07058323174715042, + 0.9962958097457886, + 0.04911907762289047, + -0.13583257700700094 + ], + [ + -0.057855959981679916, + -0.045070089399814606, + 0.9973070621490479, + 0.6205404292874257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9960190057754517, + -0.07306047528982162, + 0.05107180029153824, + -0.06368019634529071 + ], + [ + 0.07057126611471176, + 0.9963047504425049, + 0.04895409569144249, + -0.13724092421505382 + ], + [ + -0.05445968359708786, + -0.045155007392168045, + 0.9974944591522217, + 0.6233934607247219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9961717128753662, + -0.0735897421836853, + 0.04718580096960068, + -0.06375611690694796 + ], + [ + 0.07134799659252167, + 0.9963172674179077, + 0.04755410552024841, + -0.13768650737098034 + ], + [ + -0.050511524081230164, + -0.044005438685417175, + 0.9977535009384155, + 0.6268182096783729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.996304452419281, + -0.07425748556852341, + 0.0431654192507267, + -0.06463770047925851 + ], + [ + 0.07225777953863144, + 0.9963164925575256, + 0.04617597907781601, + -0.13962933486875365 + ], + [ + -0.04643533006310463, + -0.042886294424533844, + 0.9980002641677856, + 0.6297213505515281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9965529441833496, + -0.07330599427223206, + 0.03883861377835274, + -0.06547786715056966 + ], + [ + 0.07166951894760132, + 0.9965448379516602, + 0.04197457432746887, + -0.14031346996917443 + ], + [ + -0.041781406849622726, + -0.03904633969068527, + 0.9983634948730469, + 0.6328419983907438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9966990351676941, + -0.07295083999633789, + 0.03562513738870621, + -0.06648687952581574 + ], + [ + 0.07164378464221954, + 0.9967554807662964, + 0.036683738231658936, + -0.14196148692246746 + ], + [ + -0.038185663521289825, + -0.034010328352451324, + 0.998691737651825, + 0.633887281981023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9968019127845764, + -0.07308874279260635, + 0.03231128305196762, + -0.0678107048768331 + ], + [ + 0.07209747284650803, + 0.9969204068183899, + 0.030848726630210876, + -0.1421578734948793 + ], + [ + -0.03446647524833679, + -0.02842050790786743, + 0.999001681804657, + 0.6365493458202657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9969727396965027, + -0.07199066877365112, + 0.02937217615544796, + -0.07029861976556918 + ], + [ + 0.07122749090194702, + 0.9971145987510681, + 0.02625202015042305, + -0.14238124226822574 + ], + [ + -0.031177325174212456, + -0.024080440402030945, + 0.9992237687110901, + 0.6381190604420708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9970915913581848, + -0.07131411880254745, + 0.0268830806016922, + -0.07238409808453392 + ], + [ + 0.07070062309503555, + 0.9972295761108398, + 0.023120740428566933, + -0.14227991205475787 + ], + [ + -0.028457440435886383, + -0.02115284465253353, + 0.9993711709976196, + 0.6391245924429421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9970829486846924, + -0.07194807380437851, + 0.025476088747382164, + -0.07421848837505368 + ], + [ + 0.07139218598604202, + 0.997203528881073, + 0.022096725180745125, + -0.14350546483388718 + ], + [ + -0.02699466235935688, + -0.020213475450873375, + 0.9994311928749084, + 0.640367619778194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9972251057624817, + -0.07024294137954712, + 0.024657217785716057, + -0.07637105198467481 + ], + [ + 0.06973440945148468, + 0.9973464012145996, + 0.020912213250994682, + -0.1435749255011187 + ], + [ + -0.026060720905661583, + -0.019134728237986565, + 0.999477207660675, + 0.643032175703796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9972787499427795, + -0.06950578838586807, + 0.02457793988287449, + -0.07899264443446609 + ], + [ + 0.06902136653661728, + 0.9974139332771301, + 0.020038142800331116, + -0.14440477464128942 + ], + [ + -0.02590714581310749, + -0.018287211656570435, + 0.9994970560073853, + 0.6445661565179334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9973351359367371, + -0.06875816732645035, + 0.02439253404736519, + -0.08160624990568441 + ], + [ + 0.06830472499132156, + 0.9974843263626099, + 0.01896042190492153, + -0.1444125154932194 + ], + [ + -0.025634855031967163, + -0.017243770882487297, + 0.9995226263999939, + 0.6466443030930618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9973889589309692, + -0.0680261105298996, + 0.024243749678134918, + -0.08477041333475534 + ], + [ + 0.06759145855903625, + 0.9975448846817017, + 0.01831889897584915, + -0.14433022251023966 + ], + [ + -0.02543039247393608, + -0.01663239672780037, + 0.999538242816925, + 0.6484776471193661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9974722862243652, + -0.06683147698640823, + 0.024136971682310104, + -0.08760350872488583 + ], + [ + 0.06641025096178055, + 0.9976326823234558, + 0.01785174570977688, + -0.14388671199078945 + ], + [ + -0.02527289092540741, + -0.016203681007027626, + 0.9995492696762085, + 0.6504033806679004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9974761605262756, + -0.06644415855407715, + 0.02502881921827793, + -0.0897526317878681 + ], + [ + 0.06600800156593323, + 0.9976590871810913, + 0.01786806993186474, + -0.1438883166979341 + ], + [ + -0.026157459244132042, + -0.016170872375369072, + 0.9995270371437073, + 0.6516673803712953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9974320530891418, + -0.066026471555233, + 0.02774462103843689, + -0.09165294468402863 + ], + [ + 0.06557229906320572, + 0.9977034330368042, + 0.016973629593849182, + -0.1425835364498198 + ], + [ + -0.028801612555980682, + -0.015110764652490616, + 0.9994709491729736, + 0.6549218106083572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9973422884941101, + -0.06427687406539917, + 0.03430437296628952, + -0.09442090032731786 + ], + [ + 0.06373713910579681, + 0.9978286027908325, + 0.016603000462055206, + -0.1428097193074577 + ], + [ + -0.03529707342386246, + -0.014372413046658039, + 0.9992735385894775, + 0.6566250381114729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9971978068351746, + -0.061561260372400284, + 0.04250640049576759, + -0.0972492874983479 + ], + [ + 0.06095363572239876, + 0.9980210661888123, + 0.015447130426764488, + -0.14344059768790268 + ], + [ + -0.0433732308447361, + -0.012812923640012741, + 0.9989767670631409, + 0.6574784070006846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9969214200973511, + -0.06044849753379822, + 0.04993629455566406, + -0.10179660504355151 + ], + [ + 0.05985001474618912, + 0.9981175065040588, + 0.013395830988883972, + -0.1450161935213734 + ], + [ + -0.050652049481868744, + -0.010365903377532959, + 0.9986625909805298, + 0.6562889267854831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9968252778053284, + -0.0590817965567112, + 0.053373415023088455, + -0.10616420787923476 + ], + [ + 0.058602262288331985, + 0.9982261061668396, + 0.010506652295589447, + -0.14488677024457822 + ], + [ + -0.05389948561787605, + -0.007345493882894516, + 0.9985193610191345, + 0.6573231437106563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9968588948249817, + -0.057854894548654556, + 0.054085154086351395, + -0.11056358411031611 + ], + [ + 0.057380709797143936, + 0.9982994198799133, + 0.010280872695147991, + -0.14535069950472781 + ], + [ + -0.05458797886967659, + -0.007145135197788477, + 0.998483419418335, + 0.6573657800224336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9967024326324463, + -0.062055427581071854, + 0.052281834185123444, + -0.11431971880442955 + ], + [ + 0.061561573296785355, + 0.9980425834655762, + 0.011005599983036518, + -0.14631878430955111 + ], + [ + -0.05286245793104172, + -0.007750756107270718, + 0.9985716938972473, + 0.6560143251465086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9970519542694092, + -0.058376602828502655, + 0.04979538917541504, + -0.1182741556535749 + ], + [ + 0.05786430835723877, + 0.998256266117096, + 0.011669527739286423, + -0.14701498448848724 + ], + [ + -0.050389789044857025, + -0.00875375047326088, + 0.9986912608146667, + 0.6582180767594015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9973938465118408, + -0.0521683432161808, + 0.04983992874622345, + -0.11975443323745448 + ], + [ + 0.051729414612054825, + 0.9986104965209961, + 0.010057361796498299, + -0.14489345985793453 + ], + [ + -0.050295352935791016, + -0.007452960591763258, + 0.998706579208374, + 0.6627187206464655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9970531463623047, + -0.05147377774119377, + 0.05688166245818138, + -0.11793478310984724 + ], + [ + 0.05099886283278465, + 0.9986509084701538, + 0.00977044366300106, + -0.14841193662518087 + ], + [ + -0.05730784311890602, + -0.0068407510407269, + 0.9983330965042114, + 0.6597564382533379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9950366020202637, + -0.052201803773641586, + 0.08471806347370148, + -0.12196599100442494 + ], + [ + 0.0523030050098896, + 0.9986307621002197, + 0.0010260477429255843, + -0.14307836430859477 + ], + [ + -0.08465562760829926, + 0.0034100539050996304, + 0.9964044094085693, + 0.6682980738251525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9947372078895569, + -0.05204939842224121, + 0.0882539302110672, + -0.12564319266992457 + ], + [ + 0.05202095955610275, + 0.9986425638198853, + 0.002623802050948143, + -0.14308272740420172 + ], + [ + -0.08827069401741028, + 0.0019810604862868786, + 0.9960945248603821, + 0.6679492410491494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9944118857383728, + -0.05018734931945801, + 0.09287761151790619, + -0.12991903507534197 + ], + [ + 0.050263866782188416, + 0.9987348318099976, + 0.0015166690573096275, + -0.143327490010244 + ], + [ + -0.09283621609210968, + 0.0031601935625076294, + 0.9956763982772827, + 0.6676930051187382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9942619204521179, + -0.04800444468855858, + 0.09559683501720428, + -0.13303702942588752 + ], + [ + 0.048201728612184525, + 0.9988375902175903, + 0.0002457930240780115, + -0.14119419804500305 + ], + [ + -0.09549751877784729, + 0.0043635498732328415, + 0.9954200983047485, + 0.6698749891537077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9939408302307129, + -0.04743286967277527, + 0.09915495663881302, + -0.1365679309648626 + ], + [ + 0.04777016490697861, + 0.9988577961921692, + -0.0010289375204592943, + -0.13887726502931294 + ], + [ + -0.09899289160966873, + 0.005759350955486298, + 0.9950714707374573, + 0.6714613020146156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9936599135398865, + -0.047551821917295456, + 0.10187626630067825, + -0.14124033293303323 + ], + [ + 0.04790669307112694, + 0.9988512992858887, + -0.0010381382890045643, + -0.13791378428611686 + ], + [ + -0.10170987993478775, + 0.0059121111407876015, + 0.9947965145111084, + 0.6706845892921967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9936466813087463, + -0.04581461101770401, + 0.10279719531536102, + -0.1457621194422245 + ], + [ + 0.04620564728975296, + 0.9989309310913086, + -0.0014247368089854717, + -0.1362297181971371 + ], + [ + -0.10262201726436615, + 0.00616549514234066, + 0.9947013258934021, + 0.6708472023444141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9936120510101318, + -0.04432826489210129, + 0.1037788838148117, + -0.14989912807941438 + ], + [ + 0.04476667940616608, + 0.9989956617355347, + -0.0018979893065989017, + -0.1347929697483778 + ], + [ + -0.10359051823616028, + 0.0065317009575665, + 0.9945985674858093, + 0.6718719027936458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.993478536605835, + -0.042452987283468246, + 0.10582110285758972, + -0.1535758920452174 + ], + [ + 0.0429309718310833, + 0.9990755319595337, + -0.0022420664317905903, + -0.13359455875230625 + ], + [ + -0.10562808811664581, + 0.006770447362214327, + 0.9943826794624329, + 0.6734732950763668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9930721521377563, + -0.041942112147808075, + 0.10976609587669373, + -0.15749729573726656 + ], + [ + 0.04246654361486435, + 0.9990949034690857, + -0.0024432765785604715, + -0.13294911555507605 + ], + [ + -0.10956427454948425, + 0.007087736390531063, + 0.9939544200897217, + 0.6748156531768686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9925575256347656, + -0.04089852049946785, + 0.11470337957143784, + -0.1628175693399766 + ], + [ + 0.04141625389456749, + 0.9991397261619568, + -0.002133152447640896, + -0.13351076626328423 + ], + [ + -0.1145174577832222, + 0.006867860443890095, + 0.9933974742889404, + 0.6741011998725727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.992238461971283, + -0.03858504816889763, + 0.11821196228265762, + -0.16796175758628284 + ], + [ + 0.039100971072912216, + 0.9992331862449646, + -0.002047380432486534, + -0.13396527383147794 + ], + [ + -0.11804231256246567, + 0.00665369164198637, + 0.992986261844635, + 0.6746980769559741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9921202659606934, + -0.03679672256112099, + 0.11976390331983566, + -0.17275699894217883 + ], + [ + 0.03735599294304848, + 0.9992990493774414, + -0.002427326049655676, + -0.13413613259737545 + ], + [ + -0.1195906326174736, + 0.006882098037749529, + 0.9927994608879089, + 0.6743873538613757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.992163896560669, + -0.03616788238286972, + 0.11959368735551834, + -0.17625532886561224 + ], + [ + 0.03678654134273529, + 0.9993187189102173, + -0.002968678018078208, + -0.13359935673720696 + ], + [ + -0.11940484493970871, + 0.0073448531329631805, + 0.9928184747695923, + 0.6747023504665669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9922200441360474, + -0.03595837205648422, + 0.11919046938419342, + -0.1789608518866932 + ], + [ + 0.03664446622133255, + 0.9993219971656799, + -0.0035689359065145254, + -0.1320037562016617 + ], + [ + -0.11898133158683777, + 0.007908840663731098, + 0.9928649663925171, + 0.6752885934841983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9921925663948059, + -0.036252349615097046, + 0.1193300113081932, + -0.18165789062485976 + ], + [ + 0.03695765137672424, + 0.9993099570274353, + -0.0037021380849182606, + -0.1305858087452019 + ], + [ + -0.11911345273256302, + 0.008083390071988106, + 0.992847740650177, + 0.6760195885401439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9922837615013123, + -0.03734463453292847, + 0.11822976917028427, + -0.18376693388118465 + ], + [ + 0.038052625954151154, + 0.9992687702178955, + -0.0037357674445956945, + -0.1296653809299802 + ], + [ + -0.11800380796194077, + 0.008205894380807877, + 0.9929792284965515, + 0.6760994558222592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9925388097763062, + -0.03676077723503113, + 0.11625554412603378, + -0.18695764576687532 + ], + [ + 0.0374995619058609, + 0.9992879033088684, + -0.004173297435045242, + -0.12851282270515665 + ], + [ + -0.1160193458199501, + 0.008501690812408924, + 0.9932105541229248, + 0.6761161975124304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9929136037826538, + -0.037054579704999924, + 0.11291372030973434, + -0.18866984011495813 + ], + [ + 0.037839170545339584, + 0.9992722272872925, + -0.004812650382518768, + -0.12713350491214762 + ], + [ + -0.1126532182097435, + 0.009051106870174408, + 0.993593156337738, + 0.67509069308529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9931296110153198, + -0.03779323771595955, + 0.11074851453304291, + -0.19053984170450883 + ], + [ + 0.038625892251729965, + 0.9992392659187317, + -0.005381845869123936, + -0.1259057268883814 + ], + [ + -0.11046086251735687, + 0.00962262973189354, + 0.9938338994979858, + 0.6742790891624549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9932031631469727, + -0.03928679600358009, + 0.10956262052059174, + -0.19232454063261256 + ], + [ + 0.04020237550139427, + 0.999172568321228, + -0.006159412208944559, + -0.12417949397829087 + ], + [ + -0.10922998189926147, + 0.010522225871682167, + 0.9939607977867126, + 0.6743972531574614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9931519031524658, + -0.040807656943798065, + 0.10947147756814957, + -0.19459608784493276 + ], + [ + 0.04177039861679077, + 0.9991059899330139, + -0.006514727137982845, + -0.12281548082828522 + ], + [ + -0.10910775512456894, + 0.011042780242860317, + 0.9939686059951782, + 0.6749129868386423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9931012392044067, + -0.04114844277501106, + 0.10980332642793655, + -0.1966797594638432 + ], + [ + 0.04216104373335838, + 0.9990869164466858, + -0.00691519770771265, + -0.12107121013926671 + ], + [ + -0.10941851884126663, + 0.011496913619339466, + 0.9939292669296265, + 0.6756547374157783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9929545521736145, + -0.04177621379494667, + 0.11088751256465912, + -0.19831179012270536 + ], + [ + 0.042787063866853714, + 0.9990614056587219, + -0.006751073524355888, + -0.11979716147898752 + ], + [ + -0.11050139367580414, + 0.011448059231042862, + 0.9938100576400757, + 0.676729296870968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9927260875701904, + -0.04155769944190979, + 0.11299505084753036, + -0.20054060965776443 + ], + [ + 0.042560867965221405, + 0.9990728497505188, + -0.00647918414324522, + -0.11911299088969826 + ], + [ + -0.11262103170156479, + 0.011241222731769085, + 0.9935744404792786, + 0.6768718597479164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9925193190574646, + -0.04183449223637581, + 0.11469627916812897, + -0.2025865013985073 + ], + [ + 0.04282226786017418, + 0.9990637302398682, + -0.0061606913805007935, + -0.11897224198807688 + ], + [ + -0.11433115601539612, + 0.011026158928871155, + 0.9933815002441406, + 0.6772313284523347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9923714399337769, + -0.04160330072045326, + 0.11605221778154373, + -0.2048672385075513 + ], + [ + 0.042577262967824936, + 0.9990755915641785, + -0.00592509051784873, + -0.11926154355956789 + ], + [ + -0.1156984344124794, + 0.010821076110005379, + 0.9932254552841187, + 0.67697701439371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9922388195991516, + -0.04172558709979057, + 0.1171373501420021, + -0.20666079354636813 + ], + [ + 0.0427076555788517, + 0.9990702867507935, + -0.0058854022063314915, + -0.11948491100988844 + ], + [ + -0.11678286641836166, + 0.01084238663315773, + 0.993098258972168, + 0.6776142097461749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9921472072601318, + -0.0417044572532177, + 0.11791792511940002, + -0.208413024772616 + ], + [ + 0.04271174594759941, + 0.9990692734718323, + -0.0060270680114626884, + -0.11973675143466715 + ], + [ + -0.11755682528018951, + 0.011016218923032284, + 0.9930050373077393, + 0.6776029458269477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9921106696128845, + -0.04113752394914627, + 0.1184237003326416, + -0.21073439016061674 + ], + [ + 0.04216334968805313, + 0.9990916848182678, + -0.0061689564026892185, + -0.11997047765728305 + ], + [ + -0.11806236207485199, + 0.011113427579402924, + 0.9929440021514893, + 0.6774267256698188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9921705722808838, + -0.040383920073509216, + 0.11818083375692368, + -0.21269208148998375 + ], + [ + 0.041426852345466614, + 0.9991211891174316, + -0.006380652077496052, + -0.12010225987828829 + ], + [ + -0.11781930178403854, + 0.011226554401218891, + 0.9929715991020203, + 0.6766575655680808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9922382235527039, + -0.04174836352467537, + 0.11713404953479767, + -0.21373280137777328 + ], + [ + 0.04281478002667427, + 0.9990612268447876, + -0.006601773202419281, + -0.12013905163963928 + ], + [ + -0.11674846708774567, + 0.011565599590539932, + 0.9930941462516785, + 0.6763320037328145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9923568367958069, + -0.04154236614704132, + 0.11619852483272552, + -0.215469123028657 + ], + [ + 0.042584531009197235, + 0.9990717172622681, + -0.006499606184661388, + -0.12039326938307461 + ], + [ + -0.11582064628601074, + 0.011398187838494778, + 0.9932047128677368, + 0.6759678561897838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9924716949462891, + -0.040945712476968765, + 0.1154269352555275, + -0.2171878760351854 + ], + [ + 0.041992370039224625, + 0.9990957975387573, + -0.006649632006883621, + -0.1203079104423523 + ], + [ + -0.1150502935051918, + 0.011446621268987656, + 0.9932937026023865, + 0.676200813405654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9925404191017151, + -0.04092920571565628, + 0.11484016478061676, + -0.21886875283192186 + ], + [ + 0.04202362149953842, + 0.9990912079811096, + -0.007124121300876141, + -0.11988900204682175 + ], + [ + -0.11444421112537384, + 0.011896978132426739, + 0.9933584332466125, + 0.6759763889124288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9925409555435181, + -0.04142451658844948, + 0.11465805023908615, + -0.220831878045026 + ], + [ + 0.04255376383662224, + 0.9990666508674622, + -0.007417707704007626, + -0.11972822465331238 + ], + [ + -0.1142437532544136, + 0.01224150974303484, + 0.9933773279190063, + 0.6759743820328046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.992602527141571, + -0.04105403646826744, + 0.1142573431134224, + -0.2229167993016103 + ], + [ + 0.04219072684645653, + 0.9990810751914978, + -0.007547091692686081, + -0.11985168188865132 + ], + [ + -0.11384250968694687, + 0.012311862781643867, + 0.9934225082397461, + 0.6754287555430304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9926797747612, + -0.040385738015174866, + 0.11382365226745605, + -0.22512915800599492 + ], + [ + 0.04156218469142914, + 0.9991040229797363, + -0.007980654016137123, + -0.11944972123293315 + ], + [ + -0.11339937150478363, + 0.012652993202209473, + 0.9934689402580261, + 0.6753700322526343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9927608966827393, + -0.03864942491054535, + 0.11371913552284241, + -0.2276132699321298 + ], + [ + 0.0398876890540123, + 0.9991669058799744, + -0.008632815442979336, + -0.11904102572075584 + ], + [ + -0.11329074203968048, + 0.013106315396726131, + 0.9934754371643066, + 0.6748192070271163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9927971959114075, + -0.03803517296910286, + 0.11360922455787659, + -0.22982113860985812 + ], + [ + 0.03929052874445915, + 0.9991888403892517, + -0.008830349892377853, + -0.11900344062048723 + ], + [ + -0.1131812036037445, + 0.013230513781309128, + 0.9934862852096558, + 0.6748195350608405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9928642511367798, + -0.037470653653144836, + 0.11321013420820236, + -0.23181798396741643 + ], + [ + 0.038744814693927765, + 0.9992079138755798, + -0.009074865840375423, + -0.11877624238567318 + ], + [ + -0.11278042942285538, + 0.013396414928138256, + 0.9935296177864075, + 0.6742635298903812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9929565191268921, + -0.03580467402935028, + 0.11293946206569672, + -0.2338729113340378 + ], + [ + 0.037047915160655975, + 0.9992735981941223, + -0.008927824907004833, + -0.1188158817589283 + ], + [ + -0.11253777146339417, + 0.013049113564193249, + 0.9935617446899414, + 0.6746716529130936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/move_right/transforms.json b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..b0515a18fa952dfd0eaa8000b239b88b8c5ec675 --- /dev/null +++ b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/move_right/transforms.json @@ -0,0 +1,4808 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 137, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00015281095693353564, + 9.454473183723167e-05, + -0.00017298538296017796 + ], + [ + -0.00015282332606147975, + 1.0, + 0.0001308531645918265, + -0.0003619329072535038 + ], + [ + -9.452473750570789e-05, + -0.00013086760009173304, + 1.0, + -0.00011619761789916083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + 0.00029360686312429607, + 0.00029413201264105737, + 0.0009044109610840678 + ], + [ + -0.00029381419881246984, + 0.9999997019767761, + 0.0007050363346934319, + -0.0004734631532568635 + ], + [ + -0.00029392490978352726, + -0.0007051227148622274, + 0.9999997019767761, + 0.0004778607146042358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999985098838806, + 0.0007547845016233623, + 0.00156905478797853, + 0.0014976772608540213 + ], + [ + -0.0007575366762466729, + 0.999998152256012, + 0.0017541872803121805, + -0.0013229321220184348 + ], + [ + -0.0015677278861403465, + -0.0017553733196109533, + 0.9999972581863403, + 0.0014257709331372205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999956488609314, + -8.561230060877278e-05, + 0.0029411306604743004, + 0.0023335216750103214 + ], + [ + 7.824521890142933e-05, + 0.9999968409538269, + 0.0025048688985407352, + -0.0015183825021909691 + ], + [ + -0.002941336017102003, + -0.002504628151655197, + 0.9999925494194031, + 0.004174457214813789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999929070472717, + 0.0001408472453476861, + 0.0037566900718957186, + 0.0013855977805660052 + ], + [ + -0.00015295388584490865, + 0.9999948143959045, + 0.003222595900297165, + -0.0012334186240931398 + ], + [ + -0.0037562164943665266, + -0.0032231477089226246, + 0.9999877214431763, + 0.006087033196544165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999926090240479, + 0.0007249152986332774, + 0.0037689527962356806, + 0.001984324826694587 + ], + [ + -0.0007435694569721818, + 0.9999874830245972, + 0.004950384609401226, + -0.002345837699334986 + ], + [ + -0.0037653169129043818, + -0.004953150637447834, + 0.999980628490448, + 0.008302393471240066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999907612800598, + 0.0006774791399948299, + 0.004238612949848175, + 0.0027539690655163105 + ], + [ + -0.000704616482835263, + 0.9999792575836182, + 0.006404184736311436, + -0.002961633807161193 + ], + [ + -0.004234186373651028, + -0.006407111883163452, + 0.9999704957008362, + 0.013210052858545061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999868273735046, + 0.0015402118442580104, + 0.004901085514575243, + 0.0004495545564328924 + ], + [ + -0.0015756342327222228, + 0.9999725818634033, + 0.0072318450547754765, + -0.003394825774782529 + ], + [ + -0.004889812786132097, + -0.007239471655339003, + 0.9999618530273438, + 0.016329493280842572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999898076057434, + 0.0018369132885709405, + 0.004124348051846027, + -6.797444075345993e-05 + ], + [ + -0.0018679556669667363, + 0.9999698400497437, + 0.007535446900874376, + -0.0027837150243987495 + ], + [ + -0.004110381938517094, + -0.007543074432760477, + 0.999963104724884, + 0.021674087550491095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999974370002747, + 0.000492562132421881, + 0.002214243169873953, + 0.001907435908694478 + ], + [ + -0.0005117107066325843, + 0.9999623894691467, + 0.008655671961605549, + -0.0045777289516563 + ], + [ + -0.0022098966874182224, + -0.00865678209811449, + 0.9999600648880005, + 0.02715775301673121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999983906745911, + -0.00048746351967565715, + 0.0017436784692108631, + 0.001559856128604974 + ], + [ + 0.0004714640963356942, + 0.9999579191207886, + 0.00916433148086071, + -0.0037864194859781384 + ], + [ + -0.0017480722162872553, + -0.009163495153188705, + 0.999956488609314, + 0.03321553272133529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999987483024597, + -0.000861581414937973, + 0.0013272828655317426, + 0.0024661190314766244 + ], + [ + 0.0008477658266201615, + 0.9999458193778992, + 0.0103745236992836, + -0.00443021527308327 + ], + [ + -0.0013361495221033692, + -0.01037338562309742, + 0.9999452829360962, + 0.04153639075683553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999989867210388, + -0.0009955024579539895, + 0.0010358664439991117, + 0.0016596740714329133 + ], + [ + 0.0009837731486186385, + 0.9999361038208008, + 0.011262752115726471, + -0.004378048278158531 + ], + [ + -0.001047012279741466, + -0.011261722072958946, + 0.999936044216156, + 0.05092782192308839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999999403953552, + 8.155935211107135e-05, + 0.0003825852181762457, + -0.0005491655319929123 + ], + [ + -8.610408985987306e-05, + 0.9999292492866516, + 0.01189410500228405, + -0.004421719114564921 + ], + [ + -0.0003815880627371371, + -0.011894136667251587, + 0.9999291896820068, + 0.05929068801115671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999988079071045, + -0.00021074646792840213, + -0.001545062055811286, + -0.0005976422854206149 + ], + [ + 0.00023029600561130792, + 0.9999197721481323, + 0.012663671746850014, + -0.0050597311803251025 + ], + [ + 0.0015422692522406578, + -0.012664012610912323, + 0.9999186396598816, + 0.06988859833081199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999916553497314, + -0.0003232348244637251, + -0.004071746487170458, + -0.003037822542383389 + ], + [ + 0.00037866109050810337, + 0.9999071955680847, + 0.013618994504213333, + -0.006434552478501299 + ], + [ + 0.004066966008394957, + -0.013620423153042793, + 0.9998989701271057, + 0.0807797052188749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999650716781616, + -0.0022558749187737703, + -0.008049050346016884, + -0.0024817050160730585 + ], + [ + 0.0023709621746093035, + 0.9998946785926819, + 0.014317485503852367, + -0.007699030821266419 + ], + [ + 0.008015904575586319, + -0.014336069114506245, + 0.9998651146888733, + 0.09513719656011638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999201893806458, + -0.005450161639600992, + -0.011395951732993126, + -0.0009074540808796869 + ], + [ + 0.005623819772154093, + 0.9998676776885986, + 0.015262505039572716, + -0.010058075533015654 + ], + [ + 0.011311260983347893, + -0.015325376763939857, + 0.9998185634613037, + 0.10927637030836194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998934268951416, + -0.0051442356780171394, + -0.01366463303565979, + 0.0013896257671363235 + ], + [ + 0.005359760485589504, + 0.9998610615730286, + 0.015782974660396576, + -0.011376856729004752 + ], + [ + 0.013581544160842896, + -0.015854530036449432, + 0.9997820854187012, + 0.1243397176703986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998873472213745, + -0.0056027937680482864, + -0.013925569131970406, + 0.0025060717126025884 + ], + [ + 0.005831229500472546, + 0.9998481869697571, + 0.016417931765317917, + -0.01333589932319763 + ], + [ + 0.013831468299031258, + -0.016497284173965454, + 0.9997682571411133, + 0.13950392152867555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999139904975891, + -0.005516846664249897, + -0.011897078715264797, + 0.004963056020000403 + ], + [ + 0.005725112743675709, + 0.9998297095298767, + 0.01754327304661274, + -0.016245898448259515 + ], + [ + 0.011798269115388393, + -0.01760987751185894, + 0.9997753500938416, + 0.15609675129492054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999696016311646, + -0.004238581284880638, + -0.00654827943071723, + 0.006281511847148924 + ], + [ + 0.004358425736427307, + 0.9998212456703186, + 0.018397150561213493, + -0.01864312590264222 + ], + [ + 0.006469130981713533, + -0.01842513121664524, + 0.9998093247413635, + 0.17327169434831696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999961256980896, + -0.0027829306200146675, + 0.00016908126417547464, + 0.0027066913816858745 + ], + [ + 0.0027789915911853313, + 0.9997960925102234, + 0.020002709701657295, + -0.02287700466250124 + ], + [ + -0.00022471294505521655, + -0.02000216208398342, + 0.999799907207489, + 0.18943248771273133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999899864196777, + -0.002705466700717807, + 0.0035687144845724106, + 0.001419150500613104 + ], + [ + 0.002630546921864152, + 0.9997795224189758, + 0.020833712071180344, + -0.024996310698642287 + ], + [ + -0.003624292556196451, + -0.020824115723371506, + 0.9997766017913818, + 0.20497783547822002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999764561653137, + -0.0008035755599848926, + 0.006818163208663464, + -3.30759102807332e-05 + ], + [ + 0.000654155679512769, + 0.9997602105140686, + 0.021888969466090202, + -0.028346634289482607 + ], + [ + -0.006834117695689201, + -0.021883992478251457, + 0.9997371435165405, + 0.22200029390480588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999381899833679, + -0.0009113797568716109, + 0.011081578209996223, + -0.0019472900997189908 + ], + [ + 0.0006548821111209691, + 0.9997323155403137, + 0.023127947002649307, + -0.03147127293200088 + ], + [ + -0.011099690571427345, + -0.023119259625673294, + 0.9996711015701294, + 0.23736591954195105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999895453453064, + -0.0012546045472845435, + 0.014403465203940868, + -0.003043222098666077 + ], + [ + 0.0009036760893650353, + 0.9997032284736633, + 0.024344880133867264, + -0.0343811715616646 + ], + [ + -0.014429734088480473, + -0.02432931959629059, + 0.9995998740196228, + 0.2522892233244527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9998534917831421, + -0.0018739805091172457, + 0.017014548182487488, + -0.005012094821123518 + ], + [ + 0.0014253167901188135, + 0.9996519088745117, + 0.02634335309267044, + -0.03760023100031129 + ], + [ + -0.01705799251794815, + -0.026315242052078247, + 0.9995081424713135, + 0.26739042244084615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9998077750205994, + -0.0024722174275666475, + 0.01945006474852562, + -0.00538693749729325 + ], + [ + 0.0019191859755665064, + 0.9995947480201721, + 0.028400860726833344, + -0.039858752500731495 + ], + [ + -0.019512396305799484, + -0.02835807204246521, + 0.9994073510169983, + 0.28276018258184193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9996970891952515, + -0.0019073485163971782, + 0.024537816643714905, + -0.004649506947573493 + ], + [ + 0.0011699559399858117, + 0.9995483160018921, + 0.03003060817718506, + -0.041052487426735326 + ], + [ + -0.024584010243415833, + -0.029992803931236267, + 0.9992477297782898, + 0.29670107863186035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9994542002677917, + -0.0014825770631432533, + 0.033002451062202454, + -0.0063810684882542636 + ], + [ + 0.000432308588642627, + 0.9994938969612122, + 0.03180836886167526, + -0.04389240645147819 + ], + [ + -0.03303290903568268, + -0.03177674114704132, + 0.9989489912986755, + 0.3097141977837857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9991958141326904, + -0.002125207334756851, + 0.04003994166851044, + -0.009459462937186743 + ], + [ + 0.0007911827997304499, + 0.9994449615478516, + 0.03330377861857414, + -0.04706271719465697 + ], + [ + -0.04008849710226059, + -0.03324531391263008, + 0.9986429214477539, + 0.3204169144251329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9990509152412415, + -0.003292481880635023, + 0.04343291372060776, + -0.010911003368742327 + ], + [ + 0.001793720293790102, + 0.9994030594825745, + 0.03450144827365875, + -0.050041610868099856 + ], + [ + -0.04352058470249176, + -0.03439079970121384, + 0.9984604120254517, + 0.3315021932125092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.998942494392395, + -0.003975925035774708, + 0.04580545052886009, + -0.010312902489129236 + ], + [ + 0.002357017481699586, + 0.9993724822998047, + 0.035343073308467865, + -0.05270546134270262 + ], + [ + -0.04591722413897514, + -0.03519773483276367, + 0.998324990272522, + 0.3428324081798029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9987724423408508, + -0.0062836636789143085, + 0.049133285880088806, + -0.010710901021957396 + ], + [ + 0.004490536171942949, + 0.9993228316307068, + 0.03652075678110123, + -0.05583482802612707 + ], + [ + -0.049329496920108795, + -0.03625529259443283, + 0.9981243014335632, + 0.35288329180330036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9986397624015808, + -0.008156390860676765, + 0.05149795487523079, + -0.01210050460170297 + ], + [ + 0.006214732304215431, + 0.9992678165435791, + 0.03775178641080856, + -0.05883972339249928 + ], + [ + -0.051768165081739426, + -0.037380389869213104, + 0.997959315776825, + 0.361651762484518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9985973238945007, + -0.009955805726349354, + 0.05200241506099701, + -0.01424360831870752 + ], + [ + 0.007932771928608418, + 0.9992091059684753, + 0.03896522894501686, + -0.06186071240671855 + ], + [ + -0.05234921723604202, + -0.03849804773926735, + 0.9978864789009094, + 0.37100339336868593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9985966086387634, + -0.014606578275561333, + 0.05090663582086563, + -0.014534553753979065 + ], + [ + 0.012579301372170448, + 0.999123752117157, + 0.03991879150271416, + -0.06377958903938313 + ], + [ + -0.05144510418176651, + -0.03922240063548088, + 0.9979053139686584, + 0.3801613122170024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9985551834106445, + -0.0184905007481575, + 0.05045466497540474, + -0.014445708166150484 + ], + [ + 0.016463767737150192, + 0.9990522265434265, + 0.04029348865151405, + -0.06465078561073717 + ], + [ + -0.05115189030766487, + -0.039404597133398056, + 0.9979131817817688, + 0.3889519432066556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.998429536819458, + -0.022734466940164566, + 0.051201917231082916, + -0.013009438751374974 + ], + [ + 0.020647455006837845, + 0.9989487528800964, + 0.040926989167928696, + -0.06599397362648125 + ], + [ + -0.05207854509353638, + -0.03980552777647972, + 0.9978493452072144, + 0.39813947208663997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9981499910354614, + -0.02952979877591133, + 0.05314650386571884, + -0.012845555868218925 + ], + [ + 0.02732277661561966, + 0.9987529516220093, + 0.0417853482067585, + -0.06710715701474863 + ], + [ + -0.05431414395570755, + -0.04025593772530556, + 0.9977120757102966, + 0.4069606256397331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.997906506061554, + -0.03559732809662819, + 0.053994741290807724, + -0.01286069005727768 + ], + [ + 0.03333868458867073, + 0.9985540509223938, + 0.042170148342847824, + -0.06786732889218804 + ], + [ + -0.05541780963540077, + -0.0402817539870739, + 0.9976503849029541, + 0.4147535308729857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9975355267524719, + -0.04401472955942154, + 0.05464034900069237, + -0.012285179600996128 + ], + [ + 0.04171247035264969, + 0.998221755027771, + 0.04258370026946068, + -0.06811392687480239 + ], + [ + -0.056417498737573624, + -0.04019956663250923, + 0.9975976347923279, + 0.42266264384174174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9971495270729065, + -0.05133833363652229, + 0.055292386561632156, + -0.01051747912869734 + ], + [ + 0.04897664114832878, + 0.9978629350662231, + 0.043253496289253235, + -0.06903251512250042 + ], + [ + -0.057394783943891525, + -0.040422163903713226, + 0.9975329041481018, + 0.43091169518747313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9967167973518372, + -0.057651445269584656, + 0.0568501278758049, + -0.009942483288400313 + ], + [ + 0.055201753973960876, + 0.997515857219696, + 0.04375922307372093, + -0.06932088219944169 + ], + [ + -0.05923168361186981, + -0.04047732427716255, + 0.9974232912063599, + 0.4393644034424249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9965928792953491, + -0.058395471423864365, + 0.058246441185474396, + -0.009125231600859589 + ], + [ + 0.05585945025086403, + 0.9974572658538818, + 0.04425773024559021, + -0.06962126218165983 + ], + [ + -0.060682788491249084, + -0.04085332155227661, + 0.9973207116127014, + 0.4472699020167484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9965658187866211, + -0.05696986988186836, + 0.06009114906191826, + -0.007896445253316092 + ], + [ + 0.05428450182080269, + 0.997492253780365, + 0.0454130545258522, + -0.07134414247839767 + ], + [ + -0.06252763420343399, + -0.041995078325271606, + 0.9971593022346497, + 0.45606713160215057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9963860511779785, + -0.05627990514039993, + 0.06361956149339676, + -0.006540881009662852 + ], + [ + 0.05339501053094864, + 0.9975054264068604, + 0.046172402799129486, + -0.07308331296833999 + ], + [ + -0.06605943292379379, + -0.04260857403278351, + 0.9969055652618408, + 0.4646620860597228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9960622191429138, + -0.056859128177165985, + 0.06802242994308472, + -0.004997218882336334 + ], + [ + 0.05370757728815079, + 0.997435986995697, + 0.04729694128036499, + -0.07594905819963006 + ], + [ + -0.07053728401660919, + -0.04345737397670746, + 0.9965620636940002, + 0.4722294963458005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9959315061569214, + -0.05702411010861397, + 0.06977621465921402, + -0.0038216566776528016 + ], + [ + 0.053753811866045, + 0.9974055290222168, + 0.04788236692547798, + -0.0797269424834453 + ], + [ + -0.07232563942670822, + -0.043936822563409805, + 0.9964128732681274, + 0.4793352536911912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9961288571357727, + -0.05440107360482216, + 0.06904976814985275, + -0.0022313502781531394 + ], + [ + 0.0511900894343853, + 0.9975610375404358, + 0.047450773417949677, + -0.08397637135075296 + ], + [ + -0.0714627280831337, + -0.0437324196100235, + 0.996484100818634, + 0.4865628848509753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9962418675422668, + -0.054146818816661835, + 0.06760387122631073, + 0.0005794912576675484 + ], + [ + 0.0511179193854332, + 0.9976438283920288, + 0.04575816169381142, + -0.08680789982900024 + ], + [ + -0.06992223858833313, + -0.04213042929768562, + 0.9966623783111572, + 0.4947504837065935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9962528347969055, + -0.0542583242058754, + 0.06735196709632874, + 0.003256517648696902 + ], + [ + 0.051276795566082, + 0.9976595044136047, + 0.045235175639390945, + -0.09033227679045762 + ], + [ + -0.06964871287345886, + -0.04161207750439644, + 0.9967033267021179, + 0.5035835873554735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9961004853248596, + -0.056014467030763626, + 0.06816273927688599, + 0.004888998191146292 + ], + [ + 0.0529915951192379, + 0.9975634217262268, + 0.04537714645266533, + -0.0940513248747105 + ], + [ + -0.07053843140602112, + -0.04158814623951912, + 0.9966417551040649, + 0.511195344061536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9960060119628906, + -0.057692475616931915, + 0.06814383715391159, + 0.006325203355620888 + ], + [ + 0.054644905030727386, + 0.9974561929702759, + 0.04577174782752991, + -0.09757150375448606 + ], + [ + -0.07061117142438889, + -0.04186522215604782, + 0.9966250061988831, + 0.5185542746830513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9959902167320251, + -0.05847842991352081, + 0.0677032470703125, + 0.009244408677606022 + ], + [ + 0.05543334037065506, + 0.9974014759063721, + 0.046015579253435135, + -0.09994738628430401 + ], + [ + -0.07021823525428772, + -0.04207805171608925, + 0.9966437816619873, + 0.5276179674136288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9958760142326355, + -0.058728210628032684, + 0.06915189325809479, + 0.013205901971634695 + ], + [ + 0.05561378598213196, + 0.9973859786987305, + 0.0461340993642807, + -0.10244915757109137 + ], + [ + -0.07168050110340118, + -0.042098045349121094, + 0.9965388178825378, + 0.5363016252132023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9954899549484253, + -0.06170159950852394, + 0.07206052541732788, + 0.01580138110062656 + ], + [ + 0.05847367271780968, + 0.9972249865531921, + 0.04607829451560974, + -0.10537179515916197 + ], + [ + -0.07470366358757019, + -0.04165683686733246, + 0.9963353276252747, + 0.5434721808442298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9952688217163086, + -0.06359197944402695, + 0.0734575167298317, + 0.017727537957184458 + ], + [ + 0.06034436076879501, + 0.9971347451210022, + 0.045617010444402695, + -0.10823726953171632 + ], + [ + -0.07614792138338089, + -0.04096844419836998, + 0.9962545037269592, + 0.5511171963613699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9952049255371094, + -0.06443510949611664, + 0.07358814030885696, + 0.02049095860737212 + ], + [ + 0.0612330287694931, + 0.9971098303794861, + 0.04497280344367027, + -0.11028258961570614 + ], + [ + -0.07627328485250473, + -0.04025113210082054, + 0.9962741732597351, + 0.5598705187823404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9950919151306152, + -0.06522076576948166, + 0.07441972941160202, + 0.022435162325992304 + ], + [ + 0.061980701982975006, + 0.9970601797103882, + 0.04504898563027382, + -0.1117498078109587 + ], + [ + -0.07713907212018967, + -0.04021529480814934, + 0.9962089657783508, + 0.5685731693006614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9950053095817566, + -0.06562334299087524, + 0.07521983236074448, + 0.024071768101523915 + ], + [ + 0.06223802641034126, + 0.9969774484634399, + 0.04650137573480606, + -0.11454194303985465 + ], + [ + -0.07804404944181442, + -0.04158758372068405, + 0.9960821270942688, + 0.5748788874651141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9949945211410522, + -0.06669652462005615, + 0.07441452145576477, + 0.02611886034993565 + ], + [ + 0.06325368583202362, + 0.9968567490577698, + 0.04770316183567047, + -0.1170088317245245 + ], + [ + -0.07736225426197052, + -0.042757391929626465, + 0.9960857629776001, + 0.5818150025299367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9951032996177673, + -0.067571260035038, + 0.0721353217959404, + 0.02799498614142923 + ], + [ + 0.06422685831785202, + 0.9967937469482422, + 0.04771936312317848, + -0.11812829550026971 + ], + [ + -0.07512848824262619, + -0.042852673679590225, + 0.9962526559829712, + 0.5885003001757843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.995218813419342, + -0.06855342537164688, + 0.06956963986158371, + 0.02990968926426242 + ], + [ + 0.0653330609202385, + 0.9967296123504639, + 0.04755709692835808, + -0.11931297183036804 + ], + [ + -0.07260232418775558, + -0.04278452321887016, + 0.9964428544044495, + 0.5935726344585419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9953156113624573, + -0.0696500912308693, + 0.06704965233802795, + 0.031917045879013395 + ], + [ + 0.06653843075037003, + 0.9966489672660828, + 0.047575924545526505, + -0.12068341735421735 + ], + [ + -0.07013863325119019, + -0.04289168491959572, + 0.9966146945953369, + 0.5984165775863564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.995322048664093, + -0.07163078337907791, + 0.06483083218336105, + 0.0335769794333507 + ], + [ + 0.06859711557626724, + 0.996495246887207, + 0.04787095636129379, + -0.12229755655588473 + ], + [ + -0.0680326446890831, + -0.0431998148560524, + 0.9967473745346069, + 0.6032302742166554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9954203367233276, + -0.07270568609237671, + 0.06206626072525978, + 0.03454553435611374 + ], + [ + 0.06976461410522461, + 0.996393084526062, + 0.04830855876207352, + -0.12445441361735848 + ], + [ + -0.06535469740629196, + -0.04375729709863663, + 0.9969022274017334, + 0.6067334255039254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.99559485912323, + -0.07308924198150635, + 0.05872679129242897, + 0.03531471826136112 + ], + [ + 0.07025165855884552, + 0.9963244199752808, + 0.049013443291187286, + -0.12720234021544458 + ], + [ + -0.06209329143166542, + -0.04467187821865082, + 0.9970701336860657, + 0.6101404650136828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9958266615867615, + -0.07323498278856277, + 0.05446045473217964, + 0.037594412387732194 + ], + [ + 0.07058323174715042, + 0.9962958097457886, + 0.04911907762289047, + -0.1286704549620695 + ], + [ + -0.057855959981679916, + -0.045070089399814606, + 0.9973070621490479, + 0.6146697509951671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9960190057754517, + -0.07306047528982162, + 0.05107180029153824, + 0.03885117189629989 + ], + [ + 0.07057126611471176, + 0.9963047504425049, + 0.04895409569144249, + -0.1299762350561864 + ], + [ + -0.05445968359708786, + -0.045155007392168045, + 0.9974944591522217, + 0.6177873168250217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9961717128753662, + -0.0735897421836853, + 0.04718580096960068, + 0.04025592958445059 + ], + [ + 0.07134799659252167, + 0.9963172674179077, + 0.04755410552024841, + -0.13023693713852588 + ], + [ + -0.050511524081230164, + -0.044005438685417175, + 0.9977535009384155, + 0.621544212311068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.996304452419281, + -0.07425748556852341, + 0.0431654192507267, + 0.04085335918866537 + ], + [ + 0.07225777953863144, + 0.9963164925575256, + 0.04617597907781601, + -0.13197851115289858 + ], + [ + -0.04643533006310463, + -0.042886294424533844, + 0.9980002641677856, + 0.6248046685448464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9965529441833496, + -0.07330599427223206, + 0.03883861377835274, + 0.04150502244558405 + ], + [ + 0.07166951894760132, + 0.9965448379516602, + 0.04197457432746887, + -0.13261953631744666 + ], + [ + -0.041781406849622726, + -0.03904633969068527, + 0.9983634948730469, + 0.6283566414789461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9966990351676941, + -0.07295083999633789, + 0.03562513738870621, + 0.04197742724243332 + ], + [ + 0.07164378464221954, + 0.9967554807662964, + 0.036683738231658936, + -0.13416495741728474 + ], + [ + -0.038185663521289825, + -0.034010328352451324, + 0.998691737651825, + 0.629731783303706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9968019127845764, + -0.07308874279260635, + 0.03231128305196762, + 0.04213068256264224 + ], + [ + 0.07209747284650803, + 0.9969204068183899, + 0.030848726630210876, + -0.1342059463426909 + ], + [ + -0.03446647524833679, + -0.02842050790786743, + 0.999001681804657, + 0.6327478963443461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9969727396965027, + -0.07199066877365112, + 0.02937217615544796, + 0.04112774525933406 + ], + [ + 0.07122749090194702, + 0.9971145987510681, + 0.02625202015042305, + -0.13442052269683163 + ], + [ + -0.031177325174212456, + -0.024080440402030945, + 0.9992237687110901, + 0.6346345358637764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9970915913581848, + -0.07131411880254745, + 0.0268830806016922, + 0.040521861525142894 + ], + [ + 0.07070062309503555, + 0.9972295761108398, + 0.023120740428566933, + -0.1342741062042906 + ], + [ + -0.028457440435886383, + -0.02115284465253353, + 0.9993711709976196, + 0.635902205805349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9970829486846924, + -0.07194807380437851, + 0.025476088747382164, + 0.04015279103289632 + ], + [ + 0.07139218598604202, + 0.997203528881073, + 0.022096725180745125, + -0.13531636114725296 + ], + [ + -0.02699466235935688, + -0.020213475450873375, + 0.9994311928749084, + 0.6372711732134442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9972251057624817, + -0.07024294137954712, + 0.024657217785716057, + 0.039483041184790006 + ], + [ + 0.06973440945148468, + 0.9973464012145996, + 0.020912213250994682, + -0.13547342793249031 + ], + [ + -0.026060720905661583, + -0.019134728237986565, + 0.999477207660675, + 0.6400045331279911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9972787499427795, + -0.06950578838586807, + 0.02457793988287449, + 0.03833426732350799 + ], + [ + 0.06902136653661728, + 0.9974139332771301, + 0.020038142800331116, + -0.13628461387227564 + ], + [ + -0.02590714581310749, + -0.018287211656570435, + 0.9994970560073853, + 0.641518257010509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9973351359367371, + -0.06875816732645035, + 0.02439253404736519, + 0.03719396481619162 + ], + [ + 0.06830472499132156, + 0.9974843263626099, + 0.01896042190492153, + -0.13627621736925313 + ], + [ + -0.025634855031967163, + -0.017243770882487297, + 0.9995226263999939, + 0.6435907394789597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9973889589309692, + -0.0680261105298996, + 0.024243749678134918, + 0.035502961124567425 + ], + [ + 0.06759145855903625, + 0.9975448846817017, + 0.01831889897584915, + -0.13617948780164998 + ], + [ + -0.02543039247393608, + -0.01663239672780037, + 0.999538242816925, + 0.6454110409680973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9974722862243652, + -0.06683147698640823, + 0.024136971682310104, + 0.03414678503485287 + ], + [ + 0.06641025096178055, + 0.9976326823234558, + 0.01785174570977688, + -0.13578075488810154 + ], + [ + -0.02527289092540741, + -0.016203681007027626, + 0.9995492696762085, + 0.6473186013343579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9974761605262756, + -0.06644415855407715, + 0.02502881921827793, + 0.03346501157126006 + ], + [ + 0.06600800156593323, + 0.9976590871810913, + 0.01786806993186474, + -0.13573438709273059 + ], + [ + -0.026157459244132042, + -0.016170872375369072, + 0.9995270371437073, + 0.6484361648176085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9974320530891418, + -0.066026471555233, + 0.02774462103843689, + 0.033026061952114105 + ], + [ + 0.06557229906320572, + 0.9977034330368042, + 0.016973629593849182, + -0.1343869990669191 + ], + [ + -0.028801612555980682, + -0.015110764652490616, + 0.9994709491729736, + 0.6513216090388596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9973422884941101, + -0.06427687406539917, + 0.03430437296628952, + 0.03171356557046666 + ], + [ + 0.06373713910579681, + 0.9978286027908325, + 0.016603000462055206, + -0.1347488458323128 + ], + [ + -0.03529707342386246, + -0.014372413046658039, + 0.9992735385894775, + 0.6521609964725725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9971978068351746, + -0.061561260372400284, + 0.04250640049576759, + 0.030333373082034723 + ], + [ + 0.06095363572239876, + 0.9980210661888123, + 0.015447130426764488, + -0.13564211782341934 + ], + [ + -0.0433732308447361, + -0.012812923640012741, + 0.9989767670631409, + 0.6519291848190786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9969214200973511, + -0.06044849753379822, + 0.04993629455566406, + 0.027216755204340998 + ], + [ + 0.05985001474618912, + 0.9981175065040588, + 0.013395830988883972, + -0.137270897495396 + ], + [ + -0.050652049481868744, + -0.010365903377532959, + 0.9986625909805298, + 0.6497339556760647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9968252778053284, + -0.0590817965567112, + 0.053373415023088455, + 0.02430262995116851 + ], + [ + 0.058602262288331985, + 0.9982261061668396, + 0.010506652295589447, + -0.13721676826860538 + ], + [ + -0.05389948561787605, + -0.007345493882894516, + 0.9985193610191345, + 0.6502686522106694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9968588948249817, + -0.057854894548654556, + 0.054085154086351395, + 0.021373622557696176 + ], + [ + 0.057380709797143936, + 0.9982994198799133, + 0.010280872695147991, + -0.13775619379628232 + ], + [ + -0.05458797886967659, + -0.007145135197788477, + 0.998483419418335, + 0.6501409004661528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9967024326324463, + -0.062055427581071854, + 0.052281834185123444, + 0.01906251850373604 + ], + [ + 0.061561573296785355, + 0.9980425834655762, + 0.011005599983036518, + -0.13808039729483426 + ], + [ + -0.05286245793104172, + -0.007750756107270718, + 0.9985716938972473, + 0.6489400844527956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9970519542694092, + -0.058376602828502655, + 0.04979538917541504, + 0.01662110874758048 + ], + [ + 0.05786430835723877, + 0.998256266117096, + 0.011669527739286423, + -0.1391862839460373 + ], + [ + -0.050389789044857025, + -0.00875375047326088, + 0.9986912608146667, + 0.6514006347121561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9973938465118408, + -0.0521683432161808, + 0.04983992874622345, + 0.016653842829606122 + ], + [ + 0.051729414612054825, + 0.9986104965209961, + 0.010057361796498299, + -0.13781870168305058 + ], + [ + -0.050295352935791016, + -0.007452960591763258, + 0.998706579208374, + 0.6558400914949529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9970531463623047, + -0.05147377774119377, + 0.05688166245818138, + 0.01989315182847136 + ], + [ + 0.05099886283278465, + 0.9986509084701538, + 0.00977044366300106, + -0.14136209382182535 + ], + [ + -0.05730784311890602, + -0.0068407510407269, + 0.9983330965042114, + 0.6518344717045479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9950366020202637, + -0.052201803773641586, + 0.08471806347370148, + 0.017046475454288376 + ], + [ + 0.0523030050098896, + 0.9986307621002197, + 0.0010260477429255843, + -0.13577132684397786 + ], + [ + -0.08465562760829926, + 0.0034100539050996304, + 0.9964044094085693, + 0.656471184673993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9947372078895569, + -0.05204939842224121, + 0.0882539302110672, + 0.01479029550271875 + ], + [ + 0.05202095955610275, + 0.9986425638198853, + 0.002623802050948143, + -0.13573859193745783 + ], + [ + -0.08827069401741028, + 0.0019810604862868786, + 0.9960945248603821, + 0.6554874960113974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9944118857383728, + -0.05018734931945801, + 0.09287761151790619, + 0.011930895684396536 + ], + [ + 0.050263866782188416, + 0.9987348318099976, + 0.0015166690573096275, + -0.13615749724866713 + ], + [ + -0.09283621609210968, + 0.0031601935625076294, + 0.9956763982772827, + 0.6544501919408932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9942619204521179, + -0.04800444468855858, + 0.09559683501720428, + 0.010253659109858912 + ], + [ + 0.048201728612184525, + 0.9988375902175903, + 0.0002457930240780115, + -0.13424747833324707 + ], + [ + -0.09549751877784729, + 0.0043635498732328415, + 0.9954200983047485, + 0.6561121114474886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9939408302307129, + -0.04743286967277527, + 0.09915495663881302, + 0.008138160495197083 + ], + [ + 0.04777016490697861, + 0.9988577961921692, + -0.0010289375204592943, + -0.13192249102079692 + ], + [ + -0.09899289160966873, + 0.005759350955486298, + 0.9950714707374573, + 0.657049101618502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9936599135398865, + -0.047551821917295456, + 0.10187626630067825, + 0.004886124940479505 + ], + [ + 0.04790669307112694, + 0.9988512992858887, + -0.0010381382890045643, + -0.1308686823638923 + ], + [ + -0.10170987993478775, + 0.0059121111407876015, + 0.9947965145111084, + 0.6557272540076691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9936466813087463, + -0.04581461101770401, + 0.10279719531536102, + 0.0018236376345157623 + ], + [ + 0.04620564728975296, + 0.9989309310913086, + -0.0014247368089854717, + -0.12936682058498264 + ], + [ + -0.10262201726436615, + 0.00616549514234066, + 0.9947013258934021, + 0.6556048144860303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9936120510101318, + -0.04432826489210129, + 0.1037788838148117, + -0.0008573204278945756 + ], + [ + 0.04476667940616608, + 0.9989956617355347, + -0.0018979893065989017, + -0.1280779678374529 + ], + [ + -0.10359051823616028, + 0.0065317009575665, + 0.9945985674858093, + 0.6563333250582218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.993478536605835, + -0.042452987283468246, + 0.10582110285758972, + -0.0030931137063923975 + ], + [ + 0.0429309718310833, + 0.9990755319595337, + -0.0022420664317905903, + -0.1270917791955392 + ], + [ + -0.10562808811664581, + 0.006770447362214327, + 0.9943826794624329, + 0.6574737464351689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9930721521377563, + -0.041942112147808075, + 0.10976609587669373, + -0.005615672469139091 + ], + [ + 0.04246654361486435, + 0.9990949034690857, + -0.0024432765785604715, + -0.12645423241397913 + ], + [ + -0.10956427454948425, + 0.007087736390531063, + 0.9939544200897217, + 0.658058764128124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9925575256347656, + -0.04089852049946785, + 0.11470337957143784, + -0.009555010234608363 + ], + [ + 0.04141625389456749, + 0.9991397261619568, + -0.002133152447640896, + -0.12711560941191719 + ], + [ + -0.1145174577832222, + 0.006867860443890095, + 0.9933974742889404, + 0.6564183571266339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.992238461971283, + -0.03858504816889763, + 0.11821196228265762, + -0.013289291455465202 + ], + [ + 0.039100971072912216, + 0.9992331862449646, + -0.002047380432486534, + -0.1278701224583475 + ], + [ + -0.11804231256246567, + 0.00665369164198637, + 0.992986261844635, + 0.6562973635271192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9921202659606934, + -0.03679672256112099, + 0.11976390331983566, + -0.01664395709248151 + ], + [ + 0.03735599294304848, + 0.9992990493774414, + -0.002427326049655676, + -0.12825805723721928 + ], + [ + -0.1195906326174736, + 0.006882098037749529, + 0.9927994608879089, + 0.6555694160818616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.992163896560669, + -0.03616788238286972, + 0.11959368735551834, + -0.018676357058917778 + ], + [ + 0.03678654134273529, + 0.9993187189102173, + -0.002968678018078208, + -0.12775678840630195 + ], + [ + -0.11940484493970871, + 0.0073448531329631805, + 0.9928184747695923, + 0.6557380515643779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9922200441360474, + -0.03595837205648422, + 0.11919046938419342, + -0.019913815400179682 + ], + [ + 0.03664446622133255, + 0.9993219971656799, + -0.0035689359065145254, + -0.12612986382206573 + ], + [ + -0.11898133158683777, + 0.007908840663731098, + 0.9928649663925171, + 0.6562165859210141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9921925663948059, + -0.036252349615097046, + 0.1193300113081932, + -0.021156151943347024 + ], + [ + 0.03695765137672424, + 0.9993099570274353, + -0.0037021380849182606, + -0.12460736514014356 + ], + [ + -0.11911345273256302, + 0.008083390071988106, + 0.992847740650177, + 0.6567512358922292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9922837615013123, + -0.03734463453292847, + 0.11822976917028427, + -0.021791202224352782 + ], + [ + 0.038052625954151154, + 0.9992687702178955, + -0.0037357674445956945, + -0.12345384934040553 + ], + [ + -0.11800380796194077, + 0.008205894380807877, + 0.9929792284965515, + 0.6568370695225895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9925388097763062, + -0.03676077723503113, + 0.11625554412603378, + -0.023480665333130785 + ], + [ + 0.0374995619058609, + 0.9992879033088684, + -0.004173297435045242, + -0.1223364242736031 + ], + [ + -0.1160193458199501, + 0.008501690812408924, + 0.9932105541229248, + 0.6570071287891444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9929136037826538, + -0.037054579704999924, + 0.11291372030973434, + -0.023670961839311264 + ], + [ + 0.037839170545339584, + 0.9992722272872925, + -0.004812650382518768, + -0.12084552510093678 + ], + [ + -0.1126532182097435, + 0.009051106870174408, + 0.993593156337738, + 0.6563703788827886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9931296110153198, + -0.03779323771595955, + 0.11074851453304291, + -0.024044583387234628 + ], + [ + 0.038625892251729965, + 0.9992392659187317, + -0.005381845869123936, + -0.1194302096579443 + ], + [ + -0.11046086251735687, + 0.00962262973189354, + 0.9938338994979858, + 0.6557606504463097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9932031631469727, + -0.03928679600358009, + 0.10956262052059174, + -0.024356358629815708 + ], + [ + 0.04020237550139427, + 0.999172568321228, + -0.006159412208944559, + -0.11738056282731979 + ], + [ + -0.10922998189926147, + 0.010522225871682167, + 0.9939607977867126, + 0.6559245356303804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9931519031524658, + -0.040807656943798065, + 0.10947147756814957, + -0.025176057307159203 + ], + [ + 0.04177039861679077, + 0.9991059899330139, + -0.006514727137982845, + -0.11568994224071502 + ], + [ + -0.10910775512456894, + 0.011042780242860317, + 0.9939686059951782, + 0.6563004874350393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9931012392044067, + -0.04114844277501106, + 0.10980332642793655, + -0.025807928600732014 + ], + [ + 0.04216104373335838, + 0.9990869164466858, + -0.00691519770771265, + -0.11381703055573299 + ], + [ + -0.10941851884126663, + 0.011496913619339466, + 0.9939292669296265, + 0.6568283157916192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9929545521736145, + -0.04177621379494667, + 0.11088751256465912, + -0.026004970774931052 + ], + [ + 0.042787063866853714, + 0.9990614056587219, + -0.006751073524355888, + -0.11237234745503348 + ], + [ + -0.11050139367580414, + 0.011448059231042862, + 0.9938100576400757, + 0.6575540550272254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9927260875701904, + -0.04155769944190979, + 0.11299505084753036, + -0.026813544332981096 + ], + [ + 0.042560867965221405, + 0.9990728497505188, + -0.00647918414324522, + -0.11166483899578453 + ], + [ + -0.11262103170156479, + 0.011241222731769085, + 0.9935744404792786, + 0.6571631792001427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9925193190574646, + -0.04183449223637581, + 0.11469627916812897, + -0.027436033329542933 + ], + [ + 0.04282226786017418, + 0.9990637302398682, + -0.0061606913805007935, + -0.11141537118922262 + ], + [ + -0.11433115601539612, + 0.011026158928871155, + 0.9933815002441406, + 0.6570552420966765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9923714399337769, + -0.04160330072045326, + 0.11605221778154373, + -0.028283496989923357 + ], + [ + 0.042577262967824936, + 0.9990755915641785, + -0.00592509051784873, + -0.11168529529617552 + ], + [ + -0.1156984344124794, + 0.010821076110005379, + 0.9932254552841187, + 0.6563894988585482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9922388195991516, + -0.04172558709979057, + 0.1171373501420021, + -0.02864147591240264 + ], + [ + 0.0427076555788517, + 0.9990702867507935, + -0.0058854022063314915, + -0.11182265515603564 + ], + [ + -0.11678286641836166, + 0.01084238663315773, + 0.993098258972168, + 0.6566619895946454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9921472072601318, + -0.0417044572532177, + 0.11791792511940002, + -0.028951103459386257 + ], + [ + 0.04271174594759941, + 0.9990692734718323, + -0.0060270680114626884, + -0.1120109503294396 + ], + [ + -0.11755682528018951, + 0.011016218923032284, + 0.9930050373077393, + 0.6563389906659722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9921106696128845, + -0.04113752394914627, + 0.1184237003326416, + -0.029820091584149513 + ], + [ + 0.04216334968805313, + 0.9990916848182678, + -0.0061689564026892185, + -0.11228186683181454 + ], + [ + -0.11806236207485199, + 0.011113427579402924, + 0.9929440021514893, + 0.6558977067032281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9921705722808838, + -0.040383920073509216, + 0.11818083375692368, + -0.030307785114821253 + ], + [ + 0.041426852345466614, + 0.9991211891174316, + -0.006380652077496052, + -0.11248702966772459 + ], + [ + -0.11781930178403854, + 0.011226554401218891, + 0.9929715991020203, + 0.6549996056813089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9922382235527039, + -0.04174836352467537, + 0.11713404953479767, + -0.029876895248889923 + ], + [ + 0.04281478002667427, + 0.9990612268447876, + -0.006601773202419281, + -0.11220572475234375 + ], + [ + -0.11674846708774567, + 0.011565599590539932, + 0.9930941462516785, + 0.654699199537144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9923568367958069, + -0.04154236614704132, + 0.11619852483272552, + -0.03013189027414602 + ], + [ + 0.042584531009197235, + 0.9990717172622681, + -0.006499606184661388, + -0.11243998197400394 + ], + [ + -0.11582064628601074, + 0.011398187838494778, + 0.9932047128677368, + 0.6543366472510731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9924716949462891, + -0.040945712476968765, + 0.1154269352555275, + -0.030369674633531005 + ], + [ + 0.041992370039224625, + 0.9990957975387573, + -0.006649632006883621, + -0.11240346431732177 + ], + [ + -0.1150502935051918, + 0.011446621268987656, + 0.9932937026023865, + 0.6545442875693827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9925404191017151, + -0.04092920571565628, + 0.11484016478061676, + -0.030577996855272974 + ], + [ + 0.04202362149953842, + 0.9990912079811096, + -0.007124121300876141, + -0.11191687385058578 + ], + [ + -0.11444421112537384, + 0.011896978132426739, + 0.9933584332466125, + 0.6542656488607035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9925409555435181, + -0.04142451658844948, + 0.11465805023908615, + -0.03108140124994166 + ], + [ + 0.04255376383662224, + 0.9990666508674622, + -0.007417707704007626, + -0.11159294627278167 + ], + [ + -0.1142437532544136, + 0.01224150974303484, + 0.9933773279190063, + 0.6541336644988727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.992602527141571, + -0.04105403646826744, + 0.1142573431134224, + -0.03169484186698408 + ], + [ + 0.04219072684645653, + 0.9990810751914978, + -0.007547091692686081, + -0.11172376245205455 + ], + [ + -0.11384250968694687, + 0.012311862781643867, + 0.9934225082397461, + 0.6534973308827509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9926797747612, + -0.040385738015174866, + 0.11382365226745605, + -0.03243249584646786 + ], + [ + 0.04156218469142914, + 0.9991040229797363, + -0.007980654016137123, + -0.11138176773400868 + ], + [ + -0.11339937150478363, + 0.012652993202209473, + 0.9934689402580261, + 0.6533572130781763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9927608966827393, + -0.03864942491054535, + 0.11371913552284241, + -0.033440918080946985 + ], + [ + 0.0398876890540123, + 0.9991669058799744, + -0.008632815442979336, + -0.11123946300872109 + ], + [ + -0.11329074203968048, + 0.013106315396726131, + 0.9934754371643066, + 0.652660870716414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9927971959114075, + -0.03803517296910286, + 0.11360922455787659, + -0.03418169118025724 + ], + [ + 0.03929052874445915, + 0.9991888403892517, + -0.008830349892377853, + -0.11126089525025556 + ], + [ + -0.1131812036037445, + 0.013230513781309128, + 0.9934862852096558, + 0.6525161802330438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9928642511367798, + -0.037470653653144836, + 0.11321013420820236, + -0.03470522822702632 + ], + [ + 0.038744814693927765, + 0.9992079138755798, + -0.009074865840375423, + -0.11108425711555515 + ], + [ + -0.11278042942285538, + 0.013396414928138256, + 0.9935296177864075, + 0.6518732975784909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9929565191268921, + -0.03580467402935028, + 0.11293946206569672, + -0.03528160750865936 + ], + [ + 0.037047915160655975, + 0.9992735981941223, + -0.008927824907004833, + -0.11140629872679711 + ], + [ + -0.11253777146339417, + 0.013049113564193249, + 0.9935617446899414, + 0.6521640986204147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/orbit_left/transforms.json b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..c068872a28922be69942cfe75e848181e145c8bf --- /dev/null +++ b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/orbit_left/transforms.json @@ -0,0 +1,4808 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 137, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00015281095693353564, + 9.454473183723167e-05, + -0.00017298538296017796 + ], + [ + -0.00015282332606147975, + 1.0, + 0.0001308531645918265, + -0.0003619329072535038 + ], + [ + -9.452473750570789e-05, + -0.00013086760009173304, + 1.0, + -0.00011619761789916083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999975213897525, + 0.00029360686312429607, + 0.0022191256625773994, + -0.00173389051987142 + ], + [ + -0.0002951708453649406, + 0.9999997019767761, + 0.0007044694377390041, + -0.00047251131751571414 + ], + [ + -0.002218918101149182, + -0.0007051227148622274, + 0.9999972833702869, + 0.000729181519100537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999850578568558, + 0.0007547845016233625, + 0.0054190189084864305, + -0.003778279300544069 + ], + [ + -0.0007642846505383796, + 0.9999981522560122, + 0.0017512577774900326, + -0.0013180557827697312 + ], + [ + -0.005417687197469834, + -0.0017553733196109538, + 0.9999838112771395, + 0.0019351328582693124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999619888498829, + -8.561230060877278e-05, + 0.008716010884809045, + -0.005579359219855638 + ], + [ + 6.377841049097095e-05, + 0.9999968409538269, + 0.0025052789919513666, + -0.0015171190728547497 + ], + [ + -0.008716198338878909, + -0.002504628151655197, + 0.9999588882741132, + 0.004949368844656503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999343363825833, + 0.0001408472453476861, + 0.011456429996839664, + -0.009164063804901874 + ], + [ + -0.00017776303677598178, + 0.9999948143959045, + 0.0032213226368315445, + -0.0012285747988057736 + ], + [ + -0.011455916504685942, + -0.0032231477089226246, + 0.999929154578716, + 0.007128843706690062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999100141023869, + 0.0007249152986332774, + 0.013393535965793856, + -0.01120273286180909 + ], + [ + -0.0007911816198017719, + 0.9999874830245972, + 0.0049429985800955156, + -0.0023298271424366476 + ], + [ + -0.013389784940289891, + -0.004953150637447834, + 0.9998980691184771, + 0.009604767774988114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998751069231049, + 0.0006774791399948299, + 0.01578793972377884, + -0.01306976488330313 + ], + [ + -0.0007785360009410949, + 0.9999792575836182, + 0.006395619455527834, + -0.0029408523167178215 + ], + [ + -0.015783279381146636, + -0.006407111883163452, + 0.9998548938212981, + 0.014780309112414017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998300025809134, + 0.0015402118442580104, + 0.018375023776834688, + -0.018010233873849833 + ], + [ + -0.001672937122389199, + 0.9999725818634033, + 0.007209957525265929, + -0.003353042635016041 + ], + [ + -0.018363415553454148, + -0.007239471655339003, + 0.9998051823971376, + 0.018173552272556265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998077194114191, + 0.0018369132885709405, + 0.019523057331313143, + -0.021166495271658363 + ], + [ + -0.001983775194285237, + 0.9999698400497437, + 0.007505788056439442, + -0.002729184307022 + ], + [ + -0.01950868166689586, + -0.007543074432760477, + 0.9997812347660511, + 0.023765134600908955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998090042739526, + 0.000492562132421881, + 0.01953795927575195, + -0.021832888300768637 + ], + [ + -0.0006615855768539893, + 0.9999623894691467, + 0.00864550805208726, + -0.004546060438758175 + ], + [ + -0.01953296600764602, + -0.00865678209811449, + 0.9997717130691022, + 0.02946504635325537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9997795526516354, + -0.00048746351967565715, + 0.020992090559821833, + -0.0248194860216052 + ], + [ + 0.0002949746725938755, + 0.9999579191207886, + 0.009171708664570436, + -0.00377589766789166 + ], + [ + -0.02099567692979344, + -0.009163495153188705, + 0.9997375737755393, + 0.03576699836101657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9997464646470391, + -0.0008615814149379732, + 0.022500326931803784, + -0.026552315298887273 + ], + [ + 0.0006279121643664242, + 0.9999458193778994, + 0.010390147987282123, + -0.004426227061454513 + ], + [ + -0.022508059558756767, + -0.010373385623097421, + 0.9996928235296053, + 0.04433101720423327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9997082687721204, + -0.0009955024579539895, + 0.02413345833162786, + -0.029997683448470966 + ], + [ + 0.0007233648578389393, + 0.9999361038208008, + 0.011282470390419281, + -0.004375333063722979 + ], + [ + -0.024143147354593497, + -0.011261722072958946, + 0.9996450856144808, + 0.05396732331281227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996772597332819, + 8.155935211107136e-05, + 0.02540479353035401, + -0.03484679668435117 + ], + [ + -0.000383695345614877, + 0.9999292492866518, + 0.011888226343799255, + -0.004380025668721327 + ], + [ + -0.025402026339463344, + -0.01189413666725159, + 0.9996065561236651, + 0.0625606355526122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9996773150522412, + -0.00021074646792840213, + 0.025402141687831583, + -0.037540272410249896 + ], + [ + -0.00011103146570580258, + 0.9999197721481323, + 0.012665278930042996, + -0.005023818137579925 + ], + [ + -0.02540277320957007, + -0.012664012610912323, + 0.9995971006595497, + 0.07333898128536089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9996923619973606, + -0.0003232348244637251, + 0.024800630086546427, + -0.042628424632110265 + ], + [ + -1.4689658297601298e-05, + 0.9999071955680847, + 0.013624249694614262, + -0.006398355584355212 + ], + [ + -0.024802732664906336, + -0.013620423153042793, + 0.9995995773939248, + 0.08437655371246637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997386789340691, + -0.0022558749187737703, + 0.022748750096342425, + -0.04472650229785304 + ], + [ + 0.001928929869521277, + 0.9998946785926819, + 0.014383708921725278, + -0.00774172375012589 + ], + [ + -0.022778801965049257, + -0.014336069114506245, + 0.9996377486264689, + 0.09880699872246514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997576846772014, + -0.005450161639600992, + 0.021326621293794878, + -0.04580479347728549 + ], + [ + 0.005121433542159864, + 0.9998676776885986, + 0.01543833952813235, + -0.010245310082076983 + ], + [ + -0.021407941592080326, + -0.015325376763939857, + 0.9996533421659973, + 0.1130275322515925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9997666261711528, + -0.0051442356780171394, + 0.020982862970998193, + -0.04615769396084891 + ], + [ + 0.004809773930298221, + 0.9998610615730286, + 0.01595917906200161, + -0.01156021747712938 + ], + [ + -0.02106204477066022, + -0.015854530036449432, + 0.9996524730805394, + 0.12820355422486046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9997278478884477, + -0.0056027937680482864, + 0.022646385260779337, + -0.04768370315969269 + ], + [ + 0.0052269790677147215, + 0.9998481869697571, + 0.01662018082824277, + -0.013550058485709124 + ], + [ + -0.022736068421804086, + -0.016497284173965454, + 0.9996053964915382, + 0.1435698213619437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9996309475526156, + -0.005516846664249897, + 0.026598826474672134, + -0.047859527271439675 + ], + [ + 0.0050456226728881025, + 0.9998297095298767, + 0.017750634832553017, + -0.01646009064745678 + ], + [ + -0.026692226529125045, + -0.01760987751185894, + 0.9994886066645784, + 0.16048396824979685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994172927253514, + -0.004238581284880638, + 0.03386973798868581, + -0.049157139335153456 + ], + [ + 0.0036113644782709677, + 0.9998212456703186, + 0.018558261510092818, + -0.018787812576131994 + ], + [ + -0.03394234436178725, + -0.01842513121664524, + 0.9992539480805998, + 0.17817371650536434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9990923477022029, + -0.0027829306200146675, + 0.042506008546603434, + -0.0553364090576268 + ], + [ + 0.0019296403037760749, + 0.9997960925102234, + 0.020102429653419924, + -0.02292805425580077 + ], + [ + -0.04255328299693626, + -0.02000216208398342, + 0.9988939498536339, + 0.19495642678605501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9988520702563358, + -0.002705466700717807, + 0.04782520681954108, + -0.059242309602064454 + ], + [ + 0.001705859943785075, + 0.9997795224189758, + 0.020929724738399314, + -0.025035884026879094 + ], + [ + -0.04787128593015041, + -0.020824115723371506, + 0.9986364348297383, + 0.21095902383338383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9985945697309639, + -0.0008035755599848928, + 0.052993259366742276, + -0.06331159482475351 + ], + [ + -0.00035745063721547563, + 0.9997602105140688, + 0.02189582455589244, + -0.028256435754482077 + ], + [ + -0.05299814454411032, + -0.02188399247825146, + 0.9983547756014254, + 0.2284445460246539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9982473887527131, + -0.0009113797568716109, + 0.059172088109412796, + -0.06783318548031758 + ], + [ + -0.0004584763636747919, + 0.9997323155403137, + 0.0231326739172274, + -0.03136960353678427 + ], + [ + -0.05917733086182918, + -0.023119259625673294, + 0.9979797382498741, + 0.24435962306042017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9979227595989901, + -0.0012546045472845435, + 0.06440918816695142, + -0.0715399822935891 + ], + [ + -0.0003154052851342081, + 0.9997032284736633, + 0.024359604650177814, + -0.034284574778114474 + ], + [ + -0.0644206366162324, + -0.02432931959629059, + 0.9976262360943949, + 0.25979064451594186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9976193686909378, + -0.0018739805091172457, + 0.0689354414905023, + -0.07612269334560112 + ], + [ + 5.481585154926509e-05, + 0.9996519088745117, + 0.026381826611129918, + -0.03752355950137861 + ], + [ + -0.06896088575099057, + -0.026315242052078247, + 0.9972722287377889, + 0.27536696626279683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9973079591130272, + -0.0024722174275666475, + 0.07328524203529545, + -0.0791107987807715 + ], + [ + 0.0003863371369748438, + 0.9995947480201721, + 0.028463009476342973, + -0.039801291686621665 + ], + [ + -0.07332591071731769, + -0.02835807204246521, + 0.9969047585872405, + 0.2912127647487981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9967706486390807, + -0.0019073485163971786, + 0.08027856876356178, + -0.08096092771367744 + ], + [ + -0.0005074507831380015, + 0.9995483160018923, + 0.03004910511306144, + -0.04092380724358958 + ], + [ + -0.08029961799933462, + -0.029992803931236274, + 0.9963194118232745, + 0.3058424227667613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9958832221868739, + -0.0014825770631432533, + 0.09063370220692706, + -0.08524106933680115 + ], + [ + -0.0014043202314787345, + 0.9994938969612122, + 0.031780294288185344, + -0.04368754101079707 + ], + [ + -0.09063494986977348, + -0.03177674114704132, + 0.9953770974651289, + 0.3198372562400386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9950292693855595, + -0.002125207334756851, + 0.09956015756891712, + -0.09087233763617146 + ], + [ + -0.001196444519719352, + 0.9994449615478516, + 0.0332916830606207, + -0.04686876038791766 + ], + [ + -0.09957565235821035, + -0.03324531391263008, + 0.9944744650392284, + 0.33145210492177535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9944822745553956, + -0.003292481880635023, + 0.10485301537748318, + -0.09491066331433615 + ], + [ + -0.00033362222260470084, + 0.9994030594825745, + 0.03454643341482431, + -0.049916437376627716 + ], + [ + -0.10490416816329622, + -0.03439079970121384, + 0.9938874942249994, + 0.34318165866382566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9940197746534822, + -0.003975925035774708, + 0.10912806238036347, + -0.09690849586688946 + ], + [ + 0.0001086095568857818, + 0.9993724822998047, + 0.03542141395061643, + -0.05261846187585351 + ], + [ + -0.10920041006023132, + -0.03519773483276367, + 0.9933964204273827, + 0.35508440399383173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9934205232287147, + -0.0062836636789143085, + 0.11435093086140417, + -0.09988700050130478 + ], + [ + 0.002092349813962005, + 0.9993228316307068, + 0.036736258155014814, + -0.05592654684877731 + ], + [ + -0.11450433135500739, + -0.03625529259443283, + 0.992760937224855, + 0.36581094775640305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9929069801196161, + -0.008156390860676767, + 0.11861341928956397, + -0.10386644246211361 + ], + [ + 0.003659035388120363, + 0.9992678165435793, + 0.03808453406369641, + -0.05908256249839433 + ], + [ + -0.11883720612860739, + -0.03738038986921311, + 0.9922098857102897, + 0.37518339110602283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9925995426238058, + -0.009955805726349354, + 0.12102485052437066, + -0.1086228491980672 + ], + [ + 0.005215607878209887, + 0.9992091059684753, + 0.03942100165736092, + -0.06226272696607519 + ], + [ + -0.12132159825662601, + -0.03849804773926735, + 0.9918663897496172, + 0.38497617220095787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9924419986637115, + -0.014606578275561333, + 0.12184232287598377, + -0.11154552846050819 + ], + [ + 0.009706601642681074, + 0.999123752117157, + 0.040712782054280625, + -0.06463752465413113 + ], + [ + -0.12233023026709627, + -0.03922240063548088, + 0.9917141368125992, + 0.3944341389846381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9921973317523298, + -0.0184905007481575, + 0.12329875261982029, + -0.11407875097672315 + ], + [ + 0.013474905497121806, + 0.9990522265434265, + 0.041388981597233775, + -0.06591779113490706 + ], + [ + -0.12394719295430276, + -0.039404597133398056, + 0.9915060905585048, + 0.403581199842789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.991776804189557, + -0.022734466940164566, + 0.12594422175393874, + -0.11524417352552326 + ], + [ + 0.017519594396509807, + 0.9989487528800964, + 0.042360354729309435, + -0.0677186186506586 + ], + [ + -0.12677486346067807, + -0.03980552777647972, + 0.9911324959782383, + 0.41324843505812625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9911042223239925, + -0.02952979877591133, + 0.12977047417958543, + -0.11765270394103795 + ], + [ + 0.02402753278043602, + 0.9987529516220093, + 0.043763307864376294, + -0.06957190154457135 + ], + [ + -0.1309009684357854, + -0.04025593772530556, + 0.9905777852921815, + 0.42269155618414334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9905429740600398, + -0.03559732809662819, + 0.13250450357376956, + -0.12025296483600982 + ], + [ + 0.02991008615543699, + 0.9985540509223938, + 0.044667393561019425, + -0.07104050038020474 + ], + [ + -0.13390294864681535, + -0.0402817539870739, + 0.9901754513547013, + 0.43099648822720166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9898641604690903, + -0.04401472955942154, + 0.1350245855060188, + -0.1222488756135758 + ], + [ + 0.038137079318953, + 0.998221755027771, + 0.045813370238172085, + -0.0722880549923311 + ], + [ + -0.1368009460204693, + -0.04019956663250923, + 0.989782539891948, + 0.4394119931158294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9891638161526498, + -0.05133833363652229, + 0.13754770869676033, + -0.12304854196691724 + ], + [ + 0.0452327383919908, + 0.9978629350662231, + 0.04715480566154776, + -0.07412293241595115 + ], + [ + -0.13967460546261629, + -0.040422163903713226, + 0.9893720537143621, + 0.44817001426216274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9883342437556629, + -0.057651445269584656, + 0.1409671372438295, + -0.12502314010127386 + ], + [ + 0.05130189460849854, + 0.997515857219696, + 0.048272340479780816, + -0.07524677026076425 + ], + [ + -0.14339992374426938, + -0.04047732427716255, + 0.9888367287143826, + 0.4572361133557933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9878167940717317, + -0.058395471423864365, + 0.1442497706161538, + -0.12679090268716778 + ], + [ + 0.05182097666966065, + 0.9974572658538818, + 0.04892454645495112, + -0.07575429531014304 + ], + [ + -0.1467399521431704, + -0.04085332155227661, + 0.9883311130768669, + 0.46571891578668606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9873471942544341, + -0.05696986988186836, + 0.14798613234802505, + -0.12815236440369318 + ], + [ + 0.05005575327241384, + 0.997492253780365, + 0.05003572947036934, + -0.0774090059837891 + ], + [ + -0.1504655555943922, + -0.041995078325271606, + 0.9877228840377461, + 0.47514816338776594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9865626630582506, + -0.05627990514039993, + 0.1533842346725048, + -0.12934721814222516 + ], + [ + 0.049004880626647825, + 0.9975054264068604, + 0.05080786951460544, + -0.07916077936732009 + ], + [ + -0.15586106572842057, + -0.04260857403278351, + 0.9868596064883012, + 0.4845928908696878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9855368752993177, + -0.056859128177165985, + 0.1596372851326568, + -0.13032249637931437 + ], + [ + 0.049114459052247324, + 0.997435986995697, + 0.052050690914205014, + -0.08218189257755519 + ], + [ + -0.16218753111877532, + -0.04345737397670746, + 0.9858025461420155, + 0.49314731391062366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9849324363354736, + -0.05702411010861397, + 0.16326781967807083, + -0.1317194480983151 + ], + [ + 0.049005061523543704, + 0.9974055290222168, + 0.052732317392562636, + -0.08608841769262317 + ], + [ + -0.1658512490741977, + -0.043936822563409805, + 0.9851715461347106, + 0.5009182268393257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9848825717841624, + -0.05440107360482216, + 0.16445938798373047, + -0.13277443539649342 + ], + [ + 0.04639308157484741, + 0.9975610375404358, + 0.05215058136062836, + -0.09013487617185498 + ], + [ + -0.166895319045571, + -0.0437324196100235, + 0.985004282818142, + 0.5084733849254925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.984818352516639, + -0.054146818816661835, + 0.16492711904141236, + -0.13260813732394672 + ], + [ + 0.04638668847567869, + 0.9976438283920288, + 0.05054825591603508, + -0.0931014916307231 + ], + [ + -0.16727554009395676, + -0.04213042929768562, + 0.9850095986721811, + 0.5168941879158764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.984535129886815, + -0.0542583242058754, + 0.16657303602734658, + -0.13254741961796757 + ], + [ + 0.04649964170352447, + 0.9976595044136047, + 0.0501329652035082, + -0.09677788310365316 + ], + [ + -0.16890330362033154, + -0.04161207750439644, + 0.9847538467506165, + 0.5261244888318386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9839785209287709, + -0.056014467030763626, + 0.16925899161042465, + -0.13349448346649762 + ], + [ + 0.048094473026199944, + 0.9975634217262268, + 0.050538265084982895, + -0.10085878703489964 + ], + [ + -0.17167745727644682, + -0.04158814623951912, + 0.9842750169465985, + 0.5342933196146937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9835588731458594, + -0.057692475616931915, + 0.17112422816283981, + -0.13465608329111917 + ], + [ + 0.049600538647505424, + 0.9974561929702759, + 0.05119477620696788, + -0.1047376206694936 + ], + [ + -0.17364247246191217, + -0.04186522215604782, + 0.983918508956998, + 0.5420981979275897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9832584911200093, + -0.05847842991352083, + 0.17257746414341968, + -0.13435142181046272 + ], + [ + 0.05026015020330774, + 0.9974014759063723, + 0.05161594773148133, + -0.10735725943118851 + ], + [ + -0.17514743647849101, + -0.042078051716089256, + 0.9836426198486659, + 0.5515411287421942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9826550577065836, + -0.058728210628032684, + 0.17589786135348537, + -0.1329635631994828 + ], + [ + 0.050327343134920516, + 0.9973859786987305, + 0.05184984906824387, + -0.11001875344487728 + ], + [ + -0.17848310297875725, + -0.042098045349121094, + 0.9830419582786051, + 0.560874328756747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.981612388124264, + -0.061701599508523955, + 0.18063800598882496, + -0.13287865621135533 + ], + [ + 0.053076238287737124, + 0.9972249865531924, + 0.0522043346456991, + -0.11350745025480143 + ], + [ + -0.183357821344101, + -0.041656836867332465, + 0.9821632409022001, + 0.5689354221305065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9808874360144456, + -0.06359197944402695, + 0.18389092450061137, + -0.13350678141415073 + ], + [ + 0.05488608268551182, + 0.9971347451210022, + 0.0520564255968309, + -0.11680862210729613 + ], + [ + -0.18667440036418384, + -0.04096844419836998, + 0.9815672215268457, + 0.5772469953359419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.980453341458815, + -0.06443510949611664, + 0.1859013271326591, + -0.13333897178387455 + ], + [ + 0.055741723710113204, + 0.9971098303794861, + 0.051622641347513154, + -0.11914958065912416 + ], + [ + -0.1886903507639289, + -0.04025113210082054, + 0.9812113909933708, + 0.5864706368880577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9798855735119636, + -0.06522076576948167, + 0.18860137461625795, + -0.13397166413970527 + ], + [ + 0.05637615937379899, + 0.9970601797103884, + 0.05189168699203175, + -0.12088430016615624 + ], + [ + -0.1914313315919239, + -0.040215294808149345, + 0.9806817961141515, + 0.5957602129259173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9793409561447495, + -0.06562334299087526, + 0.19127174619831827, + -0.13491567224203127 + ], + [ + 0.056361561267800696, + 0.9969774484634402, + 0.053472649907591985, + -0.12384789368921775 + ], + [ + -0.19420266930859634, + -0.04158758372068406, + 0.9800794869822221, + 0.6026627578346893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9790561185156782, + -0.06669652462005615, + 0.19235575089197757, + -0.1354856762596019 + ], + [ + 0.05712386403111446, + 0.9968567490577698, + 0.0548952145328831, + -0.12661481144690506 + ], + [ + -0.1954124447623118, + -0.042757391929626465, + 0.9797886210929263, + 0.609942875105205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9790677325548199, + -0.06757126003503801, + 0.191990772254126, + -0.13627013186212739 + ], + [ + 0.05798214998030981, + 0.9967937469482424, + 0.05513889035811353, + -0.12805071309215263 + ], + [ + -0.19510100102478814, + -0.04285267367959023, + 0.9798465408919259, + 0.6167131910852168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9791262679239728, + -0.06855342537164688, + 0.19134307626759392, + -0.137023457232463 + ], + [ + 0.05899365926638868, + 0.9967296123504639, + 0.05522530655254052, + -0.12958227900735642 + ], + [ + -0.1945031946966109, + -0.04278452321887016, + 0.9799683499093036, + 0.6218098408356091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.97916665122955, + -0.0696500912308693, + 0.19073932793312795, + -0.13768207046907135 + ], + [ + 0.06008083828750721, + 0.9966489672660828, + 0.05550787542100515, + -0.13131959001126117 + ], + [ + -0.1939662831341241, + -0.04289168491959572, + 0.9800700782927896, + 0.6266752796175495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9790851929873713, + -0.07163078337907793, + 0.19042374387496067, + -0.13866916543584515 + ], + [ + 0.0619785835830034, + 0.9964952468872073, + 0.05617693392641969, + -0.133450968488654 + ], + [ + -0.1937803503380141, + -0.043199814856052406, + 0.9800933349471874, + 0.6315591978789367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9791698580797761, + -0.07270568609237671, + 0.18957915631954464, + -0.1403741826732487 + ], + [ + 0.06297184679770432, + 0.996393084526062, + 0.056880266717079235, + -0.1359758508635153 + ], + [ + -0.19303087715065673, + -0.04375729709863663, + 0.9802164903418293, + 0.6350207909130035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9794120226392068, + -0.07308924198150636, + 0.1881755814070649, + -0.14230394662443496 + ], + [ + 0.06325310776076276, + 0.996324419975281, + 0.05776380797811361, + -0.1389711104454838 + ], + [ + -0.19170584264209112, + -0.044671878218650825, + 0.980435259579363, + 0.6382677632516747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9798427417975246, + -0.07323498278856279, + 0.185862536309446, + -0.14275224569628087 + ], + [ + 0.06345645854898901, + 0.9962958097457888, + 0.05803407842652388, + -0.1406708313769962 + ], + [ + -0.1894241892142881, + -0.04507008939981461, + 0.9808604206808819, + 0.6424433846209876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9801289821308214, + -0.07306047528982164, + 0.18441628734506688, + -0.14420416002503247 + ], + [ + 0.06335493258910811, + 0.9963047504425051, + 0.057991030363582455, + -0.14215121356424046 + ], + [ + -0.18797167520984423, + -0.04515500739216805, + 0.9811359245770604, + 0.645339507853857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9804529145931695, + -0.0735897421836853, + 0.18247373403299175, + -0.14551221127668115 + ], + [ + 0.06420341796609304, + 0.9963172674179077, + 0.05683177536439071, + -0.142756248712166 + ], + [ + -0.18598396120162078, + -0.044005438685417175, + 0.9815668234387446, + 0.6487550264977648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9807867450198152, + -0.07425748556852341, + 0.18039727304759995, + -0.1476289747108403 + ], + [ + 0.06518535361121611, + 0.9963164925575256, + 0.05571604277251823, + -0.14487183657090993 + ], + [ + -0.18387011399406863, + -0.042886294424533844, + 0.9820145357054791, + 0.6516288589221201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9812897301522899, + -0.07330599427223206, + 0.17803559750334297, + -0.14972211797499083 + ], + [ + 0.06508397768575024, + 0.9965448379516602, + 0.051599037633986544, + -0.14565547879737376 + ], + [ + -0.18120297291804593, + -0.03904633969068527, + 0.9826702582550872, + 0.6546636813551507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.981546017838645, + -0.07295083999633789, + 0.17676405738519002, + -0.15195736482438776 + ], + [ + 0.06571018709404504, + 0.9967554807662964, + 0.04648332863054458, + -0.14747254409356797 + ], + [ + -0.17958154920762187, + -0.034010328352451324, + 0.9831550228406369, + 0.6557032472114741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9817825129478723, + -0.07308874279260635, + 0.17538862452626577, + -0.15450747749077248 + ], + [ + 0.06690905754463354, + 0.9969204068183899, + 0.04090070346641194, + -0.1478927854002994 + ], + [ + -0.17783788299742462, + -0.02842050790786743, + 0.9836493204061962, + 0.6583402040171307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9820405318943111, + -0.07199066877365112, + 0.17439541893867458, + -0.15822247540397566 + ], + [ + 0.06663961196117436, + 0.9971145987510681, + 0.03635500157927753, + -0.14820293514202923 + ], + [ + -0.17650943529761018, + -0.024080440402030945, + 0.9840043621921255, + 0.6599127742185202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.982188146430157, + -0.07131411880254747, + 0.1738412683798854, + -0.16152355327492623 + ], + [ + 0.0665108498864847, + 0.9972295761108401, + 0.03330846125789877, + -0.14819123903877418 + ], + [ + -0.1757350190708282, + -0.021152844652533535, + 0.9842102247027773, + 0.6609633383302485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9820536041673483, + -0.07194807380437852, + 0.1743391986833332, + -0.16454230778478235 + ], + [ + 0.06728356841506519, + 0.9972035288810732, + 0.03252738699794733, + -0.14957656681917395 + ], + [ + -0.1761919510621087, + -0.02021347545087338, + 0.9841482700630967, + 0.6623579180796636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9819807491535908, + -0.07024294137954712, + 0.17544143821708047, + -0.1678821917895609 + ], + [ + 0.06576162542983392, + 0.9973464012145996, + 0.031234870664509123, + -0.1495943688003643 + ], + [ + -0.17716991241396549, + -0.019134728237986565, + 0.9839942438564012, + 0.6652191507436968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9817063758616721, + -0.06950578838586807, + 0.1772613093962151, + -0.1716687537132437 + ], + [ + 0.06513084736251185, + 0.9974139332771301, + 0.030388302474960927, + -0.1504513183862269 + ], + [ + -0.17891505444003428, + -0.018287211656570435, + 0.9836945402239109, + 0.6670200297351863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.981447824217157, + -0.06875816732645035, + 0.17897635997698144, + -0.17544990680301625 + ], + [ + 0.06453164500816276, + 0.9974843263626099, + 0.02933768647138282, + -0.15048872482887218 + ], + [ + -0.18054331280763433, + -0.017243770882487297, + 0.9834158523628224, + 0.6693536124650894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9811780193073247, + -0.06802611052989961, + 0.1807268359265277, + -0.1797808446424957 + ], + [ + 0.06387149590642474, + 0.9975448846817019, + 0.028716186036812957, + -0.15042632533290146 + ], + [ + -0.1822365824414741, + -0.016632396727800373, + 0.9831140481831072, + 0.6714480601340131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9809275571348919, + -0.06683147698640823, + 0.18252310221182524, + -0.18378290091473223 + ], + [ + 0.0627242583994988, + 0.9976326823234558, + 0.028189956827319115, + -0.14995238199187816 + ], + [ + -0.18397499259020075, + -0.016203681007027626, + 0.9827973665142805, + 0.6736388839301124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9804346237112064, + -0.06644415855407715, + 0.1852918811981965, + -0.1870724222250229 + ], + [ + 0.06227024646125607, + 0.9976590871810913, + 0.028261999212240426, + -0.14998726520501895 + ], + [ + -0.18673598090549692, + -0.016170872375369072, + 0.9822770403967753, + 0.6752691325015672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9795902112099233, + -0.066026471555233, + 0.18985121181568793, + -0.190069089177439 + ], + [ + 0.06193154421227303, + 0.9977034330368042, + 0.027428349157522312, + -0.1487308911492632 + ], + [ + -0.19122621239132093, + -0.015110764652490616, + 0.9814296953022256, + 0.6790658051987968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9780533856524232, + -0.06427687406539917, + 0.19819183948162833, + -0.19384452443947187 + ], + [ + 0.06012963815065017, + 0.9978286027908325, + 0.02687953015970657, + -0.1488530771910569 + ], + [ + -0.19948922697595708, + -0.014372413046658039, + 0.9797946400332882, + 0.6817011632334323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9761603760134768, + -0.0615612603724003, + 0.2081374073568147, + -0.19763553801117648 + ], + [ + 0.05752590000034233, + 0.9980210661888125, + 0.025391541413450573, + -0.14929662527132279 + ], + [ + -0.20928864967972322, + -0.012812923640012745, + 0.9777699521876677, + 0.6836601633314816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9742328633426517, + -0.06044849753379822, + 0.21729307247597046, + -0.2031445032833364 + ], + [ + 0.05673492067152469, + 0.9981175065040588, + 0.023294233822935634, + -0.15087134490441367 + ], + [ + -0.21829212720918073, + -0.010365903377532959, + 0.9758284418580703, + 0.6835127056139321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9731320488217349, + -0.0590817965567112, + 0.2225384718625284, + -0.20857715165030008 + ], + [ + 0.055953058614026024, + 0.9982261061668396, + 0.020343798060004425, + -0.15074319918532503 + ], + [ + -0.22334566104002035, + -0.007345493882894516, + 0.9747116417559238, + 0.6851906057905194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9726122817032997, + -0.057854894548654556, + 0.22511821242211746, + -0.2141147192267008 + ], + [ + 0.05474944849079148, + 0.9982994198799133, + 0.02001849370337489, + -0.15114963595006278 + ], + [ + -0.22589355218743973, + -0.007145135197788477, + 0.9741258077735891, + 0.6856179104217083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9723373433495311, + -0.062055427581071854, + 0.22518707806881988, + -0.21904591009480165 + ], + [ + 0.058701386142748384, + 0.9980425834655762, + 0.02156612627900607, + -0.15260992448598806 + ], + [ + -0.2260845909852253, + -0.007750756107270718, + 0.9740768065354869, + 0.6843990119924346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9726841627812924, + -0.058376602828502655, + 0.22467242770316836, + -0.2242460485576859 + ], + [ + 0.054903359728468396, + 0.998256266117096, + 0.021681262644181555, + -0.1529627335390912 + ], + [ + -0.22554633572714503, + -0.00875375047326088, + 0.9741931100698834, + 0.6866517846041965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9725783643608138, + -0.0521683432161808, + 0.2266491313337832, + -0.22691428767201352 + ], + [ + 0.049111754835140235, + 0.9986104965209961, + 0.01910807157785984, + -0.1502771477577201 + ], + [ + -0.2273310349539472, + -0.007452960591763258, + 0.9737890194635569, + 0.6914515913046084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9705378698052176, + -0.05147377774119377, + 0.23538637060995793, + -0.22604365295963322 + ], + [ + 0.04840789152778568, + 0.9986509084701538, + 0.01878886950945154, + -0.15378007680731517 + ], + [ + -0.2360359377231678, + -0.0068407510407269, + 0.9717202254567789, + 0.6895592435006359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9630377924512012, + -0.052201803773641586, + 0.26425972063385605, + -0.23033868344227468 + ], + [ + 0.05124425822744385, + 0.9986307621002197, + 0.010520603868331537, + -0.14885642607587649 + ], + [ + -0.26444707117995797, + 0.0034100539050996304, + 0.9643941460414083, + 0.7014059809782694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9615832994884068, + -0.05204939842224121, + 0.269533721642767, + -0.23503804001318299 + ], + [ + 0.05065308150168537, + 0.9986425638198853, + 0.012137953069766661, + -0.148851561687837 + ], + [ + -0.26979960635236394, + 0.0019810604862868786, + 0.9629144252171401, + 0.7018034753129018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9598846530765821, + -0.05018734931945801, + 0.27586718182318715, + -0.24030419221869662 + ], + [ + 0.04910860165717734, + 0.9987348318099976, + 0.010821359997877486, + -0.1489842875677213 + ], + [ + -0.2760612518225309, + 0.0031601935625076294, + 0.961134870008835, + 0.7024068870695407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9586945841744755, + -0.04800444468855858, + 0.28035729988885594, + -0.24447624906772872 + ], + [ + 0.04730045777574296, + 0.9988375902175903, + 0.009280826990011802, + -0.14670451993467443 + ], + [ + -0.2804769417659569, + 0.0043635498732328415, + 0.9598508391095862, + 0.7052450209516544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9571638542797068, + -0.04743286967277527, + 0.2856351439969876, + -0.24901890833659004 + ], + [ + 0.047100217494825555, + 0.9988577961921692, + 0.008038462514751696, + -0.14442553962417973 + ], + [ + -0.2856901824694556, + 0.005759350955486298, + 0.9583047240337591, + 0.7075877084259571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9558158853439703, + -0.047551821917295456, + 0.2900944514043376, + -0.2547261925139947 + ], + [ + 0.0472204228250988, + 0.9988512992858887, + 0.008146204044654623, + -0.14353427616256645 + ], + [ + -0.2901485847383943, + 0.0059121111407876015, + 0.9569633241321769, + 0.7074863063886789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9550647760285854, + -0.04581461101770401, + 0.2928348753650388, + -0.2603579727367961 + ], + [ + 0.045610349131717125, + 0.9989309310913086, + 0.007529128005473445, + -0.14171556551002565 + ], + [ + -0.29286675723680766, + 0.00616549514234066, + 0.9561333948080136, + 0.7081221112583707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9542738182000952, + -0.04432826489210129, + 0.2956288966529167, + -0.2656003811512797 + ], + [ + 0.04427677955910567, + 0.9989956617355347, + 0.006872025926666781, + -0.14017382501815218 + ], + [ + -0.29563661028295485, + 0.0065317009575665, + 0.9552781273397108, + 0.709628606455469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9531697954413586, + -0.042452987283468246, + 0.2994412288993391, + -0.27034270987515313 + ], + [ + 0.04253150228757893, + 0.9990755319595337, + 0.006258315860317198, + -0.13881624411111673 + ], + [ + -0.2994300919409619, + 0.006770447362214327, + 0.9540942439058588, + 0.7118396743801978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9514088184573849, + -0.041942112147808075, + 0.3050609042749489, + -0.27524562307405215 + ], + [ + 0.04210423774148529, + 0.9990949034690857, + 0.006050627342764074, + -0.13817033502399528 + ], + [ + -0.30503856605333474, + 0.007087736390531063, + 0.9523135999730211, + 0.7140214118485396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9493245003635185, + -0.04089852049946785, + 0.3116252556980484, + -0.2815051034042269 + ], + [ + 0.04100134633511104, + 0.9991397261619568, + 0.00622463048962988, + -0.13864524719521595 + ], + [ + -0.31161173943399584, + 0.006867860443890095, + 0.9501846735807191, + 0.7142766329353688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9476994533343407, + -0.03858504816889763, + 0.3168232623903202, + -0.2876469734047742 + ], + [ + 0.03870465741957974, + 0.9992331862449646, + 0.005918378115076621, + -0.13885977837999522 + ], + [ + -0.31680866376223865, + 0.00665369164198637, + 0.9484661165969304, + 0.7156815379603995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9466547120506321, + -0.03679672256112099, + 0.3201419541713559, + -0.2935149466084782 + ], + [ + 0.03706280676173951, + 0.9992990493774414, + 0.005264074035799727, + -0.13886895679999922 + ], + [ + -0.3201112557861239, + 0.006882098037749529, + 0.9473549877781828, + 0.7159459110389804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9461145111748176, + -0.03616788238286972, + 0.321806120883639, + -0.2981519640744513 + ], + [ + 0.03660715320197451, + 0.9993187189102173, + 0.004688177426565772, + -0.13831924152300845 + ], + [ + -0.32175645316396156, + 0.0073448531329631805, + 0.9467939721429594, + 0.7166263881406796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9456321849471403, + -0.03595837205648422, + 0.3232441101852615, + -0.30200431826112994 + ], + [ + 0.03658412827688788, + 0.9993219971656799, + 0.0041419520001327115, + -0.13676565176519834 + ], + [ + -0.32317388904182404, + 0.007908840663731098, + 0.9463065233830811, + 0.7175481778491729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9449519981690718, + -0.03625234961509705, + 0.32519449805340134, + -0.30582282066915356 + ], + [ + 0.036910272524222076, + 0.9993099570274355, + 0.004147963822280394, + -0.13543529316931927 + ], + [ + -0.325120474773904, + 0.008083390071988108, + 0.9456380531782894, + 0.7186833726032299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.944646679809142, + -0.03734463453292847, + 0.3259570400878255, + -0.309103055451515 + ], + [ + 0.037979423536236505, + 0.9992687702178955, + 0.004418335462796312, + -0.13470182221398833 + ], + [ + -0.32588369296287056, + 0.008205894380807877, + 0.9453742463067242, + 0.7190109122138384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9446889596463697, + -0.03676077723503113, + 0.3259009204872956, + -0.3135116787943097 + ], + [ + 0.037524190351879226, + 0.9992879033088684, + 0.00394571831847934, + -0.1335345784613691 + ], + [ + -0.32581389890853873, + 0.008501690812408924, + 0.9453956826131973, + 0.7191611827694671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9451470231799293, + -0.037054579704999924, + 0.3245366502954023, + -0.3164978901393162 + ], + [ + 0.037986111748239175, + 0.9992722272872925, + 0.0034669504631504016, + -0.13226301363350615 + ], + [ + -0.32442894336193673, + 0.009051106870174408, + 0.9458667816364301, + 0.7180866466562106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9452027163538669, + -0.03779323771595955, + 0.3242891961567449, + -0.3195897129491805 + ], + [ + 0.038871131113789904, + 0.9992392659187317, + 0.00315578566062617, + -0.13120162142745356 + ], + [ + -0.32416176098466354, + 0.00962262973189354, + 0.9459527338375703, + 0.7173705507115479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.944908855091452, + -0.03928679600358009, + 0.3249673009246511, + -0.32255047484581556 + ], + [ + 0.040573726722651235, + 0.999172568321228, + 0.0028181651034704523, + -0.12975596216577734 + ], + [ + -0.32480913424649277, + 0.010522225871682167, + 0.9457210385692787, + 0.7177050645203762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9442517402992117, + -0.040807656943798065, + 0.3266854114866915, + -0.32595012654975375 + ], + [ + 0.04217600289770758, + 0.9991059899330139, + 0.0028970070522055056, + -0.1286631762463861 + ], + [ + -0.32651157703203876, + 0.011042780242860317, + 0.9451287118675274, + 0.7185810575549842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9434976286452905, + -0.04114844277501106, + 0.32881463858028237, + -0.32914951054600594 + ], + [ + 0.04264056217448785, + 0.9990869164466858, + 0.0026750748525132626, + -0.12703443031162617 + ], + [ + -0.32862446912758253, + 0.011496913619339466, + 0.9443906809235761, + 0.7197405638250947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9424758352957604, + -0.04177621379494668, + 0.3316535587154762, + -0.3318614947258507 + ], + [ + 0.04320831182695416, + 0.9990614056587221, + 0.0030580413898721715, + -0.1258927619908497 + ], + [ + -0.33147001913634055, + 0.011448059231042864, + 0.9433963192023912, + 0.7213376198059898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9411345895248266, + -0.04155769944190979, + 0.33546780897485434, + -0.3351275064073186 + ], + [ + 0.042920318452150955, + 0.9990728497505188, + 0.0033546345674365877, + -0.12522070898779963 + ], + [ + -0.33529620114711955, + 0.011241222731769085, + 0.9420457117632597, + 0.7221457534417354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9398962986659208, + -0.04183449223637581, + 0.33888756677017345, + -0.33822425689098223 + ], + [ + 0.043095318788759086, + 0.9990637302398682, + 0.0038071303457474456, + -0.12515834095186146 + ], + [ + -0.33872953885562124, + 0.011026158928871155, + 0.9408191737894028, + 0.7231195215326676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9387853317013036, + -0.04160330072045326, + 0.3419814220549504, + -0.3415733063526787 + ], + [ + 0.042795139243368016, + 0.9990755915641785, + 0.004062767113281393, + -0.12545743113422697 + ], + [ + -0.34183431965037525, + 0.010821076110005379, + 0.9396979465014323, + 0.723436077923539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9377437936204377, + -0.04172558709979058, + 0.3448124293643694, + -0.3444446004428737 + ], + [ + 0.04290481706841044, + 0.9990702867507937, + 0.004214080741793088, + -0.1257493681713444 + ], + [ + -0.344667665032712, + 0.010842386633157732, + 0.9386621280009857, + 0.7246078435836102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9368061397395525, + -0.041704457253217704, + 0.34735424926841146, + -0.3472889930951631 + ], + [ + 0.04293383204479611, + 0.9990692734718325, + 0.004159910654847126, + -0.12605750986422062 + ], + [ + -0.34720444397313305, + 0.011016218923032286, + 0.9377247385953991, + 0.7250900703226869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9359806623404959, + -0.04113752394914627, + 0.3496397478617788, + -0.35071842730375685 + ], + [ + 0.042426445466126936, + 0.9990916848182678, + 0.003975022657179189, + -0.12626762165327365 + ], + [ + -0.34948568731303675, + 0.011113427579402924, + 0.9368758013262188, + 0.7253712326897077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.935421927780784, + -0.040383920073509216, + 0.3512192634160886, + -0.3538213724915787 + ], + [ + 0.04175388559300827, + 0.9991211891174316, + 0.0036755753390624608, + -0.12634930820401233 + ], + [ + -0.35105903940911376, + 0.011226554401218891, + 0.9362860328688302, + 0.724954105790333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.935061185346186, + -0.04174836352467537, + 0.3520193993211617, + -0.35603412663270784 + ], + [ + 0.04314714263520443, + 0.9990612268447876, + 0.003874645863303072, + -0.12664727817142823 + ], + [ + -0.3518506773140067, + 0.011565599590539932, + 0.9359846626736804, + 0.7248612210589486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9347233441604815, + -0.04154236614704133, + 0.35293973790170996, + -0.35894718299628203 + ], + [ + 0.04289147237310516, + 0.9990717172622683, + 0.004001094787196036, + -0.1269157496343499 + ], + [ + -0.35277832106087, + 0.01139818783849478, + 0.9356374725064548, + 0.7247481400435353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9343417956814992, + -0.040945712476968765, + 0.35401815136333775, + -0.3618375978609102 + ], + [ + 0.042346008281039085, + 0.9990957975387573, + 0.0037937224463987698, + -0.12679804580925835 + ], + [ + -0.3538533842932356, + 0.011446621268987656, + 0.9352308442782522, + 0.7252528980378493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9338694142055114, + -0.04092920571565629, + 0.3552642174620219, + -0.3646778681584849 + ], + [ + 0.042485539805277986, + 0.9990912079811098, + 0.0034229776073187463, + -0.12644988512087676 + ], + [ + -0.35508146106108135, + 0.011896978132426742, + 0.9347596538003777, + 0.7253224820747364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9332294219314002, + -0.041424516588449485, + 0.356884943584699, + -0.3677773096644158 + ], + [ + 0.04306520602681175, + 0.9990666508674624, + 0.0033516017235600826, + -0.12643001179931382 + ], + [ + -0.3566906756164968, + 0.012241509743034843, + 0.9341423407112044, + 0.7256731864906352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.932700296086948, + -0.04105403646826745, + 0.3583080727844288, + -0.37101515141239694 + ], + [ + 0.042739402124911466, + 0.999081075191498, + 0.003218622508967517, + -0.12655373037460912 + ], + [ + -0.35811095327365905, + 0.012311862781643871, + 0.9335978481308762, + 0.7254499590952453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9321926127108078, + -0.040385738015174866, + 0.3597025046379959, + -0.374384282466957 + ], + [ + 0.04223375361800494, + 0.9991040229797363, + 0.0027232499303970095, + -0.1261203807129103 + ], + [ + -0.3594902230562225, + 0.012652993202209473, + 0.9330630912441413, + 0.7257063038339471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.931603405429514, + -0.03864942491054535, + 0.3614157367333517, + -0.37801519730280825 + ], + [ + 0.040773669810953955, + 0.9991669058799744, + 0.0017495972934983895, + -0.12552387673847465 + ], + [ + -0.36118225476574073, + 0.013106315396726131, + 0.9324031399148369, + 0.7255201586329452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9309690924916162, + -0.03803517296910286, + 0.36311138365456436, + -0.38136327781894874 + ], + [ + 0.04024321367869899, + 0.9991888403892517, + 0.0014847494911812368, + -0.12544822100146172 + ], + [ + -0.36287330925346195, + 0.013230513781309128, + 0.931744570781239, + 0.725884920076792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9304357338268626, + -0.037470653653144836, + 0.3645343617423537, + -0.3845151046874297 + ], + [ + 0.03977572138814853, + 0.9992079138755798, + 0.0011856828159322575, + -0.12519135605258958 + ], + [ + -0.3642900575297262, + 0.013396414928138256, + 0.9311891755516691, + 0.7256482829803148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9298914624805242, + -0.03580467402935028, + 0.36608720132519607, + -0.3877249986808479 + ], + [ + 0.038096229181117415, + 0.9992735981941223, + 0.0009650893746574142, + -0.12500400452452495 + ], + [ + -0.3658558419005545, + 0.013049113564193249, + 0.9305800306607185, + 0.726399589795977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/orbit_right/transforms.json b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..67f0f29c72e57e39c5bd0c05b34dfcd24a2394af --- /dev/null +++ b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/orbit_right/transforms.json @@ -0,0 +1,4808 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 137, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00015281095693353564, + 9.454473183723167e-05, + -0.00017298538296017796 + ], + [ + -0.00015282332606147975, + 1.0, + 0.0001308531645918265, + -0.0003619329072535038 + ], + [ + -9.452473750570789e-05, + -0.00013086760009173304, + 1.0, + -0.00011619761789916083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999986537946537, + 0.00029360686312429607, + -0.0016308627272327901, + 0.0020722716812418664 + ], + [ + -0.00029245646350018677, + 0.9999997019767761, + 0.0007056006190606172, + -0.0004736296220800407 + ], + [ + 0.0016310693707521913, + -0.0007051227148622274, + 0.9999984149778445, + 0.000728062793152272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999971395206243, + 0.0007547845016233625, + -0.0022809325897064662, + 0.0038340342121644497 + ], + [ + -0.0007507774734339666, + 0.9999981522560122, + 0.0017570907818470882, + -0.0013238223980396226 + ], + [ + 0.0022822546626983507, + -0.0017553733196109538, + 0.999995882723813, + 0.00192319880431427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999995958640756, + -8.561230060877278e-05, + -0.0028338476516748252, + 0.0058390783806529754 + ], + [ + 9.270941780439084e-05, + 0.9999968409538269, + 0.002504375266809665, + -0.0015162256308176951 + ], + [ + 0.0028336243993380044, + -0.002504628151655197, + 0.9999928604368366, + 0.0049157832367474445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999921887027267, + 0.0001408472453476861, + -0.0039432725850604144, + 0.006060477919290399 + ], + [ + -0.00012813566636516257, + 0.9999948143959045, + 0.003223678097889476, + -0.001230903468139838 + ], + [ + 0.003943706219886935, + -0.0032231477089226246, + 0.9999869996058546, + 0.007071656626321221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999825651538532, + 0.0007249152986332774, + -0.005855979527136686, + 0.007827938621807265 + ], + [ + -0.0006958884102573179, + 0.9999874830245972, + 0.004957312037667992, + -0.0023439778730852457 + ], + [ + 0.00585949993146899, + -0.004953150637447834, + 0.9999705501804337, + 0.009533110736171475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999730164763658, + 0.0006774791399948299, + -0.007311279256716188, + 0.009766998700154034 + ], + [ + -0.0006306029686136377, + 0.9999792575836182, + 0.006411895696333742, + -0.002956943625416432 + ], + [ + 0.007315471475971275, + -0.006407111883163452, + 0.9999527011231616, + 0.014683613105883328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999620825295122, + 0.0015402118442580104, + -0.008573742647722269, + 0.008632552161905576 + ], + [ + -0.001478045251951651, + 0.9999725818634033, + 0.007252419483509612, + -0.0033950224737338067 + ], + [ + 0.008584677834415851, + -0.007239471655339003, + 0.9999369585556089, + 0.018043272320611297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999347440133909, + 0.0018369132885709405, + -0.011275339334099709, + 0.009282493800903043 + ], + [ + -0.0017516931461092169, + 0.9999698400497437, + 0.00756331868239891, + -0.0027860622484359027 + ], + [ + 0.011288892584217804, + -0.007543074432760477, + 0.9999078292297406, + 0.02363997635051676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998857237822943, + 0.000492562132421881, + -0.015110137533814544, + 0.012422485754296265 + ], + [ + -0.0003616822481242807, + 0.9999623894691467, + 0.00866323789963075, + -0.004563589325348388 + ], + [ + 0.015113835926037652, + -0.00865678209811449, + 0.9998482819797131, + 0.029389345321583087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998466799697464, + -0.00048746351967565715, + -0.01750537974027838, + 0.013242077004638204 + ], + [ + 0.0006477788193752619, + 0.9999579191207886, + 0.009153558460314603, + -0.0037579529785955234 + ], + [ + 0.017500180244197215, + -0.009163495153188705, + 0.9998048702420702, + 0.03570046389310632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998026707444627, + -0.0008615814149379732, + -0.019846356303641326, + 0.015315419003067796 + ], + [ + 0.001067239383083404, + 0.9999458193778994, + 0.010354247871428315, + -0.004390732982647452 + ], + [ + 0.01983635959292093, + -0.010373385623097421, + 0.9997494051009961, + 0.04427507558103217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9997561214339012, + -0.0009955024579539895, + -0.02206227816515901, + 0.015676219406816252 + ], + [ + 0.001243656514006257, + 0.9999361038208008, + 0.011237024219223431, + -0.0043304002589718655 + ], + [ + 0.022049681463877067, + -0.011261722072958946, + 0.9996934531668745, + 0.05391950212720286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996964060801359, + 8.155935211107136e-05, + -0.02463986267460951, + 0.014633311930121552 + ], + [ + 0.00021154108556902115, + 0.9999292492866518, + 0.011892535393630973, + -0.004384286108693685 + ], + [ + 0.024639089170163355, + -0.01189413666725159, + 0.999625652568215, + 0.06254175453269659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9995940464826768, + -0.00021074646792840213, + -0.028491143690186693, + 0.015745938059256892 + ], + [ + 0.0005714562232694577, + 0.9999197721481323, + 0.012652867506895598, + -0.0050115465215257275 + ], + [ + 0.028486191633071884, + -0.012664012610912323, + 0.9995139826035245, + 0.07342116306730474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9994572518617431, + -0.0003232348244637251, + -0.03294072843037924, + 0.014463535371148518 + ], + [ + 0.0007716961481247519, + 0.9999071955680847, + 0.013602385106378482, + -0.006376736900120774 + ], + [ + 0.032933274036691454, + -0.013620423153042793, + 0.9993647432919495, + 0.08460874671072163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9992429369806147, + -0.0022558749187737703, + -0.03883921577656571, + 0.016169969463938838 + ], + [ + 0.0028107454784577846, + 0.9998946785926819, + 0.014237681083722161, + -0.007597335475771402 + ], + [ + 0.038803007545182414, + -0.014336069114506245, + 0.9991440481248972, + 0.09929515607961482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9990119545000318, + -0.005450161639600992, + -0.04410632168922798, + 0.018894803671272116 + ], + [ + 0.006120183875074974, + 0.9998676776885986, + 0.015070327078332644, + -0.009881422166262584 + ], + [ + 0.04401835117719895, + -0.015325376763939857, + 0.9989131539961316, + 0.11375942469324636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9988198587935352, + -0.0051442356780171394, + -0.048295724694546294, + 0.022345928320903714 + ], + [ + 0.005903312665749893, + 0.9998610615730286, + 0.015587822848749723, + -0.011193015335431543 + ], + [ + 0.04820882849250006, + -0.015854530036449432, + 0.99871146259635, + 0.12913403836064116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9987094219861312, + -0.0056027937680482864, + -0.0504788970281107, + 0.02462523625119916 + ], + [ + 0.0064276802249749925, + 0.9998481869697571, + 0.016193722483211877, + -0.013128360959670403 + ], + [ + 0.05038050439020227, + -0.016497284173965454, + 0.998593852514462, + 0.1445700728462511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9987151009240679, + -0.005516846664249897, + -0.050375351720843085, + 0.028257173965394747 + ], + [ + 0.006396117853929181, + 0.9998297095298767, + 0.017309911077601044, + -0.016024276467038422 + ], + [ + 0.05027127901729777, + -0.01760987751185894, + 0.9985803664780054, + 0.1613820908222402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9988880097555525, + -0.004238581284880638, + -0.046955597285992134, + 0.03076984192867372 + ], + [ + 0.005098365542886598, + 0.9998212456703186, + 0.01820597957988025, + -0.01843944617418641 + ], + [ + 0.04687003608573012, + -0.01842513121664524, + 0.9987310625051984, + 0.178690790334334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9991066645713094, + -0.0027829306200146675, + -0.04216814922256502, + 0.028398839941002556 + ], + [ + 0.0036233594628444546, + 0.9997960925102234, + 0.019867119969327947, + -0.022695353801395955 + ], + [ + 0.04210426007243148, + -0.02000216208398342, + 0.9989129773067144, + 0.19493761031874693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9991679759514799, + -0.002705466700717807, + -0.04069477233899481, + 0.028298549635231797 + ], + [ + 0.00355007816934823, + 0.9997795224189758, + 0.020696866447955153, + -0.02480560138312133 + ], + [ + 0.04062980423638954, + -0.020824115723371506, + 0.9989572603438893, + 0.2106417469718097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9992243424481384, + -0.0008035755599848928, + -0.03937148325330571, + 0.02803415276690855 + ], + [ + 0.0016643659950545914, + 0.9997602105140688, + 0.021835402212347133, + -0.028196680008016235 + ], + [ + 0.03934449350430162, + -0.02188399247825146, + 0.9989860219853833, + 0.22782026373661277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9993135765007014, + -0.0009113797568716109, + -0.037034591724701804, + 0.027314993745064117 + ], + [ + 0.0017667241685113645, + 0.9997323155403137, + 0.023069665989112614, + -0.03130728884463168 + ], + [ + 0.03700365169447642, + -0.023119259625673294, + 0.999047668635732, + 0.2433034424300414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9993639412273814, + -0.0012546045472845435, + -0.035638330775512254, + 0.02740989488423331 + ], + [ + 0.002120494236094512, + 0.9997032284736633, + 0.024269184646410046, + -0.034195146790675986 + ], + [ + 0.035597307245292475, + -0.02432931959629059, + 0.9990700461343011, + 0.2583626748108763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9993872306408516, + -0.0018739805091172457, + -0.03495229767562255, + 0.026628636089910854 + ], + [ + 0.0027919682617206227, + 0.9996519088745117, + 0.026233731975127912, + -0.03737708484658666 + ], + [ + 0.03489097059877839, + -0.026315242052078247, + 0.9990446046828305, + 0.273613978026896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9994036561106208, + -0.0024722174275666475, + -0.034441605117756, + 0.02744126329677861 + ], + [ + 0.003446460551669874, + 0.9995947480201721, + 0.02825622187235192, + -0.03959675914715156 + ], + [ + 0.034357791726810624, + -0.02835807204246521, + 0.9990071716579743, + 0.28913327895722735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9995088667058211, + -0.0019073485163971786, + -0.031279385664439954, + 0.029384347793693887 + ], + [ + 0.0028437175404313255, + 0.9995483160018923, + 0.029918547674366913, + -0.040794669015695825 + ], + [ + 0.03120819162190413, + -0.029992803931236274, + 0.9990627847149575, + 0.3031288714193532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9996928779833014, + -0.0014825770631432533, + -0.02473883421885823, + 0.02888148142952828 + ], + [ + 0.002267496039997399, + 0.9994938969612122, + 0.0317303905123275, + -0.043638177909575554 + ], + [ + 0.02467926748528663, + -0.03177674114704132, + 0.9991902691942065, + 0.3160653977222855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9998051894913865, + -0.002125207334756851, + -0.01962281771817133, + 0.02702381090812296 + ], + [ + 0.0027759934828452608, + 0.9994449615478516, + 0.033197311648396864, + -0.046775407910291764 + ], + [ + 0.019541374498877523, + -0.03324531391263008, + 0.9992561767836702, + 0.32672202164636843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9998298136047516, + -0.003292481880635023, + -0.0181519438549083, + 0.026770938516975616 + ], + [ + 0.00391425861471488, + 0.9994030594825745, + 0.034325587321551186, + -0.04969796727139489 + ], + [ + 0.018028087243017202, + -0.03439079970121384, + 0.9992458274845283, + 0.33788097340500106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.999835430269562, + -0.003975925035774708, + -0.017701942795408116, + 0.02856203799872828 + ], + [ + 0.004595917080395596, + 0.9993724822998047, + 0.0351221569452518, + -0.05232241256028273 + ], + [ + 0.017551194155365688, + -0.03519773483276367, + 0.9992262672983435, + 0.34931704635444255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9998474645205487, + -0.0062836636789143085, + -0.016294755374444372, + 0.029363664399380957 + ], + [ + 0.006869493364635979, + 0.9993228316307068, + 0.03614886791988239, + -0.05534542870676701 + ], + [ + 0.01605657399380383, + -0.03625529259443283, + 0.9992135441487027, + 0.3594272411122779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998410644705512, + -0.008156390860676767, + -0.015851189362711245, + 0.029168037533717064 + ], + [ + 0.008742228924742572, + 0.9992678165435793, + 0.03724773426998968, + -0.05825466267752567 + ], + [ + 0.015535781908756078, + -0.03738038986921311, + 0.9991803532606928, + 0.3682870595345406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9998012929036185, + -0.009955805726349354, + -0.01726966038136117, + 0.02820680093786021 + ], + [ + 0.01061185434346706, + 0.9992091059684753, + 0.03832240186368721, + -0.06117576390135716 + ], + [ + 0.016874468603276516, + -0.03849804773926735, + 0.9991161682346246, + 0.37780318574495364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9996875023058635, + -0.014606578275561333, + -0.02028719026632921, + 0.02908484456226404 + ], + [ + 0.015388213569287035, + 0.999123752117157, + 0.038922379439020216, + -0.06286600667677122 + ], + [ + 0.019700891418596565, + -0.03922240063548088, + 0.999036280256364, + 0.3871892273469556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9995722507962626, + -0.0184905007481575, + -0.022659280044608657, + 0.030346451434976662 + ], + [ + 0.019364573319659087, + 0.9990522265434265, + 0.03898248550259548, + -0.06353656771591121 + ], + [ + 0.02191699883255145, + -0.039404597133398056, + 0.9989829224856824, + 0.39618288852844324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9994575342775937, + -0.022734466940164566, + -0.02382883751694245, + 0.032963041085488545 + ], + [ + 0.023658996475852855, + 0.9989487528800964, + 0.03926305803636197, + -0.06465370351892309 + ], + [ + 0.022911162054164748, + -0.03980552777647972, + 0.9989447278217418, + 0.40551787839421344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9992806795233158, + -0.02952979877591133, + -0.023792414939650758, + 0.034312135793601914 + ], + [ + 0.03045610448920956, + 0.9987529516220093, + 0.03955976675979596, + -0.0654121045132748 + ], + [ + 0.022594548501788873, + -0.04025593772530556, + 0.9989338810100447, + 0.4144224180228627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9990571782716431, + -0.03559732809662819, + -0.024851186509741538, + 0.03547299941425801 + ], + [ + 0.036559719916822185, + 0.9985540509223938, + 0.03941035626538002, + -0.06583790998434048 + ], + [ + 0.02341235476578854, + -0.0402817539870739, + 0.9989140532428799, + 0.422348391647322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9986898617555731, + -0.04401472955942154, + -0.026100860117692005, + 0.037215978571371613 + ], + [ + 0.04501534831109683, + 0.998221755027771, + 0.03907582536544272, + -0.0656199486200858 + ], + [ + 0.024334531512211394, + -0.04019956663250923, + 0.9988952926524042, + 0.43039315822885993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9983069999796851, + -0.05133833363652229, + -0.027341564420550038, + 0.0401499198289932 + ], + [ + 0.052385163749753404, + 0.9978629350662231, + 0.039055997469378975, + -0.06610717120629543 + ], + [ + 0.0252780631290362, + -0.040422163903713226, + 0.998862891295175, + 0.43877649784316847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9979531222015937, + -0.057651445269584656, + -0.027674483751099065, + 0.04189816501700244 + ], + [ + 0.05870582953990313, + 0.997515857219696, + 0.03893236216631626, + -0.06600206921565994 + ], + [ + 0.025361233982824454, + -0.04047732427716255, + 0.9988585595545008, + 0.44731651537257994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9978953506939279, + -0.058395471423864365, + -0.028193687882395714, + 0.04390284410523998 + ], + [ + 0.05947902463227672, + 0.9974572658538818, + 0.03925901804188692, + -0.06618683897448689 + ], + [ + 0.025829445366803695, + -0.04085332155227661, + 0.998831238189306, + 0.45532533105557066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9979754097281057, + -0.05696986988186836, + -0.028274705081569308, + 0.0463298389140655 + ], + [ + 0.05808788007233615, + 0.997492253780365, + 0.04043452544549829, + -0.06790468694620372 + ], + [ + 0.025900250205156385, + -0.041995078325271606, + 0.9987820363380001, + 0.464200608115054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9980588967036689, + -0.05627990514039993, + -0.026665526383561476, + 0.04889591799027075 + ], + [ + 0.057348363638618206, + 0.9975054264068604, + 0.04115924097718506, + -0.06960896546987332 + ], + [ + 0.024282572983353637, + -0.04260857403278351, + 0.998796731761549, + 0.47277554308410746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9980895113344292, + -0.056859128177165985, + -0.024172768634728486, + 0.05165388415334449 + ], + [ + 0.057842481411390125, + 0.997435986995697, + 0.04213967081995268, + -0.07236974396450413 + ], + [ + 0.0217147623220408, + -0.04345737397670746, + 0.9988192650964345, + 0.48026044862123257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9980761778621562, + -0.05702411010861397, + -0.024335740634551826, + 0.05402372880082362 + ], + [ + 0.05802466021670893, + 0.9974055290222168, + 0.042606714954942775, + -0.07606322647745073 + ], + [ + 0.02184298633337009, + -0.043936822563409805, + 0.9987955226576498, + 0.4874293534024193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9981541076080035, + -0.05440107360482216, + -0.026999036379821876, + 0.056796976076260955 + ], + [ + 0.055513237314090594, + 0.9975610375404358, + 0.04231171985598581, + -0.0803929864173548 + ], + [ + 0.024631384030417494, + -0.0437324196100235, + 0.998739595495318, + 0.4948734473939501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9980710287822607, + -0.054146818816661835, + -0.03037043882473546, + 0.06077663931238436 + ], + [ + 0.05535685678760877, + 0.9976438283920288, + 0.040527391360520734, + -0.083178773318499 + ], + [ + 0.028104452298279875, + -0.04213042929768562, + 0.9987167544159204, + 0.5033212826487291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9979964555301089, + -0.0542583242058754, + -0.03254340274087893, + 0.06463138602771402 + ], + [ + 0.05554058669838301, + 0.9976595044136047, + 0.039884509622806145, + -0.08662915684269454 + ], + [ + 0.03030317287800302, + -0.04161207750439644, + 0.9986742123322923, + 0.5123395844988463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9978629787299632, + -0.056014467030763626, + -0.033642407320442415, + 0.06744548934542437 + ], + [ + 0.05733760324286068, + 0.9975634217262268, + 0.03974410431538455, + -0.09016897226280127 + ], + [ + 0.031334195988212625, + -0.04158814623951912, + 0.9986433930507452, + 0.5200638410653495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9977004437061071, + -0.057692475616931915, + -0.03557222282789532, + 0.0700557923906555 + ], + [ + 0.05909933455632552, + 0.9974561929702759, + 0.03985457564701589, + -0.09350630191144033 + ], + [ + 0.033182435496177234, + -0.04186522215604782, + 0.9985721138132138, + 0.5275852881933536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9975678517852491, + -0.05847842991352083, + -0.03792917840309838, + 0.07414810797530122 + ], + [ + 0.05998573277504906, + 0.9974014759063723, + 0.03989988248251457, + -0.09575290307550208 + ], + [ + 0.035497339713098264, + -0.042078051716089256, + 0.9984835336454111, + 0.5368417182590848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9975353118674197, + -0.058728210628032684, + -0.038396896262964435, + 0.07930252542514843 + ], + [ + 0.06025457855361825, + 0.9973859786987305, + 0.03988275415195833, + -0.09816494769463971 + ], + [ + 0.035954278162582405, + -0.042098045349121094, + 0.9984663237520673, + 0.5455959814701156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9973943210959499, + -0.061701599508523955, + -0.037383659159967275, + 0.08309414223404851 + ], + [ + 0.0631678182655885, + 0.9972249865531924, + 0.03939805023275106, + -0.10082151337570926 + ], + [ + 0.03484898837371658, + -0.041656836867332465, + 0.998524045998341, + 0.5527283683084844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9972564032769188, + -0.06359197944402695, + -0.037890636941942175, + 0.08620619669322725 + ], + [ + 0.06505118741295063, + 0.9971347451210022, + 0.0386095394254374, + -0.1034871566627801 + ], + [ + 0.035326806354739324, + -0.04096844419836998, + 0.9985357073635545, + 0.5604367766103341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9971329354443306, + -0.06443510949611664, + -0.0396732562264804, + 0.09014781236350128 + ], + [ + 0.06593532418272272, + 0.9971098303794861, + 0.0377434747577357, + -0.10539887230535258 + ], + [ + 0.03712658982571652, + -0.04025113210082054, + 0.9984996037127272, + 0.5693424347352766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9970382946153411, + -0.06522076576948167, + -0.040753585787564245, + 0.09327722344559863 + ], + [ + 0.06675932916782511, + 0.9970601797103884, + 0.037605990130309776, + -0.10672978301731727 + ], + [ + 0.038181093577901185, + -0.040215294808149345, + 0.9984612882019668, + 0.5781439826439391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9969657238349947, + -0.06562334299087526, + -0.041868063896378635, + 0.0961005890810744 + ], + [ + 0.06725730403776833, + 0.9969774484634402, + 0.03888965068312057, + -0.10939772338862967 + ], + [ + 0.03918945002300226, + -0.04158758372068406, + 0.9983659973060052, + 0.5845428097832139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9967766835594681, + -0.06669652462005615, + -0.0445854372681285, + 0.09931519100989744 + ], + [ + 0.0684835686366992, + 0.9968567490577698, + 0.03983241452936318, + -0.1116880756953158 + ], + [ + 0.041788604263183905, + -0.042757391929626465, + 0.9982111390607182, + 0.591686770163237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9965212572996193, + -0.06757126003503801, + -0.04877976333233193, + 0.10234392996849913 + ], + [ + 0.0695281036731833, + 0.9967937469482424, + 0.03959886041130832, + -0.11264986822737373 + ], + [ + 0.04594762744683671, + -0.04285267367959023, + 0.998024278177016, + 0.5986982636443637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9962248561734725, + -0.06855342537164688, + -0.053258401369342054, + 0.1054062679037797 + ], + [ + 0.07068207996739277, + 0.9967296123504639, + 0.039167970191777035, + -0.11366751153347318 + ], + [ + 0.05039912354905187, + -0.04278452321887016, + 0.997812300944741, + 0.6041243215711399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9959020388535136, + -0.0696500912308693, + -0.057688396648610585, + 0.10855956698754754 + ], + [ + 0.07195564316828137, + 0.9966489672660828, + 0.038900087137722215, + -0.11485794512724626 + ], + [ + 0.05478568863906037, + -0.04289168491959572, + 0.9975764660806938, + 0.6093229426265719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9955143865602477, + -0.07163078337907793, + -0.061807147726199795, + 0.11136242199815291 + ], + [ + 0.07410986714194359, + 0.9964952468872073, + 0.038793302521596844, + -0.11621891206636539 + ], + [ + 0.05881174215849922, + -0.043199814856052406, + 0.9973339201938864, + 0.6144689403368923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9951354633058187, + -0.07270568609237671, + -0.06647764401595896, + 0.11347082686743082 + ], + [ + 0.07539849163214105, + 0.996393084526062, + 0.038934376719264085, + -0.11818497551186492 + ], + [ + 0.06340711711022784, + -0.04375729709863663, + 0.9970279960820435, + 0.6183545011311025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9947427915366117, + -0.07308924198150636, + -0.071726830503363, + 0.11537496412281806 + ], + [ + 0.07604818400154698, + 0.996324419975281, + 0.039424445000455, + -0.12078864326041507 + ], + [ + 0.06858169321066884, + -0.044671878218650825, + 0.9966448613653335, + 0.6221968368560584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9942676253784639, + -0.07323498278856279, + -0.07790102811222088, + 0.11877693796734629 + ], + [ + 0.07646657717171615, + 0.9962958097457888, + 0.039338771791166315, + -0.12213389549122754 + ], + [ + 0.07473148735313943, + -0.04507008939981461, + 0.9961846681794266, + 0.6272489511239226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9938511852198846, + -0.07306047528982164, + -0.08319861950759115, + 0.12116654818840153 + ], + [ + 0.07650814119512443, + 0.9963047504425051, + 0.03902962229982862, + -0.12334881445359354 + ], + [ + 0.08003966315235349, + -0.04515500739216805, + 0.9957683995283925, + 0.6308297397455797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9933110042615438, + -0.0735897421836853, + -0.08898219012312189, + 0.12369077424394645 + ], + [ + 0.07716187030374884, + 0.9963172674179077, + 0.037389508432511494, + -0.12347534217228569 + ], + [ + 0.08590299882403667, + -0.044005438685417175, + 0.9953311697585439, + 0.6351049168729742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9927138989871157, + -0.07425748556852341, + -0.09489431008955773, + 0.12540197859021068 + ], + [ + 0.07794436352266698, + 0.9963164925575256, + 0.0357502998965702, + -0.12507004768705657 + ], + [ + 0.091890043482805, + -0.042886294424533844, + 0.9948452075904913, + 0.6389035495016991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9921694072005677, + -0.07330599427223206, + -0.10112406190417955, + 0.1271699753008582 + ], + [ + 0.07684211651964253, + 0.9965448379516602, + 0.031522594514640984, + -0.1257421131891504 + ], + [ + 0.0984638674845517, + -0.03904633969068527, + 0.9943742859977035, + 0.643054723426596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9916613048402745, + -0.07295083999633789, + -0.10623546300864344, + 0.1287689182302632 + ], + [ + 0.07612604981640207, + 0.9967554807662964, + 0.02614102270111631, + -0.12729364087711778 + ], + [ + 0.10398377272448812, + -0.034010328352451324, + 0.9939973374021506, + 0.6449480252155948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9910799958701904, + -0.07308874279260635, + -0.1114383871446369, + 0.13004177165254027 + ], + [ + 0.0757856938749936, + 0.9969204068183899, + 0.020154853744053826, + -0.12731168347775734 + ], + [ + 0.10962210616509759, + -0.02842050790786743, + 0.9935669539615866, + 0.6485013287835011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9906041852638874, + -0.07199066877365112, + -0.11627861612406329, + 0.13017017854592805 + ], + [ + 0.07429356308926109, + 0.9971145987510681, + 0.015588152734276937, + -0.1275990767640576 + ], + [ + 0.11482090225030157, + -0.024080440402030945, + 0.9930943187676785, + 0.6508941609786162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9901284668066161, + -0.07131411880254747, + -0.12066466259437568, + 0.13069857325067702 + ], + [ + 0.07333990675923821, + 0.9972295761108401, + 0.012425973625341851, + -0.12747068878383308 + ], + [ + 0.11944421988211842, + -0.021152844652533535, + 0.992615555829178, + 0.652623188005319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9896753416490643, + -0.07194807380437852, + -0.12396029923904428, + 0.13147234545040976 + ], + [ + 0.07389429426875688, + 0.9972035288810732, + 0.011168829755232066, + -0.1283816068549719 + ], + [ + 0.12281007623745312, + -0.02021347545087338, + 0.9922243225510092, + 0.6543437246486684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9894513514638836, + -0.07024294137954712, + -0.12669614452783928, + 0.13197026586383262 + ], + [ + 0.07209757257455686, + 0.9973464012145996, + 0.01010685675464437, + -0.12862615015423645 + ], + [ + 0.12565000837046353, + -0.019134728237986565, + 0.9918900771778117, + 0.6573830351398814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9892464776059581, + -0.06950578838586807, + -0.1286871662619241, + 0.13199563894702193 + ], + [ + 0.07127821513218827, + 0.9974139332771301, + 0.009213699204880847, + -0.12943479582307588 + ], + [ + 0.1277139604946595, + -0.018287211656570435, + 0.9916424201628229, + 0.659131485334386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9890238322670196, + -0.06875816732645035, + -0.13078313461245641, + 0.13202767451988756 + ], + [ + 0.07042050873595541, + 0.9974843263626099, + 0.008123115432020172, + -0.12943043571772844 + ], + [ + 0.12989558824799727, + -0.017243770882487297, + 0.9913777093680081, + 0.6614504082774727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9888000087058788, + -0.06802611052989961, + -0.13284215286991138, + 0.13150955464570255 + ], + [ + 0.06963077224118383, + 0.9975448846817019, + 0.007466115919383149, + -0.12933067159128997 + ], + [ + 0.13200811944434787, + -0.016632396727800373, + 0.9911091060603225, + 0.6635110993762442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9886077343122026, + -0.06683147698640823, + -0.1348640161264241, + 0.1313300468037373 + ], + [ + 0.06840453062999849, + 0.9976326823234558, + 0.007058785092550356, + -0.12897262122228134 + ], + [ + 0.1340730040518579, + -0.016203681007027626, + 0.9908389834430618, + 0.6656548875155182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9884936977015982, + -0.06644415855407715, + -0.13588724080620151, + 0.13183830571490224 + ], + [ + 0.06802361806023408, + 0.9976590871810913, + 0.007007965454655799, + -0.12888334246249947 + ], + [ + 0.13510350650650996, + -0.016170872375369072, + 0.9906995271953205, + 0.6669061312603106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9886291575663426, + -0.066026471555233, + -0.1351031211180967, + 0.13262392524153407 + ], + [ + 0.06746139906810196, + 0.9977034330368042, + 0.006065487762577429, + -0.1275166913633684 + ], + [ + 0.13439237442802, + -0.015110764652490616, + 0.9908129999258936, + 0.6697477978748572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9893597265041634, + -0.06427687406539917, + -0.13052111704581082, + 0.13261549574233866 + ], + [ + 0.06560180295512175, + 0.9978286027908325, + 0.005872476034185188, + -0.1279900014357645 + ], + [ + 0.12986024816296166, + -0.014372413046658039, + 0.9914281639455678, + 0.6701473732906518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9903313999467954, + -0.0615612603724003, + -0.12431403106411411, + 0.13257268581935996 + ], + [ + 0.06267575160917402, + 0.9980210661888125, + 0.005070473984301874, + -0.12911267415355457 + ], + [ + 0.12375586855207887, + -0.012812923640012745, + 0.9922299649198045, + 0.6692977194704318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9910704408003422, + -0.06044849753379822, + -0.1188500430571414, + 0.13076664376493402 + ], + [ + 0.06125174243197874, + 0.9981175065040588, + 0.003113936744433574, + -0.13082504368961542 + ], + [ + 0.11843807833278065, + -0.010365903377532959, + 0.9929073583882319, + 0.6665471919817895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9913310709163056, + -0.0590817965567112, + -0.11735443638323761, + 0.12909587219780397 + ], + [ + 0.0595355686929612, + 0.9982261061668396, + 0.00036186762299132155, + -0.1308917733117676 + ], + [ + 0.1171248879249082, + -0.007345493882894516, + 0.9930900409874776, + 0.6669322382534153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9912591338884192, + -0.057854894548654556, + -0.11856723648212995, + 0.12736389920638788 + ], + [ + 0.0582939685484469, + 0.9982994198799133, + 0.0002354380397765264, + -0.13149360879520766 + ], + [ + 0.11835198146603451, + -0.007145135197788477, + 0.9929460180561028, + 0.6669185461443353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9905607056115716, + -0.062055427581071854, + -0.12222363887359189, + 0.12617272284257067 + ], + [ + 0.06253749936501649, + 0.9980425834655762, + 0.00010821706265928638, + -0.1312874098826478 + ], + [ + 0.12197767588311774, + -0.007750756107270718, + 0.9925025510785763, + 0.6660895297807129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9902295950705414, + -0.058376602828502655, + -0.12663936726788694, + 0.12488858665390504 + ], + [ + 0.0590151241345241, + 0.998256266117096, + 0.0012927423201470312, + -0.13270056555118637 + ], + [ + 0.12634306979114024, + -0.00875375047326088, + 0.9919479794743901, + 0.6690069461970983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.990328339532833, + -0.0521683432161808, + -0.12856237192606687, + 0.12613630988556299 + ], + [ + 0.05269358022443487, + 0.9986104965209961, + 0.0006851755560305053, + -0.13196632620617288 + ], + [ + 0.12834798447932294, + -0.007452960591763258, + 0.991701189250635, + 0.67364838901852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9910111418413554, + -0.05147377774119377, + -0.12348043141028801, + 0.13068129213224652 + ], + [ + 0.05192454245502328, + 0.9986509084701538, + 0.0004329785740046722, + -0.13553374098244161 + ], + [ + 0.12329155349488799, + -0.0068407510407269, + 0.9923468916137369, + 0.6690556853257167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9938509313682207, + -0.052201803773641586, + -0.09764894191586039, + 0.129452054819629 + ], + [ + 0.05161744607359988, + 0.9986307621002197, + -0.008502727084548104, + -0.1299444214846715 + ], + [ + 0.09795908195605674, + 0.0034100539050996304, + 0.9951845761651059, + 0.6707957394119048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9940165337318085, + -0.05204939842224121, + -0.09603124296504806, + 0.12843057307941388 + ], + [ + 0.051617326225101075, + 0.9986425638198853, + -0.0069796993998117104, + -0.12984354040177484 + ], + [ + 0.09626417093327788, + 0.0019810604862868786, + 0.9953538201432064, + 0.6695501058030813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9943685118073109, + -0.05018734931945801, + -0.09334083749962512, + 0.12683044405224533 + ], + [ + 0.049671714776246406, + 0.9987348318099976, + -0.007840748696024425, + -0.13042698076828815 + ], + [ + 0.09361625924368823, + 0.0031601935625076294, + 0.9956033593303819, + 0.6681319644579313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9945496272075133, + -0.04800444468855858, + -0.09255571483078111, + 0.12638734272131727 + ], + [ + 0.047392646177732964, + 0.9988375902175903, + -0.008797962473526913, + -0.12872508631075896 + ], + [ + 0.09287046512512089, + 0.0043635498732328415, + 0.9956686320805755, + 0.6696240722937903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9947283285660501, + -0.04743286967277527, + -0.09091551998397185, + 0.1255080157855167 + ], + [ + 0.046710408469238046, + 0.9988577961921692, + -0.01005908088733129, + -0.12642525994630033 + ], + [ + 0.09128882032261751, + 0.005759350955486298, + 0.9958078006066003, + 0.6702861889824744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9947963673274639, + -0.047551821917295456, + -0.09010541029007707, + 0.1234769103963681 + ], + [ + 0.046823204391990135, + 0.9988512992858887, + -0.010184129937514318, + -0.12530021064096553 + ], + [ + 0.09048616974596982, + 0.0059121111407876015, + 0.995880142408966, + 0.6687738740324822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9947860141261774, + -0.04581461101770401, + -0.09111408639470903, + 0.12162207443654899 + ], + [ + 0.045059825259519036, + 0.9989309310913086, + -0.010324914722240739, + -0.12395307944388373 + ], + [ + 0.09148972331299017, + 0.00616549514234066, + 0.9957869434219413, + 0.6686719085524792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9947663299239071, + -0.04432826489210129, + -0.09205929332842791, + 0.12014820221591949 + ], + [ + 0.04353622086909058, + 0.9989956617355347, + -0.010595065875216655, + -0.12279412119368031 + ], + [ + 0.09243649933221801, + 0.0065317009575665, + 0.995697142460731, + 0.6694118079381316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9948586467774719, + -0.042452987283468246, + -0.09194553517471797, + 0.11913538006513663 + ], + [ + 0.04164822691398548, + 0.9990755319595337, + -0.01065459521366272, + -0.12198581215717039 + ], + [ + 0.09231286457597727, + 0.006770447362214327, + 0.9957070559395683, + 0.6704297953663363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9950660617191599, + -0.041942112147808075, + -0.08991344710469021, + 0.11785294395472323 + ], + [ + 0.04113247392776784, + 0.9990949034690857, + -0.01083958097040738, + -0.1213603404976837 + ], + [ + 0.09028668954944706, + 0.007087736390531063, + 0.9958905728862241, + 0.6706513916236898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9953781502295376, + -0.04089852049946785, + -0.0868886933089803, + 0.11516758857197357 + ], + [ + 0.040144881108876686, + 0.9991397261619568, + -0.010404083178171375, + -0.12209336329969936 + ], + [ + 0.08723945073688807, + 0.006867860443890095, + 0.9961636754549447, + 0.6685100681933499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9956075682677247, + -0.03858504816889763, + -0.08530418190148543, + 0.11267482647152785 + ], + [ + 0.037874909438259614, + 0.9992331862449646, + -0.00992818918653749, + -0.12308436579850586 + ], + [ + 0.08562184361715923, + 0.00665369164198637, + 0.9963054770816407, + 0.6680569871717857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9956432207441659, + -0.03679672256112099, + -0.08567725284172004, + 0.11053533758740705 + ], + [ + 0.036069927605421104, + 0.9992990493774414, + -0.010016109177325573, + -0.1236553782824365 + ], + [ + 0.08598577071741774, + 0.006882098037749529, + 0.9962726214160971, + 0.6672415041700552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9954840054315103, + -0.03616788238286972, + -0.08776925785134605, + 0.10969242603800569 + ], + [ + 0.035381652629124086, + 0.9993187189102173, + -0.010497682142634631, + -0.12319756195949781 + ], + [ + 0.08808914213379182, + 0.0073448531329631805, + 0.9960855103238015, + 0.6675431708116462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.995284136221076, + -0.03595837205648422, + -0.09009146554491415, + 0.10963970283712196 + ], + [ + 0.035097393367246196, + 0.9993219971656799, + -0.01112327231420564, + -0.12156289959797836 + ], + [ + 0.0904303461593576, + 0.007908840663731098, + 0.9958713527606313, + 0.6681861899922588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9951113301955948, + -0.03625234961509705, + -0.09186501469155287, + 0.10958624675928078 + ], + [ + 0.03535411099055849, + 0.9993099570274355, + -0.011386863385083764, + -0.11996194251871457 + ], + [ + 0.0922144347689732, + 0.008083390071988108, + 0.995706356691707, + 0.6688132062729111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9947884591656226, + -0.03734463453292847, + -0.0948749870521109, + 0.1101209865205186 + ], + [ + 0.03639506768196558, + 0.9992687702178955, + -0.011719955154853795, + -0.11862519546760973 + ], + [ + 0.09524328487239175, + 0.008205894380807877, + 0.995420194493683, + 0.6691561879290744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9944307736358324, + -0.03676077723503113, + -0.09877285506780928, + 0.10959788092674255 + ], + [ + 0.03573857757704523, + 0.9992879033088684, + -0.012099075476348144, + -0.11754888301909511 + ], + [ + 0.09914729332496346, + 0.008501690812408924, + 0.9950364353389228, + 0.669703273571874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9938835464307241, + -0.037054579704999924, + -0.10403090379848123, + 0.11055063104358362 + ], + [ + 0.03590884561421958, + 0.9992722272872925, + -0.012865428011449779, + -0.11598852432989096 + ], + [ + 0.10443192343841107, + 0.009051106870174408, + 0.994490865348272, + 0.6696349081971046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.99342092416407, + -0.03779323771595955, + -0.10810423294081138, + 0.11133172476856384 + ], + [ + 0.036527957811519775, + 0.9992392659187317, + -0.013661336512987697, + -0.1144417495661871 + ], + [ + 0.10853830453649366, + 0.00962262973189354, + 0.9940457023637266, + 0.6694413044585256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9930223530631628, + -0.03928679600358009, + -0.11118946630589804, + 0.11218316988988733 + ], + [ + 0.03786887295579297, + 0.999172568321228, + -0.014836368011505157, + -0.11215903348365615 + ], + [ + 0.11168034182699223, + 0.010522225871682167, + 0.9936884611043431, + 0.6698941534122992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9927363033226655, + -0.040807656943798065, + -0.11317835129373156, + 0.11254117870051086 + ], + [ + 0.03929065133838931, + 0.9991059899330139, + -0.015602967272063754, + -0.11022092531562529 + ], + [ + 0.1137139007935135, + 0.011042780242860317, + 0.9934521833981964, + 0.6704083643288667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9925413221195656, + -0.04114844277501106, + -0.11475437111113873, + 0.11309933044309264 + ], + [ + 0.039551886742476686, + 0.9990869164466858, + -0.016156169816302662, + -0.1082592319835022 + ], + [ + 0.11531437943179425, + 0.011496913619339466, + 0.9932624999570564, + 0.6710141991504716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9924198225948714, + -0.04177621379494668, + -0.115575424921758, + 0.11410136975658419 + ], + [ + 0.04016761299119313, + 0.9990614056587221, + -0.016213349273583512, + -0.10667592923341383 + ], + [ + 0.1161442861044091, + 0.011448059231042864, + 0.9931663976777321, + 0.6717084419699165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9924515773004989, + -0.04155769944190979, + -0.11538125138949114, + 0.11451122515091808 + ], + [ + 0.03997778060663157, + 0.9990728497505188, + -0.015974491130647094, + -0.10594347337818676 + ], + [ + 0.11593814083388607, + 0.011241222731769085, + 0.9931928377989937, + 0.6711359346456809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9924158510514752, + -0.04183449223637581, + -0.11558812109850478, + 0.11509851205770671 + ], + [ + 0.040274331429481676, + 0.9990637302398682, + -0.01580123320765021, + -0.10559972011063562 + ], + [ + 0.1161409427267492, + 0.011026158928871155, + 0.9931715358817219, + 0.6708999674878933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9923606032584494, + -0.04160330072045326, + -0.11614484555407115, + 0.11545904724954945 + ], + [ + 0.040059833192673144, + 0.9990755915641785, + -0.015592940199052299, + -0.10584865772431849 + ], + [ + 0.11668620241739923, + 0.010821076110005379, + 0.993109894681978, + 0.6701516668051002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9922587131979222, + -0.04172558709979058, + -0.11696871376830474, + 0.11630329755537896 + ], + [ + 0.04016579123616851, + 0.9990702867507937, + -0.015661769329952613, + -0.10591799073709059 + ], + [ + 0.11751345529122449, + 0.010842386633157732, + 0.9930120732840855, + 0.6703795074596434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.992125752446903, + -0.041704457253217704, + -0.11809830341800069, + 0.11719263797037527 + ], + [ + 0.040106313940001005, + 0.9990692734718325, + -0.015877731980769583, + -0.10606166521715071 + ], + [ + 0.11865054817237172, + 0.011016218923032286, + 0.9928749461573182, + 0.6700549046240221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9919806590598547, + -0.04113752394914627, + -0.11950784748868187, + 0.11752223272577877 + ], + [ + 0.03950927992120566, + 0.9990916848182678, + -0.015963109976541084, + -0.10636803253314701 + ], + [ + 0.12005597290194786, + 0.011113427579402924, + 0.9927049290287004, + 0.6696500313804371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9917490687021133, + -0.040383920073509216, + -0.12166732797324542, + 0.11822392180356811 + ], + [ + 0.038712750433323076, + 0.9991211891174316, + -0.016069218091568492, + -0.10663964209067264 + ], + [ + 0.12220933597345833, + 0.011226554401218891, + 0.9924408610577399, + 0.6688991808227034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9913272785479154, + -0.04174836352467537, + -0.12460860582732587, + 0.11981997397465502 + ], + [ + 0.039975938465458286, + 0.9990612268447876, + -0.01669170877874942, + -0.10611431727686842 + ], + [ + 0.12518847580166248, + 0.011565599590539932, + 0.9920655388698597, + 0.6688714038108161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9909742167958228, + -0.04154236614704133, + -0.12745309080044864, + 0.12074087303837963 + ], + [ + 0.039745059626475385, + 0.9990717172622683, + -0.016613771309274925, + -0.1063311271079342 + ], + [ + 0.12802495836776162, + 0.01139818783849478, + 0.9917054168470222, + 0.6687624516242328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9906502220392681, + -0.040945712476968765, + -0.1301367750698938, + 0.12168348708455576 + ], + [ + 0.039102135320737655, + 0.9990957975387573, + -0.0166913079384709, + -0.10633983382781116 + ], + [ + 0.13070254003070852, + 0.011446621268987656, + 0.9913555344550762, + 0.669201684666031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.990320273572698, + -0.04092920571565629, + -0.13262919267018244, + 0.12265446847659522 + ], + [ + 0.03898360500364474, + 0.9990912079811098, + -0.017234164011226943, + -0.10581649904903004 + ], + [ + 0.13321405230340405, + 0.011896978132426742, + 0.9910158780923645, + 0.6691309519881703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9900185481276779, + -0.041424516588449485, + -0.1347118824715693, + 0.12333306245410167 + ], + [ + 0.03939128048899206, + 0.9990666508674624, + -0.01772490410926577, + -0.10537436197839238 + ], + [ + 0.135320398338455, + 0.012241509743034843, + 0.9907262692462953, + 0.6691452499257735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9897170379237307, + -0.04105403646826745, + -0.13702080931978422, + 0.12390369284625125 + ], + [ + 0.03897324962271961, + 0.999081075191498, + -0.017835409686780535, + -0.10551712690210717 + ], + [ + 0.13762711610300155, + 0.012311862781643871, + 0.9904075796369605, + 0.6686872552121312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9894171885678653, + -0.040385738015174866, + -0.13936493820868526, + 0.12435137847876138 + ], + [ + 0.0382214984141193, + 0.9991040229797363, + -0.018172041542689376, + -0.10523898050767855 + ], + [ + 0.1399739709044607, + 0.012652993202209473, + 0.9900743609367545, + 0.6687329354464704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9891990889022767, + -0.03864942491054535, + -0.1413909554437076, + 0.12453982961152982 + ], + [ + 0.03640138098333846, + 0.9991669058799744, + -0.018452444365122996, + -0.10533194662411197 + ], + [ + 0.14198633294645097, + 0.013106315396726131, + 0.9897818536107494, + 0.6681701641829806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9889321394955625, + -0.03803517296910286, + -0.14341043053740915, + 0.12498887186219232 + ], + [ + 0.0357379986500334, + 0.9991888403892517, + -0.018561147074768827, + -0.10540903900759872 + ], + [ + 0.1440000759974614, + 0.013230513781309128, + 0.9894892429236405, + 0.6681595900856616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9886164966761603, + -0.037470653653144836, + -0.14571677382028894, + 0.12565024749511206 + ], + [ + 0.03511198151149515, + 0.9992079138755798, + -0.018725987558044468, + -0.10528303322704358 + ], + [ + 0.1463030221487906, + 0.013396414928138256, + 0.9891491052362829, + 0.667698097514444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9883532299329961, + -0.03580467402935028, + -0.14790491489229413, + 0.12626711753664227 + ], + [ + 0.03347484694657043, + 0.9992735981941223, + -0.018212322675182947, + -0.10582659247468458 + ], + [ + 0.14844956212153582, + 0.013049113564193249, + 0.9888338677569612, + 0.6681457526997342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/pan_right/transforms.json b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..5493604f81fc94e39504527e764f72c1abc21289 --- /dev/null +++ b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/pan_right/transforms.json @@ -0,0 +1,4808 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 137, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00015281095693353564, + 9.454473183723167e-05, + -0.00017298538296017796 + ], + [ + -0.00015282332606147975, + 1.0, + 0.0001308531645918265, + -0.0003619329072535038 + ], + [ + -9.452473750570789e-05, + -0.00013086760009173304, + 1.0, + -0.00011619761789916083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999975213897525, + 0.00029360686312429607, + 0.0022191256625773994, + 0.00016911688726395369 + ], + [ + -0.0002951708453649406, + 0.9999997019767761, + 0.0007044694377390041, + -0.00047324711340479553 + ], + [ + -0.002218918101149182, + -0.0007051227148622274, + 0.9999972833702869, + 0.00047807683586142957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999850578568558, + 0.0007547845016233625, + 0.0054190189084864305, + 2.7091216907138005e-05 + ], + [ + -0.0007642846505383796, + 0.9999981522560122, + 0.0017512577774900326, + -0.0013218180974945426 + ], + [ + -0.005417687197469834, + -0.0017553733196109538, + 0.9999838112771395, + 0.001428076415322721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999619888498829, + -8.561230060877278e-05, + 0.008716010884809045, + 0.0001276489201700315 + ], + [ + 6.377841049097095e-05, + 0.9999968409538269, + 0.0025052789919513666, + -0.0015185551019385457 + ], + [ + -0.008716198338878909, + -0.002504628151655197, + 0.9999588882741132, + 0.004180945456027985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999343363825833, + 0.0001408472453476861, + 0.011456429996839664, + -0.0015555578283965588 + ], + [ + -0.00017776303677598178, + 0.9999948143959045, + 0.0032213226368315445, + -0.0012329687597230077 + ], + [ + -0.011455916504685942, + -0.0032231477089226246, + 0.999929154578716, + 0.006098080892115831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999100141023869, + 0.0007249152986332774, + 0.013393535965793856, + -0.001692118588835001 + ], + [ + -0.0007911816198017719, + 0.9999874830245972, + 0.0049429985800955156, + -0.002343103988096118 + ], + [ + -0.013389784940289891, + -0.004953150637447834, + 0.9998980691184771, + 0.008316236548125744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998751069231049, + 0.0006774791399948299, + 0.01578793972377884, + -0.0016577548813074827 + ], + [ + -0.0007785360009410949, + 0.9999792575836182, + 0.006395619455527834, + -0.0029585252050310373 + ], + [ + -0.015783279381146636, + -0.006407111883163452, + 0.9998548938212981, + 0.013228733092546463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998300025809134, + 0.0015402118442580104, + 0.018375023776834688, + -0.0046974364668130875 + ], + [ + -0.001672937122389199, + 0.9999725818634033, + 0.007209957525265929, + -0.003386715892702341 + ], + [ + -0.018363415553454148, + -0.007239471655339003, + 0.9998051823971376, + 0.01635466143488884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998077194114191, + 0.0018369132885709405, + 0.019523057331313143, + -0.005950267426669598 + ], + [ + -0.001983775194285237, + 0.9999698400497437, + 0.007505788056439442, + -0.0027727270498871803 + ], + [ + -0.01950868166689586, + -0.007543074432760477, + 0.9997812347660511, + 0.02169826626777649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998090042739526, + 0.000492562132421881, + 0.01953795927575195, + -0.004710194189101458 + ], + [ + -0.0006615855768539893, + 0.9999623894691467, + 0.00864550805208726, + -0.004574342630803585 + ], + [ + -0.01953296600764602, + -0.00865678209811449, + 0.9997717130691022, + 0.027172377333045006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9997795526516354, + -0.00048746351967565715, + 0.020992090559821833, + -0.0057930732145905495 + ], + [ + 0.0002949746725938755, + 0.9999579191207886, + 0.009171708664570436, + -0.0037898861337453127 + ], + [ + -0.02099567692979344, + -0.009163495153188705, + 0.9997375737755393, + 0.03322838619351387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9997464646470391, + -0.0008615814149379732, + 0.022500326931803784, + -0.0056221061386168 + ], + [ + 0.0006279121643664242, + 0.9999458193778994, + 0.010390147987282123, + -0.004437072202563286 + ], + [ + -0.022508059558756767, + -0.010373385623097421, + 0.9996928235296053, + 0.041547197848558426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9997082687721204, + -0.0009955024579539895, + 0.02413345833162786, + -0.0071638463996350765 + ], + [ + 0.0007233648578389393, + 0.9999361038208008, + 0.011282470390419281, + -0.0043867286294698715 + ], + [ + -0.024143147354593497, + -0.011261722072958946, + 0.9996450856144808, + 0.05093706026673317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996772597332819, + 8.155935211107136e-05, + 0.02540479353035401, + -0.010107988491654396 + ], + [ + -0.000383695345614877, + 0.9999292492866518, + 0.011888226343799255, + -0.00442089606076479 + ], + [ + -0.025402026339463344, + -0.01189413666725159, + 0.9996065561236651, + 0.059294335544109344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9996773150522412, + -0.00021074646792840213, + 0.025402141687831583, + -0.010891747660934925 + ], + [ + -0.00011103146570580258, + 0.9999197721481323, + 0.012665278930042996, + -0.005062101874500513 + ], + [ + -0.02540277320957007, + -0.012664012610912323, + 0.9995971006595497, + 0.06987272202968597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9996923619973606, + -0.0003232348244637251, + 0.024800630086546427, + -0.014067142270505428 + ], + [ + -1.4689658297601298e-05, + 0.9999071955680847, + 0.013624249694614262, + -0.006438728887587786 + ], + [ + -0.024802732664906336, + -0.013620423153042793, + 0.9995995773939248, + 0.08073484897613525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997386789340691, + -0.0022558749187737703, + 0.022748750096342425, + -0.014245999976992607 + ], + [ + 0.001928929869521277, + 0.9998946785926819, + 0.014383708921725278, + -0.007726924493908882 + ], + [ + -0.022778801965049257, + -0.014336069114506245, + 0.9996377486264689, + 0.0950428918004036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997576846772014, + -0.005450161639600992, + 0.021326621293794878, + -0.01340645644813776 + ], + [ + 0.005121433542159864, + 0.9998676776885986, + 0.01543833952813235, + -0.01012837328016758 + ], + [ + -0.021407941592080326, + -0.015325376763939857, + 0.9996533421659973, + 0.1091349795460701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9997666261711528, + -0.0051442356780171394, + 0.020982862970998193, + -0.011844257824122906 + ], + [ + 0.004809773930298221, + 0.9998610615730286, + 0.01595917906200161, + -0.011447794735431671 + ], + [ + -0.02106204477066022, + -0.015854530036449432, + 0.9996524730805394, + 0.12415996193885803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9997278478884477, + -0.0056027937680482864, + 0.022646385260779337, + -0.011462942697107792 + ], + [ + 0.0052269790677147215, + 0.9998481869697571, + 0.01662018082824277, + -0.013417365029454231 + ], + [ + -0.022736068421804086, + -0.016497284173965454, + 0.9996053964915382, + 0.13931068778038025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9996309475526156, + -0.005516846664249897, + 0.026598826474672134, + -0.009741561487317085 + ], + [ + 0.0050456226728881025, + 0.9998297095298767, + 0.017750634832553017, + -0.016330091282725334 + ], + [ + -0.026692226529125045, + -0.01760987751185894, + 0.9994886066645784, + 0.1559232473373413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994172927253514, + -0.004238581284880638, + 0.03386973798868581, + -0.009159195236861706 + ], + [ + 0.0036113644782709677, + 0.9998212456703186, + 0.018558261510092818, + -0.01871042512357235 + ], + [ + -0.03394234436178725, + -0.01842513121664524, + 0.9992539480805998, + 0.17317180335521698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9990923477022029, + -0.0027829306200146675, + 0.042506008546603434, + -0.013469716534018517 + ], + [ + 0.0019296403037760749, + 0.9997960925102234, + 0.020102429653419924, + -0.022921958938241005 + ], + [ + -0.04255328299693626, + -0.02000216208398342, + 0.9988939498536339, + 0.18943612277507782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9988520702563358, + -0.002705466700717807, + 0.04782520681954108, + -0.015492444857954979 + ], + [ + 0.001705859943785075, + 0.9997795224189758, + 0.020929724738399314, + -0.025040797889232635 + ], + [ + -0.04787128593015041, + -0.020824115723371506, + 0.9986364348297383, + 0.2050391286611557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9985945697309639, + -0.0008035755599848928, + 0.052993259366742276, + -0.017679719254374504 + ], + [ + -0.00035745063721547563, + 0.9997602105140688, + 0.02189582455589244, + -0.028358178213238716 + ], + [ + -0.05299814454411032, + -0.02188399247825146, + 0.9983547756014254, + 0.22212089598178864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9982473887527131, + -0.0009113797568716109, + 0.059172088109412796, + -0.02032850682735443 + ], + [ + -0.0004584763636747919, + 0.9997323155403137, + 0.0231326739172274, + -0.03148331120610237 + ], + [ + -0.05917733086182918, + -0.023119259625673294, + 0.9979797382498741, + 0.23756995797157288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9979227595989901, + -0.0012546045472845435, + 0.06440918816695142, + -0.022158870473504066 + ], + [ + -0.0003154052851342081, + 0.9997032284736633, + 0.024359604650177814, + -0.03439844772219658 + ], + [ + -0.0644206366162324, + -0.02432931959629059, + 0.9976262360943949, + 0.25256508588790894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9976193686909378, + -0.0018739805091172457, + 0.0689354414905023, + -0.024862127378582954 + ], + [ + 5.481585154926509e-05, + 0.9996519088745117, + 0.026381826611129918, + -0.037628527730703354 + ], + [ + -0.06896088575099057, + -0.026315242052078247, + 0.9972722287377889, + 0.2677290737628937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9973079591130272, + -0.0024722174275666475, + 0.07328524203529545, + -0.025971215218305588 + ], + [ + 0.0003863371369748438, + 0.9995947480201721, + 0.028463009476342973, + -0.03989826515316963 + ], + [ + -0.07332591071731769, + -0.02835807204246521, + 0.9969047585872405, + 0.2831619083881378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9967706486390807, + -0.0019073485163971786, + 0.08027856876356178, + -0.025966577231884003 + ], + [ + -0.0005074507831380015, + 0.9995483160018923, + 0.03004910511306144, + -0.04107743501663208 + ], + [ + -0.08029961799933462, + -0.029992803931236274, + 0.9963194118232745, + 0.29722529649734497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9958832221868739, + -0.0014825770631432533, + 0.09063370220692706, + -0.02842785231769085 + ], + [ + -0.0014043202314787345, + 0.9994938969612122, + 0.031780294288185344, + -0.043901942670345306 + ], + [ + -0.09063494986977348, + -0.03177674114704132, + 0.9953770974651289, + 0.31044286489486694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9950292693855595, + -0.002125207334756851, + 0.09956015756891712, + -0.03223524987697601 + ], + [ + -0.001196444519719352, + 0.9994449615478516, + 0.0332916830606207, + -0.04708075150847435 + ], + [ + -0.09957565235821035, + -0.03324531391263008, + 0.9944744650392284, + 0.3213306963443756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9944822745553956, + -0.003292481880635023, + 0.10485301537748318, + -0.03441808372735977 + ], + [ + -0.00033362222260470084, + 0.9994030594825745, + 0.03454643341482431, + -0.050083816051483154 + ], + [ + -0.10490416816329622, + -0.03439079970121384, + 0.9938874942249994, + 0.33252620697021484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9940197746534822, + -0.003975925035774708, + 0.10912806238036347, + -0.0345519483089447 + ], + [ + 0.0001086095568857818, + 0.9993724822998047, + 0.03542141395061643, + -0.052762653678655624 + ], + [ + -0.10920041006023132, + -0.03519773483276367, + 0.9933964204273827, + 0.34394657611846924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9934205232287147, + -0.0062836636789143085, + 0.11435093086140417, + -0.03568021208047867 + ], + [ + 0.002092349813962005, + 0.9993228316307068, + 0.036736258155014814, + -0.055947091430425644 + ], + [ + -0.11450433135500739, + -0.03625529259443283, + 0.992760937224855, + 0.3541165292263031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9929069801196161, + -0.008156390860676767, + 0.11861341928956397, + -0.03780079260468483 + ], + [ + 0.003659035388120363, + 0.9992678165435793, + 0.03808453406369641, + -0.05899966135621071 + ], + [ + -0.11883720612860739, + -0.03738038986921311, + 0.9922098857102897, + 0.3629840314388275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9925995426238058, + -0.009955805726349354, + 0.12102485052437066, + -0.04067706689238548 + ], + [ + 0.005215607878209887, + 0.9992091059684753, + 0.03942100165736092, + -0.06207069754600525 + ], + [ + -0.12132159825662601, + -0.03849804773926735, + 0.9918663897496172, + 0.3723891079425812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9924419986637115, + -0.014606578275561333, + 0.12184232287598377, + -0.041702255606651306 + ], + [ + 0.009706601642681074, + 0.999123752117157, + 0.040712782054280625, + -0.06412182003259659 + ], + [ + -0.12233023026709627, + -0.03922240063548088, + 0.9917141368125992, + 0.38156092166900635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9921973317523298, + -0.0184905007481575, + 0.12329875261982029, + -0.042346514761447906 + ], + [ + 0.013474905497121806, + 0.9990522265434265, + 0.041388981597233775, + -0.06511080265045166 + ], + [ + -0.12394719295430276, + -0.039404597133398056, + 0.9915060905585048, + 0.39038118720054626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.991776804189557, + -0.022734466940164566, + 0.12594422175393874, + -0.04164087399840355 + ], + [ + 0.017519594396509807, + 0.9989487528800964, + 0.042360354729309435, + -0.06658606976270676 + ], + [ + -0.12677486346067807, + -0.03980552777647972, + 0.9911324959782383, + 0.39963290095329285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9911042223239925, + -0.02952979877591133, + 0.12977047417958543, + -0.0422029085457325 + ], + [ + 0.02402753278043602, + 0.9987529516220093, + 0.043763307864376294, + -0.06791076809167862 + ], + [ + -0.1309009684357854, + -0.04025593772530556, + 0.9905777852921815, + 0.40855810046195984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9905429740600398, + -0.03559732809662819, + 0.13250450357376956, + -0.042944636195898056 + ], + [ + 0.02991008615543699, + 0.9985540509223938, + 0.044667393561019425, + -0.06887239217758179 + ], + [ + -0.13390294864681535, + -0.0402817539870739, + 0.9901754513547013, + 0.4164242148399353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9898641604690903, + -0.04401472955942154, + 0.1350245855060188, + -0.04309142380952835 + ], + [ + 0.038137079318953, + 0.998221755027771, + 0.045813370238172085, + -0.06940210610628128 + ], + [ + -0.1368009460204693, + -0.04019956663250923, + 0.989782539891948, + 0.42440494894981384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9891638161526498, + -0.05133833363652229, + 0.13754770869676033, + -0.042045000940561295 + ], + [ + 0.0452327383919908, + 0.9978629350662231, + 0.04715480566154776, + -0.07058104127645493 + ], + [ + -0.13967460546261629, + -0.040422163903713226, + 0.9893720537143621, + 0.4327263832092285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9883342437556629, + -0.057651445269584656, + 0.1409671372438295, + -0.04218920320272446 + ], + [ + 0.05130189460849854, + 0.997515857219696, + 0.048272340479780816, + -0.07110682129859924 + ], + [ + -0.14339992374426938, + -0.04047732427716255, + 0.9888367287143826, + 0.441280722618103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9878167940717317, + -0.058395471423864365, + 0.1442497706161538, + -0.042100731283426285 + ], + [ + 0.05182097666966065, + 0.9974572658538818, + 0.04892454645495112, + -0.07146955281496048 + ], + [ + -0.1467399521431704, + -0.04085332155227661, + 0.9883311130768669, + 0.44927778840065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9873471942544341, + -0.05696986988186836, + 0.14798613234802505, + -0.04160381853580475 + ], + [ + 0.05005575327241384, + 0.997492253780365, + 0.05003572947036934, + -0.07318023592233658 + ], + [ + -0.1504655555943922, + -0.041995078325271606, + 0.9877228840377461, + 0.45818203687667847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9865626630582506, + -0.05627990514039993, + 0.1533842346725048, + -0.04097481071949005 + ], + [ + 0.049004880626647825, + 0.9975054264068604, + 0.05080786951460544, + -0.07492858171463013 + ], + [ + -0.15586106572842057, + -0.04260857403278351, + 0.9868596064883012, + 0.46694502234458923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9855368752993177, + -0.056859128177165985, + 0.1596372851326568, + -0.040152356028556824 + ], + [ + 0.049114459052247324, + 0.997435986995697, + 0.052050690914205014, + -0.07784461975097656 + ], + [ + -0.16218753111877532, + -0.04345737397670746, + 0.9858025461420155, + 0.4747190475463867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9849324363354736, + -0.05702411010861397, + 0.16326781967807083, + -0.03970448300242424 + ], + [ + 0.049005061523543704, + 0.9974055290222168, + 0.052732317392562636, + -0.08166366070508957 + ], + [ + -0.1658512490741977, + -0.043936822563409805, + 0.9851715461347106, + 0.4819411039352417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9848825717841624, + -0.05440107360482216, + 0.16445938798373047, + -0.038853734731674194 + ], + [ + 0.04639308157484741, + 0.9975610375404358, + 0.05215058136062836, + -0.08585835993289948 + ], + [ + -0.166895319045571, + -0.0437324196100235, + 0.985004282818142, + 0.4891901910305023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.984818352516639, + -0.054146818816661835, + 0.16492711904141236, + -0.036779578775167465 + ], + [ + 0.04638668847567869, + 0.9976438283920288, + 0.05054825591603508, + -0.08872482180595398 + ], + [ + -0.16727554009395676, + -0.04213042929768562, + 0.9850095986721811, + 0.497372567653656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.984535129886815, + -0.0542583242058754, + 0.16657303602734658, + -0.03483550250530243 + ], + [ + 0.04649964170352447, + 0.9976595044136047, + 0.0501329652035082, + -0.09229286015033722 + ], + [ + -0.16890330362033154, + -0.04161207750439644, + 0.9847538467506165, + 0.5062466263771057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9839785209287709, + -0.056014467030763626, + 0.16925899161042465, + -0.033929623663425446 + ], + [ + 0.048094473026199944, + 0.9975634217262268, + 0.050538265084982895, + -0.09611643850803375 + ], + [ + -0.17167745727644682, + -0.04158814623951912, + 0.9842750169465985, + 0.5139442682266235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9835588731458594, + -0.057692475616931915, + 0.17112422816283981, + -0.03322209417819977 + ], + [ + 0.049600538647505424, + 0.9974561929702759, + 0.05119477620696788, + -0.09974122792482376 + ], + [ + -0.17364247246191217, + -0.04186522215604782, + 0.983918508956998, + 0.5213579535484314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9832584911200093, + -0.05847842991352083, + 0.17257746414341968, + -0.03103460744023323 + ], + [ + 0.05026015020330774, + 0.9974014759063723, + 0.05161594773148133, + -0.10218917578458786 + ], + [ + -0.17514743647849101, + -0.042078051716089256, + 0.9836426198486659, + 0.5304576754570007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9826550577065836, + -0.058728210628032684, + 0.17589786135348537, + -0.027800757437944412 + ], + [ + 0.050327343134920516, + 0.9973859786987305, + 0.05184984906824387, + -0.10473913699388504 + ], + [ + -0.17848310297875725, + -0.042098045349121094, + 0.9830419582786051, + 0.5392531752586365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.981612388124264, + -0.061701599508523955, + 0.18063800598882496, + -0.025921359658241272 + ], + [ + 0.053076238287737124, + 0.9972249865531924, + 0.0522043346456991, + -0.10782252997159958 + ], + [ + -0.183357821344101, + -0.041656836867332465, + 0.9821632409022001, + 0.5466031432151794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9808874360144456, + -0.06359197944402695, + 0.18389092450061137, + -0.024717750027775764 + ], + [ + 0.05488608268551182, + 0.9971347451210022, + 0.0520564255968309, + -0.1108107790350914 + ], + [ + -0.18667440036418384, + -0.04096844419836998, + 0.9815672215268457, + 0.5543646812438965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.980453341458815, + -0.06443510949611664, + 0.1859013271326591, + -0.02268337272107601 + ], + [ + 0.055741723710113204, + 0.9971098303794861, + 0.051622641347513154, + -0.1129390224814415 + ], + [ + -0.1886903507639289, + -0.04025113210082054, + 0.9812113909933708, + 0.5631794333457947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9798855735119636, + -0.06522076576948167, + 0.18860137461625795, + -0.021465951576828957 + ], + [ + 0.05637615937379899, + 0.9970601797103884, + 0.05189168699203175, + -0.11448425054550171 + ], + [ + -0.1914313315919239, + -0.040215294808149345, + 0.9806817961141515, + 0.571976363658905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9793409561447495, + -0.06562334299087526, + 0.19127174619831827, + -0.02055714651942253 + ], + [ + 0.056361561267800696, + 0.9969774484634402, + 0.053472649907591985, + -0.11733350157737732 + ], + [ + -0.19420266930859634, + -0.04158758372068406, + 0.9800794869822221, + 0.5783793926239014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9790561185156782, + -0.06669652462005615, + 0.19235575089197757, + -0.01924118399620056 + ], + [ + 0.05712386403111446, + 0.9968567490577698, + 0.0548952145328831, + -0.11989245563745499 + ], + [ + -0.1954124447623118, + -0.042757391929626465, + 0.9797886210929263, + 0.5853418111801147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9790677325548199, + -0.06757126003503801, + 0.191990772254126, + -0.018101710826158524 + ], + [ + 0.05798214998030981, + 0.9967937469482424, + 0.05513889035811353, + -0.12110351026058197 + ], + [ + -0.19510100102478814, + -0.04285267367959023, + 0.9798465408919259, + 0.591980516910553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9791262679239728, + -0.06855342537164688, + 0.19134307626759392, + -0.016924137249588966 + ], + [ + 0.05899365926638868, + 0.9967296123504639, + 0.05522530655254052, + -0.12238746881484985 + ], + [ + -0.1945031946966109, + -0.04278452321887016, + 0.9799683499093036, + 0.5969892144203186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.97916665122955, + -0.0696500912308693, + 0.19073932793312795, + -0.015653185546398163 + ], + [ + 0.06008083828750721, + 0.9966489672660828, + 0.05550787542100515, + -0.12386356294155121 + ], + [ + -0.1939662831341241, + -0.04289168491959572, + 0.9800700782927896, + 0.6017687916755676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9790851929873713, + -0.07163078337907793, + 0.19042374387496067, + -0.014725414104759693 + ], + [ + 0.0619785835830034, + 0.9964952468872073, + 0.05617693392641969, + -0.12562653422355652 + ], + [ + -0.1937803503380141, + -0.043199814856052406, + 0.9800933349471874, + 0.6065318584442139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9791698580797761, + -0.07270568609237671, + 0.18957915631954464, + -0.014493555761873722 + ], + [ + 0.06297184679770432, + 0.996393084526062, + 0.056880266717079235, + -0.12789134681224823 + ], + [ + -0.19303087715065673, + -0.04375729709863663, + 0.9802164903418293, + 0.6099531054496765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9794120226392068, + -0.07308924198150636, + 0.1881755814070649, + -0.014465024694800377 + ], + [ + 0.06325310776076276, + 0.996324419975281, + 0.05776380797811361, + -0.13071492314338684 + ], + [ + -0.19170584264209112, + -0.044671878218650825, + 0.980435259579363, + 0.6132451295852661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9798427417975246, + -0.07323498278856279, + 0.185862536309446, + -0.01292914617806673 + ], + [ + 0.06345645854898901, + 0.9962958097457888, + 0.05803407842652388, + -0.13225151598453522 + ], + [ + -0.1894241892142881, + -0.04507008939981461, + 0.9808604206808819, + 0.6176050901412964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9801289821308214, + -0.07306047528982164, + 0.18441628734506688, + -0.012414512224495411 + ], + [ + 0.06335493258910811, + 0.9963047504425051, + 0.057991030363582455, + -0.13360857963562012 + ], + [ + -0.18797167520984423, + -0.04515500739216805, + 0.9811359245770604, + 0.6205903887748718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9804529145931695, + -0.0735897421836853, + 0.18247373403299175, + -0.011750093661248684 + ], + [ + 0.06420341796609304, + 0.9963172674179077, + 0.05683177536439071, + -0.1339617222547531 + ], + [ + -0.18598396120162078, + -0.044005438685417175, + 0.9815668234387446, + 0.6241812109947205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9807867450198152, + -0.07425748556852341, + 0.18039727304759995, + -0.011892170645296574 + ], + [ + 0.06518535361121611, + 0.9963164925575256, + 0.05571604277251823, + -0.1358039230108261 + ], + [ + -0.18387011399406863, + -0.042886294424533844, + 0.9820145357054791, + 0.6272630095481873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9812897301522899, + -0.07330599427223206, + 0.17803559750334297, + -0.01198642235249281 + ], + [ + 0.06508397768575024, + 0.9965448379516602, + 0.051599037633986544, + -0.13646650314331055 + ], + [ + -0.18120297291804593, + -0.03904633969068527, + 0.9826702582550872, + 0.630599319934845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.981546017838645, + -0.07295083999633789, + 0.17676405738519002, + -0.012254726141691208 + ], + [ + 0.06571018709404504, + 0.9967554807662964, + 0.04648332863054458, + -0.1380632221698761 + ], + [ + -0.17958154920762187, + -0.034010328352451324, + 0.9831550228406369, + 0.6318095326423645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9817825129478723, + -0.07308874279260635, + 0.17538862452626577, + -0.012840011157095432 + ], + [ + 0.06690905754463354, + 0.9969204068183899, + 0.04090070346641194, + -0.1381819099187851 + ], + [ + -0.17783788299742462, + -0.02842050790786743, + 0.9836493204061962, + 0.6346486210823059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9820405318943111, + -0.07199066877365112, + 0.17439541893867458, + -0.014585437253117561 + ], + [ + 0.06663961196117436, + 0.9971145987510681, + 0.03635500157927753, + -0.1384008824825287 + ], + [ + -0.17650943529761018, + -0.024080440402030945, + 0.9840043621921255, + 0.6363767981529236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.982188146430157, + -0.07131411880254747, + 0.1738412683798854, + -0.01593111827969551 + ], + [ + 0.0665108498864847, + 0.9972295761108401, + 0.03330846125789877, + -0.13827700912952423 + ], + [ + -0.1757350190708282, + -0.021152844652533535, + 0.9842102247027773, + 0.6375133991241455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9820536041673483, + -0.07194807380437852, + 0.1743391986833332, + -0.017032848671078682 + ], + [ + 0.06728356841506519, + 0.9972035288810732, + 0.03252738699794733, + -0.13941091299057007 + ], + [ + -0.1761919510621087, + -0.02021347545087338, + 0.9841482700630967, + 0.6388193964958191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9819807491535908, + -0.07024294137954712, + 0.17544143821708047, + -0.018444005399942398 + ], + [ + 0.06576162542983392, + 0.9973464012145996, + 0.031234870664509123, + -0.1395241767168045 + ], + [ + -0.17716991241396549, + -0.019134728237986565, + 0.9839942438564012, + 0.6415183544158936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9817063758616721, + -0.06950578838586807, + 0.1772613093962151, + -0.02032918855547905 + ], + [ + 0.06513084736251185, + 0.9974139332771301, + 0.030388302474960927, + -0.14034469425678253 + ], + [ + -0.17891505444003428, + -0.018287211656570435, + 0.9836945402239109, + 0.6430422067642212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.981447824217157, + -0.06875816732645035, + 0.17897635997698144, + -0.0222061425447464 + ], + [ + 0.06453164500816276, + 0.9974843263626099, + 0.02933768647138282, + -0.14034436643123627 + ], + [ + -0.18054331280763433, + -0.017243770882487297, + 0.9834158523628224, + 0.6451175212860107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9811780193073247, + -0.06802611052989961, + 0.1807268359265277, + -0.024633726105093956 + ], + [ + 0.06387149590642474, + 0.9975448846817019, + 0.028716186036812957, + -0.14025485515594482 + ], + [ + -0.1822365824414741, + -0.016632396727800373, + 0.9831140481831072, + 0.6469443440437317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9809275571348919, + -0.06683147698640823, + 0.18252310221182524, + -0.02672836184501648 + ], + [ + 0.0627242583994988, + 0.9976326823234558, + 0.028189956827319115, + -0.1398337334394455 + ], + [ + -0.18397499259020075, + -0.016203681007027626, + 0.9827973665142805, + 0.6488609910011292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9804346237112064, + -0.06644415855407715, + 0.1852918811981965, + -0.028143810108304024 + ], + [ + 0.06227024646125607, + 0.9976590871810913, + 0.028261999212240426, + -0.13981135189533234 + ], + [ + -0.18673598090549692, + -0.016170872375369072, + 0.9822770403967753, + 0.6500517725944519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9795902112099233, + -0.066026471555233, + 0.18985121181568793, + -0.02931344136595726 + ], + [ + 0.06193154421227303, + 0.9977034330368042, + 0.027428349157522312, + -0.13848526775836945 + ], + [ + -0.19122621239132093, + -0.015110764652490616, + 0.9814296953022256, + 0.6531217098236084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9780533856524232, + -0.06427687406539917, + 0.19819183948162833, + -0.0313536673784256 + ], + [ + 0.06012963815065017, + 0.9978286027908325, + 0.02687953015970657, + -0.13877928256988525 + ], + [ + -0.19948922697595708, + -0.014372413046658039, + 0.9797946400332882, + 0.6543930172920227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9761603760134768, + -0.0615612603724003, + 0.2081374073568147, + -0.033457957208156586 + ], + [ + 0.05752590000034233, + 0.9980210661888125, + 0.025391541413450573, + -0.139541357755661 + ], + [ + -0.20928864967972322, + -0.012812923640012745, + 0.9777699521876677, + 0.6547037959098816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9742328633426517, + -0.06044849753379822, + 0.21729307247597046, + -0.037289924919605255 + ], + [ + 0.05673492067152469, + 0.9981175065040588, + 0.023294233822935634, + -0.1411435455083847 + ], + [ + -0.21829212720918073, + -0.010365903377532959, + 0.9758284418580703, + 0.6530114412307739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9731320488217349, + -0.0590817965567112, + 0.2225384718625284, + -0.04093078896403313 + ], + [ + 0.055953058614026024, + 0.9982261061668396, + 0.020343798060004425, + -0.1410517692565918 + ], + [ + -0.22334566104002035, + -0.007345493882894516, + 0.9747116417559238, + 0.6537958979606628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9726122817032997, + -0.057854894548654556, + 0.22511821242211746, + -0.04459498077630997 + ], + [ + 0.05474944849079148, + 0.9982994198799133, + 0.02001849370337489, + -0.14155344665050507 + ], + [ + -0.22589355218743973, + -0.007145135197788477, + 0.9741258077735891, + 0.6537533402442932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9723373433495311, + -0.062055427581071854, + 0.22518707806881988, + -0.047628600150346756 + ], + [ + 0.058701386142748384, + 0.9980425834655762, + 0.02156612627900607, + -0.1421995908021927 + ], + [ + -0.2260845909852253, + -0.007750756107270718, + 0.9740768065354869, + 0.6524772047996521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9726841627812924, + -0.058376602828502655, + 0.22467242770316836, + -0.05082652345299721 + ], + [ + 0.054903359728468396, + 0.998256266117096, + 0.021681262644181555, + -0.14310063421726227 + ], + [ + -0.22554633572714503, + -0.00875375047326088, + 0.9741931100698834, + 0.6548093557357788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9725783643608138, + -0.0521683432161808, + 0.2266491313337832, + -0.05155029520392418 + ], + [ + 0.049111754835140235, + 0.9986104965209961, + 0.01910807157785984, + -0.14135608077049255 + ], + [ + -0.2273310349539472, + -0.007452960591763258, + 0.9737890194635569, + 0.6592794060707092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9705378698052176, + -0.05147377774119377, + 0.23538637060995793, + -0.04902081564068794 + ], + [ + 0.04840789152778568, + 0.9986509084701538, + 0.01878886950945154, + -0.1448870152235031 + ], + [ + -0.2360359377231678, + -0.0068407510407269, + 0.9717202254567789, + 0.6557954549789429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9630377924512012, + -0.052201803773641586, + 0.26425972063385605, + -0.05245975777506828 + ], + [ + 0.05124425822744385, + 0.9986307621002197, + 0.010520603868331537, + -0.13942484557628632 + ], + [ + -0.26444707117995797, + 0.0034100539050996304, + 0.9643941460414083, + 0.6623846292495728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9615832994884068, + -0.05204939842224121, + 0.269533721642767, + -0.055426448583602905 + ], + [ + 0.05065308150168537, + 0.9986425638198853, + 0.012137953069766661, + -0.13941065967082977 + ], + [ + -0.26979960635236394, + 0.0019810604862868786, + 0.9629144252171401, + 0.6617183685302734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9598846530765821, + -0.05018734931945801, + 0.27586718182318715, + -0.05899406969547272 + ], + [ + 0.04910860165717734, + 0.9987348318099976, + 0.010821359997877486, + -0.13974249362945557 + ], + [ + -0.2760612518225309, + 0.0031601935625076294, + 0.961134870008835, + 0.6610715985298157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9586945841744755, + -0.04800444468855858, + 0.28035729988885594, + -0.0613916851580143 + ], + [ + 0.04730045777574296, + 0.9988375902175903, + 0.009280826990011802, + -0.13772083818912506 + ], + [ + -0.2804769417659569, + 0.0043635498732328415, + 0.9598508391095862, + 0.6629935503005981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9571638542797068, + -0.04743286967277527, + 0.2856351439969876, + -0.06421488523483276 + ], + [ + 0.047100217494825555, + 0.9988577961921692, + 0.008038462514751696, + -0.13539987802505493 + ], + [ + -0.2856901824694556, + 0.005759350955486298, + 0.9583047240337591, + 0.6642552018165588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9558158853439703, + -0.047551821917295456, + 0.2900944514043376, + -0.06817710399627686 + ], + [ + 0.0472204228250988, + 0.9988512992858887, + 0.008146204044654623, + -0.13439123332500458 + ], + [ + -0.2901485847383943, + 0.0059121111407876015, + 0.9569633241321769, + 0.6632059216499329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9550647760285854, + -0.04581461101770401, + 0.2928348753650388, + -0.07196924090385437 + ], + [ + 0.045610349131717125, + 0.9989309310913086, + 0.007529128005473445, + -0.13279826939105988 + ], + [ + -0.29286675723680766, + 0.00616549514234066, + 0.9561333948080136, + 0.6632260084152222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9542738182000952, + -0.04432826489210129, + 0.2956288966529167, + -0.07537822425365448 + ], + [ + 0.04427677955910567, + 0.9989956617355347, + 0.006872025926666781, + -0.13143546879291534 + ], + [ + -0.29563661028295485, + 0.0065317009575665, + 0.9552781273397108, + 0.6641026139259338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9531697954413586, + -0.042452987283468246, + 0.2994412288993391, + -0.0783345028758049 + ], + [ + 0.04253150228757893, + 0.9990755319595337, + 0.006258315860317198, + -0.13034316897392273 + ], + [ + -0.2994300919409619, + 0.006770447362214327, + 0.9540942439058588, + 0.6654735207557678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9514088184573849, + -0.041942112147808075, + 0.3050609042749489, + -0.08155648410320282 + ], + [ + 0.04210423774148529, + 0.9990949034690857, + 0.006050627342764074, + -0.1297016739845276 + ], + [ + -0.30503856605333474, + 0.007087736390531063, + 0.9523135999730211, + 0.6664372086524963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9493245003635185, + -0.04089852049946785, + 0.3116252556980484, + -0.08618628978729248 + ], + [ + 0.04100134633511104, + 0.9991397261619568, + 0.00622463048962988, + -0.1303131878376007 + ], + [ + -0.31161173943399584, + 0.006867860443890095, + 0.9501846735807191, + 0.6652597784996033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9476994533343407, + -0.03858504816889763, + 0.3168232623903202, + -0.09062552452087402 + ], + [ + 0.03870465741957974, + 0.9992331862449646, + 0.005918378115076621, + -0.13091769814491272 + ], + [ + -0.31680866376223865, + 0.00665369164198637, + 0.9484661165969304, + 0.6654977202415466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9466547120506321, + -0.03679672256112099, + 0.3201419541713559, + -0.09470047801733017 + ], + [ + 0.03706280676173951, + 0.9992990493774414, + 0.005264074035799727, + -0.13119709491729736 + ], + [ + -0.3201112557861239, + 0.006882098037749529, + 0.9473549877781828, + 0.6649783849716187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9461145111748176, + -0.03616788238286972, + 0.321806120883639, + -0.09746584296226501 + ], + [ + 0.03660715320197451, + 0.9993187189102173, + 0.004688177426565772, + -0.13067807257175446 + ], + [ + -0.32175645316396156, + 0.0073448531329631805, + 0.9467939721429594, + 0.6652202010154724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9456321849471403, + -0.03595837205648422, + 0.3232441101852615, + -0.09943733364343643 + ], + [ + 0.03658412827688788, + 0.9993219971656799, + 0.0041419520001327115, + -0.1290668100118637 + ], + [ + -0.32317388904182404, + 0.007908840663731098, + 0.9463065233830811, + 0.6657525897026062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9449519981690718, + -0.03625234961509705, + 0.32519449805340134, + -0.1014070212841034 + ], + [ + 0.036910272524222076, + 0.9993099570274355, + 0.004147963822280394, + -0.12759658694267273 + ], + [ + -0.325120474773904, + 0.008083390071988108, + 0.9456380531782894, + 0.6663854122161865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.944646679809142, + -0.03734463453292847, + 0.3259570400878255, + -0.10277906805276871 + ], + [ + 0.037979423536236505, + 0.9992687702178955, + 0.004418335462796312, + -0.12655961513519287 + ], + [ + -0.32588369296287056, + 0.008205894380807877, + 0.9453742463067242, + 0.6664682626724243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9446889596463697, + -0.03676077723503113, + 0.3259009204872956, + -0.10521915555000305 + ], + [ + 0.037524190351879226, + 0.9992879033088684, + 0.00394571831847934, + -0.12542462348937988 + ], + [ + -0.32581389890853873, + 0.008501690812408924, + 0.9453956826131973, + 0.6665616631507874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9451470231799293, + -0.037054579704999924, + 0.3245366502954023, + -0.1061704009771347 + ], + [ + 0.037986111748239175, + 0.9992722272872925, + 0.0034669504631504016, + -0.1239895150065422 + ], + [ + -0.32442894336193673, + 0.009051106870174408, + 0.9458667816364301, + 0.6657305359840393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9452027163538669, + -0.03779323771595955, + 0.3242891961567449, + -0.10729221254587173 + ], + [ + 0.038871131113789904, + 0.9992392659187317, + 0.00315578566062617, + -0.12266796827316284 + ], + [ + -0.32416176098466354, + 0.00962262973189354, + 0.9459527338375703, + 0.6650198698043823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.944908855091452, + -0.03928679600358009, + 0.3249673009246511, + -0.10834044963121414 + ], + [ + 0.040573726722651235, + 0.999172568321228, + 0.0028181651034704523, + -0.12078002840280533 + ], + [ + -0.32480913424649277, + 0.010522225871682167, + 0.9457210385692787, + 0.6651608943939209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9442517402992117, + -0.040807656943798065, + 0.3266854114866915, + -0.10988607257604599 + ], + [ + 0.04217600289770758, + 0.9991059899330139, + 0.0028970070522055056, + -0.11925271153450012 + ], + [ + -0.32651157703203876, + 0.011042780242860317, + 0.9451287118675274, + 0.6656067371368408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9434976286452905, + -0.04114844277501106, + 0.32881463858028237, + -0.1112438440322876 + ], + [ + 0.04264056217448785, + 0.9990869164466858, + 0.0026750748525132626, + -0.11744412034749985 + ], + [ + -0.32862446912758253, + 0.011496913619339466, + 0.9443906809235761, + 0.6662415266036987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9424758352957604, + -0.04177621379494668, + 0.3316535587154762, + -0.1121583804488182 + ], + [ + 0.04320831182695416, + 0.9990614056587221, + 0.0030580413898721715, + -0.1160847544670105 + ], + [ + -0.33147001913634055, + 0.011448059231042864, + 0.9433963192023912, + 0.6671416759490967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9411345895248266, + -0.04155769944190979, + 0.33546780897485434, + -0.11367707699537277 + ], + [ + 0.042920318452150955, + 0.9990728497505188, + 0.0033546345674365877, + -0.1153889149427414 + ], + [ + -0.33529620114711955, + 0.011241222731769085, + 0.9420457117632597, + 0.6670175194740295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9398962986659208, + -0.04183449223637581, + 0.33888756677017345, + -0.11501126736402512 + ], + [ + 0.043095318788759086, + 0.9990637302398682, + 0.0038071303457474456, + -0.11519380658864975 + ], + [ + -0.33872953885562124, + 0.011026158928871155, + 0.9408191737894028, + 0.6671432852745056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9387853317013036, + -0.04160330072045326, + 0.3419814220549504, + -0.11657536774873734 + ], + [ + 0.042795139243368016, + 0.9990755915641785, + 0.004062767113281393, + -0.1154734194278717 + ], + [ + -0.34183431965037525, + 0.010821076110005379, + 0.9396979465014323, + 0.6666832566261292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9377437936204377, + -0.04172558709979058, + 0.3448124293643694, + -0.11765113472938538 + ], + [ + 0.04290481706841044, + 0.9990702867507937, + 0.004214080741793088, + -0.11565378308296204 + ], + [ + -0.344667665032712, + 0.010842386633157732, + 0.9386621280009857, + 0.6671380996704102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9368061397395525, + -0.041704457253217704, + 0.34735424926841146, + -0.11868206411600113 + ], + [ + 0.04293383204479611, + 0.9990692734718325, + 0.004159910654847126, + -0.11587385088205338 + ], + [ + -0.34720444397313305, + 0.011016218923032286, + 0.9377247385953991, + 0.66697096824646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9359806623404959, + -0.04113752394914627, + 0.3496397478617788, + -0.12027724087238312 + ], + [ + 0.042426445466126936, + 0.9990916848182678, + 0.003975022657179189, + -0.1161261722445488 + ], + [ + -0.34948568731303675, + 0.011113427579402924, + 0.9368758013262188, + 0.6666622161865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.935421927780784, + -0.040383920073509216, + 0.3512192634160886, + -0.1214999333024025 + ], + [ + 0.04175388559300827, + 0.9991211891174316, + 0.0036755753390624608, + -0.11629464477300644 + ], + [ + -0.35105903940911376, + 0.011226554401218891, + 0.9362860328688302, + 0.6658285856246948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.935061185346186, + -0.04174836352467537, + 0.3520193993211617, + -0.1218048483133316 + ], + [ + 0.04314714263520443, + 0.9990612268447876, + 0.003874645863303072, + -0.11617238819599152 + ], + [ + -0.3518506773140067, + 0.011565599590539932, + 0.9359846626736804, + 0.6655156016349792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9347233441604815, + -0.04154236614704133, + 0.35293973790170996, + -0.12280050665140152 + ], + [ + 0.04289147237310516, + 0.9990717172622683, + 0.004001094787196036, + -0.11641662567853928 + ], + [ + -0.35277832106087, + 0.01139818783849478, + 0.9356374725064548, + 0.6651522517204285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9343417956814992, + -0.040945712476968765, + 0.35401815136333775, + -0.12377877533435822 + ], + [ + 0.042346008281039085, + 0.9990957975387573, + 0.0037937224463987698, + -0.11635568737983704 + ], + [ + -0.3538533842932356, + 0.011446621268987656, + 0.9352308442782522, + 0.6653725504875183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9338694142055114, + -0.04092920571565629, + 0.3552642174620219, + -0.12472337484359741 + ], + [ + 0.042485539805277986, + 0.9990912079811098, + 0.0034229776073187463, + -0.11590293794870377 + ], + [ + -0.35508146106108135, + 0.011896978132426742, + 0.9347596538003777, + 0.6651210188865662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9332294219314002, + -0.041424516588449485, + 0.356884943584699, + -0.12595663964748383 + ], + [ + 0.04306520602681175, + 0.9990666508674624, + 0.0033516017235600826, + -0.11566058546304703 + ], + [ + -0.3566906756164968, + 0.012241509743034843, + 0.9341423407112044, + 0.6650540232658386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.932700296086948, + -0.04105403646826745, + 0.3583080727844288, + -0.12730582058429718 + ], + [ + 0.042739402124911466, + 0.999081075191498, + 0.003218622508967517, + -0.11578772217035294 + ], + [ + -0.35811095327365905, + 0.012311862781643871, + 0.9335978481308762, + 0.6644630432128906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9321926127108078, + -0.040385738015174866, + 0.3597025046379959, + -0.12878082692623138 + ], + [ + 0.04223375361800494, + 0.9991040229797363, + 0.0027232499303970095, + -0.11541574448347092 + ], + [ + -0.3594902230562225, + 0.012652993202209473, + 0.9330630912441413, + 0.6643636226654053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.931603405429514, + -0.03864942491054535, + 0.3614157367333517, + -0.1305270940065384 + ], + [ + 0.040773669810953955, + 0.9991669058799744, + 0.0017495972934983895, + -0.11514024436473846 + ], + [ + -0.36118225476574073, + 0.013106315396726131, + 0.9324031399148369, + 0.6637400388717651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9309690924916162, + -0.03803517296910286, + 0.36311138365456436, + -0.13200141489505768 + ], + [ + 0.04024321367869899, + 0.9991888403892517, + 0.0014847494911812368, + -0.1151321679353714 + ], + [ + -0.36287330925346195, + 0.013230513781309128, + 0.931744570781239, + 0.6636678576469421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9304357338268626, + -0.037470653653144836, + 0.3645343617423537, + -0.13326160609722137 + ], + [ + 0.03977572138814853, + 0.9992079138755798, + 0.0011856828159322575, + -0.11493024975061417 + ], + [ + -0.3642900575297262, + 0.013396414928138256, + 0.9311891755516691, + 0.663068413734436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9298914624805242, + -0.03580467402935028, + 0.36608720132519607, + -0.13457725942134857 + ], + [ + 0.038096229181117415, + 0.9992735981941223, + 0.0009650893746574142, + -0.1151110902428627 + ], + [ + -0.3658558419005545, + 0.013049113564193249, + 0.9305800306607185, + 0.6634178757667542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/pull_out/transforms.json b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..be042acdcd29b5d57b809a185f7c12b9a0e2cefc --- /dev/null +++ b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/pull_out/transforms.json @@ -0,0 +1,4808 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 137, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00015281095693353564, + 9.454473183723167e-05, + -0.00017298538296017796 + ], + [ + -0.00015282332606147975, + 1.0, + 0.0001308531645918265, + -0.0003619329072535038 + ], + [ + -9.452473750570789e-05, + -0.00013086760009173304, + 1.0, + -0.00011619761789916083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + 0.00029360686312429607, + 0.00029413201264105737, + 0.000168900613725247 + ], + [ + -0.00029381419881246984, + 0.9999997019767761, + 0.0007050363346934319, + -0.00047376552247442306 + ], + [ + -0.00029392490978352726, + -0.0007051227148622274, + 0.9999997019767761, + -0.00025721706265090585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999985098838806, + 0.0007547845016233623, + 0.00156905478797853, + 2.478378339540487e-05 + ], + [ + -0.0007575366762466729, + 0.999998152256012, + 0.0017541872803121805, + -0.0013243977846714723 + ], + [ + -0.0015677278861403465, + -0.0017553733196109533, + 0.9999972581863403, + -4.250778789248542e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999956488609314, + -8.561230060877278e-05, + 0.0029411306604743004, + 0.000121161131948397 + ], + [ + 7.824521890142933e-05, + 0.9999968409538269, + 0.0025048688985407352, + -0.001524080548038268 + ], + [ + -0.002941336017102003, + -0.002504628151655197, + 0.9999925494194031, + 0.001975079538191066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999929070472717, + 0.0001408472453476861, + 0.0037566900718957186, + -0.0015666069168433108 + ], + [ + -0.00015295388584490865, + 0.9999948143959045, + 0.003222595900297165, + -0.0012424469829591758 + ], + [ + -0.0037562164943665266, + -0.0032231477089226246, + 0.9999877214431763, + 0.0031569405349300187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999926090240479, + 0.0007249152986332774, + 0.0037689527962356806, + -0.0017059750329388086 + ], + [ + -0.0007435694569721818, + 0.9999874830245972, + 0.004950384609401226, + -0.002361303931513034 + ], + [ + -0.0037653169129043818, + -0.004953150637447834, + 0.999980628490448, + 0.0046398371786755665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999907612800598, + 0.0006774791399948299, + 0.004238612949848175, + -0.0016764546443215188 + ], + [ + -0.000704616482835263, + 0.9999792575836182, + 0.006404184736311436, + -0.0029867789612206467 + ], + [ + -0.004234186373651028, + -0.006407111883163452, + 0.9999704957008362, + 0.008817098552689834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999868273735046, + 0.0015402118442580104, + 0.004901085514575243, + -0.0047226626422557545 + ], + [ + -0.0015756342327222228, + 0.9999725818634033, + 0.0072318450547754765, + -0.0034239386246019206 + ], + [ + -0.004889812786132097, + -0.007239471655339003, + 0.9999618530273438, + 0.01120779895607163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999898076057434, + 0.0018369132885709405, + 0.004124348051846027, + -0.005974528297562809 + ], + [ + -0.0018679556669667363, + 0.9999698400497437, + 0.007535446900874376, + -0.002817053208127618 + ], + [ + -0.004110381938517094, + -0.007543074432760477, + 0.999963104724884, + 0.01581613035763011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999974370002747, + 0.000492562132421881, + 0.002214243169873953, + -0.004724847268902094 + ], + [ + -0.0005117107066325843, + 0.9999623894691467, + 0.008655671961605549, + -0.004631622812902445 + ], + [ + -0.0022098966874182224, + -0.00865678209811449, + 0.9999600648880005, + 0.020554994550697942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999983906745911, + -0.00048746351967565715, + 0.0017436784692108631, + -0.005805894379805335 + ], + [ + 0.0004714640963356942, + 0.9999579191207886, + 0.00916433148086071, + -0.003857270924045759 + ], + [ + -0.0017480722162872553, + -0.009163495153188705, + 0.999956488609314, + 0.025875764953739503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999987483024597, + -0.000861581414937973, + 0.0013272828655317426, + -0.005632841514735072 + ], + [ + 0.0008477658266201615, + 0.9999458193778992, + 0.0103745236992836, + -0.004520983791307491 + ], + [ + -0.0013361495221033692, + -0.01037338562309742, + 0.9999452829360962, + 0.03345940511892823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999989867210388, + -0.0009955024579539895, + 0.0010358664439991117, + -0.007172986397670363 + ], + [ + 0.0009837731486186385, + 0.9999361038208008, + 0.011262752115726471, + -0.004486105854020399 + ], + [ + -0.001047012279741466, + -0.011261722072958946, + 0.999936044216156, + 0.042114095170708264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999999403953552, + 8.155935211107135e-05, + 0.0003825852181762457, + -0.010111645556239904 + ], + [ + -8.610408985987306e-05, + 0.9999292492866516, + 0.01189410500228405, + -0.004534589711521916 + ], + [ + -0.0003815880627371371, + -0.011894136667251587, + 0.9999291896820068, + 0.049736188878031336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999988079071045, + -0.00021074646792840213, + -0.001545062055811286, + -0.010875842610360398 + ], + [ + 0.00023029600561130792, + 0.9999197721481323, + 0.012663671746850014, + -0.005192463201306322 + ], + [ + 0.0015422692522406578, + -0.012664012610912323, + 0.9999186396598816, + 0.059579441915540134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999916553497314, + -0.0003232348244637251, + -0.004071746487170458, + -0.014022233301896931 + ], + [ + 0.00037866109050810337, + 0.9999071955680847, + 0.013618994504213333, + -0.006588938385796021 + ], + [ + 0.004066966008394957, + -0.013620423153042793, + 0.9998989701271057, + 0.06970655151149806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999650716781616, + -0.0022558749187737703, + -0.008049050346016884, + -0.014151305267039468 + ], + [ + 0.0023709621746093035, + 0.9998946785926819, + 0.014317485503852367, + -0.007895365499836557 + ], + [ + 0.008015904575586319, + -0.014336069114506245, + 0.9998651146888733, + 0.08327977280406391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999201893806458, + -0.005450161639600992, + -0.011395951732993126, + -0.013264007051475346 + ], + [ + 0.005623819772154093, + 0.9998676776885986, + 0.015262505039572716, + -0.010319154593162239 + ], + [ + 0.011311260983347893, + -0.015325376763939857, + 0.9998185634613037, + 0.09663724750280381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998934268951416, + -0.0051442356780171394, + -0.01366463303565979, + -0.011663402386886231 + ], + [ + 0.005359760485589504, + 0.9998610615730286, + 0.015782974660396576, + -0.01165668704711339 + ], + [ + 0.013581544160842896, + -0.015854530036449432, + 0.9997820854187012, + 0.11092755198478699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998873472213745, + -0.0056027937680482864, + -0.013925569131970406, + -0.011268394304822911 + ], + [ + 0.005831229500472546, + 0.9998481869697571, + 0.016417931765317917, + -0.013646733193822643 + ], + [ + 0.013831468299031258, + -0.016497284173965454, + 0.9997682571411133, + 0.1253433371291441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999139904975891, + -0.005516846664249897, + -0.011897078715264797, + -0.00956660444738672 + ], + [ + 0.005725112743675709, + 0.9998297095298767, + 0.01754327304661274, + -0.016588080592234346 + ], + [ + 0.011798269115388393, + -0.01760987751185894, + 0.9997753500938416, + 0.1412206686594907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999696016311646, + -0.004238581284880638, + -0.00654827943071723, + -0.009058082098593278 + ], + [ + 0.004358425736427307, + 0.9998212456703186, + 0.018397150561213493, + -0.018994498771944028 + ], + [ + 0.006469130981713533, + -0.01842513121664524, + 0.9998093247413635, + 0.15773357113494593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999961256980896, + -0.0027829306200146675, + 0.00016908126417547464, + -0.013472451672115473 + ], + [ + 0.0027789915911853313, + 0.9997960925102234, + 0.020002709701657295, + -0.023245532183414873 + ], + [ + -0.00022471294505521655, + -0.02000216208398342, + 0.999799907207489, + 0.1732628889820155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999899864196777, + -0.002705466700717807, + 0.0035687144845724106, + -0.015552798117620541 + ], + [ + 0.002630546921864152, + 0.9997795224189758, + 0.020833712071180344, + -0.025393132725730537 + ], + [ + -0.003624292556196451, + -0.020824115723371506, + 0.9997766017913818, + 0.1881311420132132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999764561653137, + -0.0008035755599848926, + 0.006818163208663464, + -0.017800039781586213 + ], + [ + 0.000654155679512769, + 0.9997602105140686, + 0.021888969466090202, + -0.02874445414499325 + ], + [ + -0.006834117695689201, + -0.021883992478251457, + 0.9997371435165405, + 0.20447847580208497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999381899833679, + -0.0009113797568716109, + 0.011081578209996223, + -0.020532212309155834 + ], + [ + 0.0006548821111209691, + 0.9997323155403137, + 0.023127947002649307, + -0.031908457290709895 + ], + [ + -0.011099690571427345, + -0.023119259625673294, + 0.9996711015701294, + 0.21919365095741608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999895453453064, + -0.0012546045472845435, + 0.014403465203940868, + -0.022434230837697054 + ], + [ + 0.0009036760893650353, + 0.9997032284736633, + 0.024344880133867264, + -0.03486386454828522 + ], + [ + -0.014429734088480473, + -0.02432931959629059, + 0.9995998740196228, + 0.23345508829635733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9998534917831421, + -0.0018739805091172457, + 0.017014548182487488, + -0.025199916202794104 + ], + [ + 0.0014253167901188135, + 0.9996519088745117, + 0.02634335309267044, + -0.038151520770043135 + ], + [ + -0.01705799251794815, + -0.026315242052078247, + 0.9995081424713135, + 0.2478858974050073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9998077750205994, + -0.0024722174275666475, + 0.01945006474852562, + -0.026371657727834057 + ], + [ + 0.0019191859755665064, + 0.9995947480201721, + 0.028400860726833344, + -0.040482988756369145 + ], + [ + -0.019512396305799484, + -0.02835807204246521, + 0.9994073510169983, + 0.262585874690729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9996970891952515, + -0.0019073485163971782, + 0.024537816643714905, + -0.026489810086786747 + ], + [ + 0.0011699559399858117, + 0.9995483160018921, + 0.03003060817718506, + -0.04171779357335147 + ], + [ + -0.024584010243415833, + -0.029992803931236267, + 0.9992477297782898, + 0.2759178081417785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9994542002677917, + -0.0014825770631432533, + 0.033002451062202454, + -0.02915584756171002 + ], + [ + 0.000432308588642627, + 0.9994938969612122, + 0.03180836886167526, + -0.044603597865823436 + ], + [ + -0.03303290903568268, + -0.03177674114704132, + 0.9989489912986755, + 0.28840722538092556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9991958141326904, + -0.002125207334756851, + 0.04003994166851044, + -0.033147925017949414 + ], + [ + 0.0007911827997304499, + 0.9994449615478516, + 0.03330377861857414, + -0.04783988175639773 + ], + [ + -0.04008849710226059, + -0.03324531391263008, + 0.9986429214477539, + 0.298567512105493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9990509152412415, + -0.003292481880635023, + 0.04343291372060776, + -0.03544003463843289 + ], + [ + 0.001793720293790102, + 0.9994030594825745, + 0.03450144827365875, + -0.05089561483439277 + ], + [ + -0.04352058470249176, + -0.03439079970121384, + 0.9984604120254517, + 0.3090330208049101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.998942494392395, + -0.003975925035774708, + 0.04580545052886009, + -0.03566340409383616 + ], + [ + 0.002357017481699586, + 0.9993724822998047, + 0.035343073308467865, + -0.05362024295746404 + ], + [ + -0.04591722413897514, + -0.03519773483276367, + 0.998324990272522, + 0.3197225138545036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9987724423408508, + -0.0062836636789143085, + 0.049133285880088806, + -0.03690854422748089 + ], + [ + 0.004490536171942949, + 0.9993228316307068, + 0.03652075678110123, + -0.056860110349953176 + ], + [ + -0.049329496920108795, + -0.03625529259443283, + 0.9981243014335632, + 0.32916342169046403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9986397624015808, + -0.008156390860676765, + 0.05149795487523079, + -0.03912610761985621 + ], + [ + 0.006214732304215431, + 0.9992678165435791, + 0.03775178641080856, + -0.05997121468295946 + ], + [ + -0.051768165081739426, + -0.037380389869213104, + 0.997959315776825, + 0.3373012549298651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9985973238945007, + -0.009955805726349354, + 0.05200241506099701, + -0.04205360140870599 + ], + [ + 0.007932771928608418, + 0.9992091059684753, + 0.03896522894501686, + -0.06310213007690275 + ], + [ + -0.05234921723604202, + -0.03849804773926735, + 0.9978864789009094, + 0.3459744658540277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9985966086387634, + -0.014606578275561333, + 0.05090663582086563, + -0.043087215551777795 + ], + [ + 0.012579301372170448, + 0.999123752117157, + 0.03991879150271416, + -0.06520784597789102 + ], + [ + -0.05144510418176651, + -0.03922240063548088, + 0.9979053139686584, + 0.3544120270978002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9985551834106445, + -0.0184905007481575, + 0.05045466497540474, + -0.043756277459290095 + ], + [ + 0.016463767737150192, + 0.9990522265434265, + 0.04029348865151405, + -0.06623665012747926 + ], + [ + -0.05115189030766487, + -0.039404597133398056, + 0.9979131817817688, + 0.36249831888605566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.998429536819458, + -0.022734466940164566, + 0.051201917231082916, + -0.043109164271941953 + ], + [ + 0.020647455006837845, + 0.9989487528800964, + 0.040926989167928696, + -0.06775971136384588 + ], + [ + -0.05207854509353638, + -0.03980552777647972, + 0.9978493452072144, + 0.3710181035539683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9981499910354614, + -0.02952979877591133, + 0.05314650386571884, + -0.04376604101237129 + ], + [ + 0.02732277661561966, + 0.9987529516220093, + 0.0417853482067585, + -0.06913974892128916 + ], + [ + -0.05431414395570755, + -0.04025593772530556, + 0.9977120757102966, + 0.3792136276469511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.997906506061554, + -0.03559732809662819, + 0.053994741290807724, + -0.044572418837753286 + ], + [ + 0.03333868458867073, + 0.9985540509223938, + 0.042170148342847824, + -0.07014369812027058 + ], + [ + -0.05541780963540077, + -0.0402817539870739, + 0.9976503849029541, + 0.3863479900009492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9975355267524719, + -0.04401472955942154, + 0.05464034900069237, + -0.04477884635219679 + ], + [ + 0.04171247035264969, + 0.998221755027771, + 0.04258370026946068, + -0.07071719096754403 + ], + [ + -0.056417498737573624, + -0.04019956663250923, + 0.9975976347923279, + 0.3935967866988743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9971495270729065, + -0.05133833363652229, + 0.055292386561632156, + -0.04379321610390702 + ], + [ + 0.04897664114832878, + 0.9978629350662231, + 0.043253496289253235, + -0.07194861505618867 + ], + [ + -0.057394783943891525, + -0.040422163903713226, + 0.9975329041481018, + 0.4011867399163106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9967167973518372, + -0.057651445269584656, + 0.0568501278758049, + -0.0440284720457652 + ], + [ + 0.055201753973960876, + 0.997515857219696, + 0.04375922307372093, + -0.07252256086863139 + ], + [ + -0.05923168361186981, + -0.04047732427716255, + 0.9974232912063599, + 0.40901114554966195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9965928792953491, + -0.058395471423864365, + 0.058246441185474396, + -0.044028003234416246 + ], + [ + 0.05585945025086403, + 0.9974572658538818, + 0.04425773024559021, + -0.07293396300691016 + ], + [ + -0.060682788491249084, + -0.04085332155227661, + 0.9973207116127014, + 0.4162782060311121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9965658187866211, + -0.05696986988186836, + 0.06009114906191826, + -0.04363631328348728 + ], + [ + 0.05428450182080269, + 0.997492253780365, + 0.0454130545258522, + -0.07471626570776982 + ], + [ + -0.06252763420343399, + -0.041995078325271606, + 0.9971593022346497, + 0.42445458988933005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9963860511779785, + -0.05627990514039993, + 0.06361956149339676, + -0.04317342791815891 + ], + [ + 0.05339501053094864, + 0.9975054264068604, + 0.046172402799129486, + -0.07652424563489416 + ], + [ + -0.06605943292379379, + -0.04260857403278351, + 0.9969055652618408, + 0.4324931388392168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9960622191429138, + -0.056859128177165985, + 0.06802242994308472, + -0.04255314767360687 + ], + [ + 0.05370757728815079, + 0.997435986995697, + 0.04729694128036499, + -0.0795139235608718 + ], + [ + -0.07053728401660919, + -0.04345737397670746, + 0.9965620636940002, + 0.4395462688277749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9959315061569214, + -0.05702411010861397, + 0.06977621465921402, + -0.04221847897176357 + ], + [ + 0.053753811866045, + 0.9974055290222168, + 0.04788236692547798, + -0.08338883421931635 + ], + [ + -0.07232563942670822, + -0.043936822563409805, + 0.9964128732681274, + 0.4460409342366106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9961288571357727, + -0.05440107360482216, + 0.06904976814985275, + -0.04139232914894819 + ], + [ + 0.0511900894343853, + 0.9975610375404358, + 0.047450773417949677, + -0.08760287366150056 + ], + [ + -0.0714627280831337, + -0.0437324196100235, + 0.996484100818634, + 0.4525547461474643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9962418675422668, + -0.054146818816661835, + 0.06760387122631073, + -0.039314723946154116 + ], + [ + 0.0511179193854332, + 0.9976438283920288, + 0.04575816169381142, + -0.09044075286947191 + ], + [ + -0.06992223858833313, + -0.04213042929768562, + 0.9966623783111572, + 0.4599977284669876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9962528347969055, + -0.0542583242058754, + 0.06735196709632874, + -0.037410724776632646 + ], + [ + 0.051276795566082, + 0.9976595044136047, + 0.045235175639390945, + -0.09402244039537276 + ], + [ + -0.06964871287345886, + -0.04161207750439644, + 0.9967033267021179, + 0.468137381532613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9961004853248596, + -0.056014467030763626, + 0.06816273927688599, + -0.036585965708774676 + ], + [ + 0.0529915951192379, + 0.9975634217262268, + 0.04537714645266533, + -0.09788481259773321 + ], + [ + -0.07053843140602112, + -0.04158814623951912, + 0.9966417551040649, + 0.4751045527703622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9960060119628906, + -0.057692475616931915, + 0.06814383715391159, + -0.03592780535931096 + ], + [ + 0.054644905030727386, + 0.9974561929702759, + 0.04577174782752991, + -0.10155863555915215 + ], + [ + -0.07061117142438889, + -0.04186522215604782, + 0.9966250061988831, + 0.48178607830229925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9959902167320251, + -0.05847842991352081, + 0.0677032470703125, + -0.033772606402635574 + ], + [ + 0.05543334037065506, + 0.9974014759063721, + 0.046015579253435135, + -0.10405009994557236 + ], + [ + -0.07021823525428772, + -0.04207805171608925, + 0.9966437816619873, + 0.4901522284044939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9958760142326355, + -0.058728210628032684, + 0.06915189325809479, + -0.030648188336807138 + ], + [ + 0.05561378598213196, + 0.9973859786987305, + 0.0461340993642807, + -0.10663877637947307 + ], + [ + -0.07168050110340118, + -0.042098045349121094, + 0.9965388178825378, + 0.4982192239340614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9954899549484253, + -0.06170159950852394, + 0.07206052541732788, + -0.02894154344411457 + ], + [ + 0.05847367271780968, + 0.9972249865531921, + 0.04607829451560974, + -0.10975375260938616 + ], + [ + -0.07470366358757019, + -0.04165683686733246, + 0.9963353276252747, + 0.5048449713955907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9952688217163086, + -0.06359197944402695, + 0.0734575167298317, + -0.02785049706478329 + ], + [ + 0.06034436076879501, + 0.9971347451210022, + 0.045617010444402695, + -0.1127562103628674 + ], + [ + -0.07614792138338089, + -0.04096844419836998, + 0.9962545037269592, + 0.5118773568202467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9952049255371094, + -0.06443510949611664, + 0.07358814030885696, + -0.02587579939623966 + ], + [ + 0.0612330287694931, + 0.9971098303794861, + 0.04497280344367027, + -0.11489004851318896 + ], + [ + -0.07627328485250473, + -0.04025113210082054, + 0.9962741732597351, + 0.5199587155352621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9950919151306152, + -0.06522076576948166, + 0.07441972941160202, + -0.024749174933223164 + ], + [ + 0.061980701982975006, + 0.9970601797103882, + 0.04504898563027382, + -0.11647170579389614 + ], + [ + -0.07713907212018967, + -0.04021529480814934, + 0.9962089657783508, + 0.5280259681098601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9950053095817566, + -0.06562334299087524, + 0.07521983236074448, + -0.02393097723560298 + ], + [ + 0.06223802641034126, + 0.9969774484634399, + 0.04650137573480606, + -0.11941922504783553 + ], + [ + -0.07804404944181442, + -0.04158758372068405, + 0.9960821270942688, + 0.5337021795704084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9949945211410522, + -0.06669652462005615, + 0.07441452145576477, + -0.02263361070962513 + ], + [ + 0.06325368583202362, + 0.9968567490577698, + 0.04770316183567047, + -0.1220671586034929 + ], + [ + -0.07736225426197052, + -0.042757391929626465, + 0.9960857629776001, + 0.5399320190443712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9951032996177673, + -0.067571260035038, + 0.0721353217959404, + -0.02144327352699988 + ], + [ + 0.06422685831785202, + 0.9967937469482422, + 0.04771936312317848, + -0.1233140395817292 + ], + [ + -0.07512848824262619, + -0.042852673679590225, + 0.9962526559829712, + 0.5458305776995771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.995218813419342, + -0.06855342537164688, + 0.06956963986158371, + -0.020198002654839963 + ], + [ + 0.0653330609202385, + 0.9967296123504639, + 0.04755709692835808, + -0.12462544984677258 + ], + [ + -0.07260232418775558, + -0.04278452321887016, + 0.9964428544044495, + 0.5500977859777563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9953156113624573, + -0.0696500912308693, + 0.06704965233802795, + -0.018857764518436265 + ], + [ + 0.06653843075037003, + 0.9966489672660828, + 0.047575924545526505, + -0.1261374122764477 + ], + [ + -0.07013863325119019, + -0.04289168491959572, + 0.9966146945953369, + 0.5541364717132905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.995322048664093, + -0.07163078337907791, + 0.06483083218336105, + -0.017871616254834567 + ], + [ + 0.06859711557626724, + 0.996495246887207, + 0.04787095636129379, + -0.127949683576384 + ], + [ + -0.0680326446890831, + -0.0431998148560524, + 0.9967473745346069, + 0.5581602946800344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9954203367233276, + -0.07270568609237671, + 0.06206626072525978, + -0.01755123184172108 + ], + [ + 0.06976461410522461, + 0.996393084526062, + 0.04830855876207352, + -0.13027125375126214 + ], + [ + -0.06535469740629196, + -0.04375729709863663, + 0.9969022274017334, + 0.5608410104232676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.99559485912323, + -0.07308924198150635, + 0.05872679129242897, + -0.017401364259421827 + ], + [ + 0.07025165855884552, + 0.9963244199752808, + 0.049013443291187286, + -0.1331655953079462 + ], + [ + -0.06209329143166542, + -0.04467187821865082, + 0.9970701336860657, + 0.5633916229009628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9958266615867615, + -0.07323498278856277, + 0.05446045473217964, + -0.01569221336668467 + ], + [ + 0.07058323174715042, + 0.9962958097457886, + 0.04911907762289047, + -0.1347435868345201 + ], + [ + -0.057855959981679916, + -0.045070089399814606, + 0.9973070621490479, + 0.5670064230175579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9960190057754517, + -0.07306047528982162, + 0.05107180029153824, + -0.01504320782773635 + ], + [ + 0.07057126611471176, + 0.9963047504425049, + 0.04895409569144249, + -0.13612827573738553 + ], + [ + -0.05445968359708786, + -0.045155007392168045, + 0.9974944591522217, + 0.5692487622008604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9961717128753662, + -0.0735897421836853, + 0.04718580096960068, + -0.014213470035396955 + ], + [ + 0.07134799659252167, + 0.9963172674179077, + 0.04755410552024841, + -0.13644432629294256 + ], + [ + -0.050511524081230164, + -0.044005438685417175, + 0.9977535009384155, + 0.5720926091074944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.996304452419281, + -0.07425748556852341, + 0.0431654192507267, + -0.014177398723276223 + ], + [ + 0.07225777953863144, + 0.9963164925575256, + 0.04617597907781601, + -0.13824853366788695 + ], + [ + -0.04643533006310463, + -0.042886294424533844, + 0.9980002641677856, + 0.5744277014451868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9965529441833496, + -0.07330599427223206, + 0.03883861377835274, + -0.01407114206265439 + ], + [ + 0.07166951894760132, + 0.9965448379516602, + 0.04197457432746887, + -0.13871955014765264 + ], + [ + -0.041781406849622726, + -0.03904633969068527, + 0.9983634948730469, + 0.5770106911659241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9966990351676941, + -0.07295083999633789, + 0.03562513738870621, + -0.014193152734900223 + ], + [ + 0.07164378464221954, + 0.9967554807662964, + 0.036683738231658936, + -0.1400592491030693 + ], + [ + -0.038185663521289825, + -0.034010328352451324, + 0.998691737651825, + 0.5774689527995446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9968019127845764, + -0.07308874279260635, + 0.03231128305196762, + -0.014621883384226 + ], + [ + 0.07209747284650803, + 0.9969204068183899, + 0.030848726630210876, + -0.13988312646089232 + ], + [ + -0.03446647524833679, + -0.02842050790786743, + 0.999001681804657, + 0.5795566165710196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9969727396965027, + -0.07199066877365112, + 0.02937217615544796, + -0.01622682356768671 + ], + [ + 0.07122749090194702, + 0.9971145987510681, + 0.02625202015042305, + -0.1398679071379935 + ], + [ + -0.031177325174212456, + -0.024080440402030945, + 0.9992237687110901, + 0.5805378228425979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9970915913581848, + -0.07131411880254745, + 0.0268830806016922, + -0.017453175049056024 + ], + [ + 0.07070062309503555, + 0.9972295761108398, + 0.023120740428566933, + -0.1395860510508475 + ], + [ + -0.028457440435886383, + -0.02115284465253353, + 0.9993711709976196, + 0.5809313548838391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9970829486846924, + -0.07194807380437851, + 0.025476088747382164, + -0.018493977290413834 + ], + [ + 0.07139218598604202, + 0.997203528881073, + 0.022096725180745125, + -0.140678225170054 + ], + [ + -0.02699466235935688, + -0.020213475450873375, + 0.9994311928749084, + 0.5814990780809346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9972251057624817, + -0.07024294137954712, + 0.024657217785716057, + -0.019876299668377374 + ], + [ + 0.06973440945148468, + 0.9973464012145996, + 0.020912213250994682, + -0.14073893028064904 + ], + [ + -0.026060720905661583, + -0.019134728237986565, + 0.999477207660675, + 0.5834604872061926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9972787499427795, + -0.06950578838586807, + 0.02457793988287449, + -0.021774949725059903 + ], + [ + 0.06902136653661728, + 0.9974139332771301, + 0.020038142800331116, + -0.14152340853915496 + ], + [ + -0.02590714581310749, + -0.018287211656570435, + 0.9994970560073853, + 0.5842482622931985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9973351359367371, + -0.06875816732645035, + 0.02439253404736519, + -0.02365893317550859 + ], + [ + 0.06830472499132156, + 0.9974843263626099, + 0.01896042190492153, + -0.1414736268535147 + ], + [ + -0.025634855031967163, + -0.017243770882487297, + 0.9995226263999939, + 0.5855871295665993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9973889589309692, + -0.0680261105298996, + 0.024243749678134918, + -0.026095481600393267 + ], + [ + 0.06759145855903625, + 0.9975448846817017, + 0.01831889897584915, + -0.14135937700595927 + ], + [ + -0.02543039247393608, + -0.01663239672780037, + 0.999538242816925, + 0.5866780676385935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9974722862243652, + -0.06683147698640823, + 0.024136971682310104, + -0.028201427028569228 + ], + [ + 0.06641025096178055, + 0.9976326823234558, + 0.01785174570977688, + -0.1409232149790863 + ], + [ + -0.02527289092540741, + -0.016203681007027626, + 0.9995492696762085, + 0.5878590870429488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9974761605262756, + -0.06644415855407715, + 0.02502881921827793, + -0.029689707765903545 + ], + [ + 0.06600800156593323, + 0.9976590871810913, + 0.01786806993186474, + -0.14091496797935926 + ], + [ + -0.026157459244132042, + -0.016170872375369072, + 0.9995270371437073, + 0.5883162791238111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9974320530891418, + -0.066026471555233, + 0.02774462103843689, + -0.031047480180859566 + ], + [ + 0.06557229906320572, + 0.9977034330368042, + 0.016973629593849182, + -0.13954611960798502 + ], + [ + -0.028801612555980682, + -0.015110764652490616, + 0.9994709491729736, + 0.5906547755002975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9973422884941101, + -0.06427687406539917, + 0.03430437296628952, + -0.03352291449247038 + ], + [ + 0.06373713910579681, + 0.9978286027908325, + 0.016603000462055206, + -0.13982917818733875 + ], + [ + -0.03529707342386246, + -0.014372413046658039, + 0.9992735385894775, + 0.5912036611753352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9971978068351746, + -0.061561260372400284, + 0.04250640049576759, + -0.03617711665163584 + ], + [ + 0.06095363572239876, + 0.9980210661888123, + 0.015447130426764488, + -0.14052951977560846 + ], + [ + -0.0433732308447361, + -0.012812923640012741, + 0.9989767670631409, + 0.5907986644874601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9969214200973511, + -0.06044849753379822, + 0.04993629455566406, + -0.04052109692026587 + ], + [ + 0.05985001474618912, + 0.9981175065040588, + 0.013395830988883972, + -0.1420103345723713 + ], + [ + -0.050652049481868744, + -0.010365903377532959, + 0.9986625909805298, + 0.5883920971085044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9968252778053284, + -0.0590817965567112, + 0.053373415023088455, + -0.044423608035397 + ], + [ + 0.058602262288331985, + 0.9982261061668396, + 0.010506652295589447, + -0.14173933694358257 + ], + [ + -0.05389948561787605, + -0.007345493882894516, + 0.9985193610191345, + 0.5884516162469107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9968588948249817, + -0.057854894548654556, + 0.054085154086351395, + -0.048174145384965575 + ], + [ + 0.057380709797143936, + 0.9982994198799133, + 0.010280872695147991, + -0.14223379852003692 + ], + [ + -0.05458797886967659, + -0.007145135197788477, + 0.998483419418335, + 0.5876772316063151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9967024326324463, + -0.062055427581071854, + 0.052281834185123444, + -0.051126869937733695 + ], + [ + 0.061561573296785355, + 0.9980425834655762, + 0.011005599983036518, + -0.14293599491870468 + ], + [ + -0.05286245793104172, + -0.007750756107270718, + 0.9985716938972473, + 0.5856610105756451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9970519542694092, + -0.058376602828502655, + 0.04979538917541504, + -0.05419503507368705 + ], + [ + 0.05786430835723877, + 0.998256266117096, + 0.011669527739286423, + -0.14389004344668457 + ], + [ + -0.050389789044857025, + -0.00875375047326088, + 0.9986912608146667, + 0.5872508292689043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9973938465118408, + -0.0521683432161808, + 0.04983992874622345, + -0.05495846680201152 + ], + [ + 0.051729414612054825, + 0.9986104965209961, + 0.010057361796498299, + -0.1420438268345178 + ], + [ + -0.050295352935791016, + -0.007452960591763258, + 0.998706579208374, + 0.5909855002866071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9970531463623047, + -0.05147377774119377, + 0.05688166245818138, + -0.052952342310591656 + ], + [ + 0.05099886283278465, + 0.9986509084701538, + 0.00977044366300106, + -0.14556232530021054 + ], + [ + -0.05730784311890602, + -0.0068407510407269, + 0.9983330965042114, + 0.5867930203676224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9950366020202637, + -0.052201803773641586, + 0.08471806347370148, + -0.058377563679481256 + ], + [ + 0.0523030050098896, + 0.9986307621002197, + 0.0010260477429255843, + -0.13949651802891716 + ], + [ + -0.08465562760829926, + 0.0034100539050996304, + 0.9964044094085693, + 0.5927828506511801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9947372078895569, + -0.05204939842224121, + 0.0882539302110672, + -0.06165613777497236 + ], + [ + 0.05202095955610275, + 0.9986425638198853, + 0.002623802050948143, + -0.13959586922736728 + ], + [ + -0.08827069401741028, + 0.0019810604862868786, + 0.9960945248603821, + 0.5914058138342465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9944118857383728, + -0.05018734931945801, + 0.09287761151790619, + -0.06561842875226456 + ], + [ + 0.050263866782188416, + 0.9987348318099976, + 0.0015166690573096275, + -0.1398506678195725 + ], + [ + -0.09283621609210968, + 0.0031601935625076294, + 0.9956763982772827, + 0.590056443652686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9942619204521179, + -0.04800444468855858, + 0.09559683501720428, + -0.06828028062248931 + ], + [ + 0.048201728612184525, + 0.9988375902175903, + 0.0002457930240780115, + -0.13773854974527186 + ], + [ + -0.09549751877784729, + 0.0043635498732328415, + 0.9954200983047485, + 0.5912647490992265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9939408302307129, + -0.04743286967277527, + 0.09915495663881302, + -0.07143278281368753 + ], + [ + 0.04777016490697861, + 0.9988577961921692, + -0.0010289375204592943, + -0.13532497742613914 + ], + [ + -0.09899289160966873, + 0.005759350955486298, + 0.9950714707374573, + 0.5918198521084646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9936599135398865, + -0.047551821917295456, + 0.10187626630067825, + -0.07566800593015026 + ], + [ + 0.04790669307112694, + 0.9988512992858887, + -0.0010381382890045643, + -0.13431489962728366 + ], + [ + -0.10170987993478775, + 0.0059121111407876015, + 0.9947965145111084, + 0.5900591191123513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9936466813087463, + -0.04581461101770401, + 0.10279719531536102, + -0.07960344437948044 + ], + [ + 0.04620564728975296, + 0.9989309310913086, + -0.0014247368089854717, + -0.13269246173098082 + ], + [ + -0.10262201726436615, + 0.00616549514234066, + 0.9947013258934021, + 0.5893548070069622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9936120510101318, + -0.04432826489210129, + 0.1037788838148117, + -0.08316164053976535 + ], + [ + 0.04476667940616608, + 0.9989956617355347, + -0.0018979893065989017, + -0.13129311959492043 + ], + [ + -0.10359051823616028, + 0.0065317009575665, + 0.9945985674858093, + 0.5895077213644981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.993478536605835, + -0.042452987283468246, + 0.10582110285758972, + -0.08634889522457824 + ], + [ + 0.0429309718310833, + 0.9990755319595337, + -0.0022420664317905903, + -0.13017336541327976 + ], + [ + -0.10562808811664581, + 0.006770447362214327, + 0.9943826794624329, + 0.5901636560611865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9930721521377563, + -0.041942112147808075, + 0.10976609587669373, + -0.08995036202318528 + ], + [ + 0.04246654361486435, + 0.9990949034690857, + -0.0024432765785604715, + -0.12951483518734355 + ], + [ + -0.10956427454948425, + 0.007087736390531063, + 0.9939544200897217, + 0.5904289294691647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9925575256347656, + -0.04089852049946785, + 0.11470337957143784, + -0.09504206541596967 + ], + [ + 0.04141625389456749, + 0.9991397261619568, + -0.002133152447640896, + -0.13014849592068725 + ], + [ + -0.1145174577832222, + 0.006867860443890095, + 0.9933974742889404, + 0.5885636499699425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.992238461971283, + -0.03858504816889763, + 0.11821196228265762, + -0.09983910393408116 + ], + [ + 0.039100971072912216, + 0.9992331862449646, + -0.002047380432486534, + -0.13075812290532185 + ], + [ + -0.11804231256246567, + 0.00665369164198637, + 0.992986261844635, + 0.5881032027742442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9921202659606934, + -0.03679672256112099, + 0.11976390331983566, + -0.10412307923440547 + ], + [ + 0.03735599294304848, + 0.9992990493774414, + -0.002427326049655676, + -0.13100612147074356 + ], + [ + -0.1195906326174736, + 0.006882098037749529, + 0.9927994608879089, + 0.5868684273870552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.992163896560669, + -0.03616788238286972, + 0.11959368735551834, + -0.10696298872285029 + ], + [ + 0.03678654134273529, + 0.9993187189102173, + -0.002968678018078208, + -0.1304423246114953 + ], + [ + -0.11940484493970871, + 0.0073448531329631805, + 0.9928184747695923, + 0.5863787339014166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9922200441360474, + -0.03595837205648422, + 0.11919046938419342, + -0.10899009920437547 + ], + [ + 0.03664446622133255, + 0.9993219971656799, + -0.0035689359065145254, + -0.12878077029582688 + ], + [ + -0.11898133158683777, + 0.007908840663731098, + 0.9928649663925171, + 0.5861773828373236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9921925663948059, + -0.036252349615097046, + 0.1193300113081932, + -0.11105871337520726 + ], + [ + 0.03695765137672424, + 0.9993099570274353, + -0.0037021380849182606, + -0.1272971493034514 + ], + [ + -0.11911345273256302, + 0.008083390071988106, + 0.992847740650177, + 0.5860815508400693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9922837615013123, + -0.03734463453292847, + 0.11822976917028427, + -0.11242870362475514 + ], + [ + 0.038052625954151154, + 0.9992687702178955, + -0.0037357674445956945, + -0.12625471058640603 + ], + [ + -0.11800380796194077, + 0.008205894380807877, + 0.9929792284965515, + 0.5854236344642498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9925388097763062, + -0.03676077723503113, + 0.11625554412603378, + -0.1147931415368529 + ], + [ + 0.0374995619058609, + 0.9992879033088684, + -0.004173297435045242, + -0.1250809401711997 + ], + [ + -0.1160193458199501, + 0.008501690812408924, + 0.9932105541229248, + 0.5847678528112523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9929136037826538, + -0.037054579704999924, + 0.11291372030973434, + -0.1155522027381641 + ], + [ + 0.037839170545339584, + 0.9992722272872925, + -0.004812650382518768, + -0.12358964037917117 + ], + [ + -0.1126532182097435, + 0.009051106870174408, + 0.993593156337738, + 0.5831746340236243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9931296110153198, + -0.03779323771595955, + 0.11074851453304291, + -0.11657554391114151 + ], + [ + 0.038625892251729965, + 0.9992392659187317, + -0.005381845869123936, + -0.12221684295766275 + ], + [ + -0.11046086251735687, + 0.00962262973189354, + 0.9938338994979858, + 0.5817132046994041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9932031631469727, + -0.03928679600358009, + 0.10956262052059174, + -0.11760493592523477 + ], + [ + 0.04020237550139427, + 0.999172568321228, + -0.006159412208944559, + -0.12025919575278428 + ], + [ + -0.10922998189926147, + 0.010522225871682167, + 0.9939607977867126, + 0.5811127386987209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9931519031524658, + -0.040807656943798065, + 0.10947147756814957, + -0.11922334566274109 + ], + [ + 0.04177039861679077, + 0.9991059899330139, + -0.006514727137982845, + -0.11869704363155453 + ], + [ + -0.10910775512456894, + 0.011042780242860317, + 0.9939686059951782, + 0.580827061919605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9931012392044067, + -0.04114844277501106, + 0.10980332642793655, + -0.12069015961469096 + ], + [ + 0.04216104373335838, + 0.9990869164466858, + -0.00691519770771265, + -0.11684920995646869 + ], + [ + -0.10941851884126663, + 0.011496913619339466, + 0.9939292669296265, + 0.5807343764340176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9929545521736145, + -0.04177621379494667, + 0.11088751256465912, + -0.12177950286251657 + ], + [ + 0.042787063866853714, + 0.9990614056587219, + -0.006751073524355888, + -0.11549899955827962 + ], + [ + -0.11050139367580414, + 0.011448059231042862, + 0.9938100576400757, + 0.5809140385950313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9927260875701904, + -0.04155769944190979, + 0.11299505084753036, + -0.12356414394453168 + ], + [ + 0.042560867965221405, + 0.9990728497505188, + -0.00647918414324522, + -0.11482198633020743 + ], + [ + -0.11262103170156479, + 0.011241222731769085, + 0.9935744404792786, + 0.5800797559320927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9925193190574646, + -0.04183449223637581, + 0.11469627916812897, + -0.12513152729062474 + ], + [ + 0.04282226786017418, + 0.9990637302398682, + -0.0061606913805007935, + -0.11465021617272321 + ], + [ + -0.11433115601539612, + 0.011026158928871155, + 0.9933815002441406, + 0.5794919764294344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9923714399337769, + -0.04160330072045326, + 0.11605221778154373, + -0.12690060183077173 + ], + [ + 0.042577262967824936, + 0.9990755915641785, + -0.00592509051784873, + -0.11494626063915134 + ], + [ + -0.1156984344124794, + 0.010821076110005379, + 0.9932254552841187, + 0.5783154036192333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9922388195991516, + -0.04172558709979057, + 0.1171373501420021, + -0.1281590440803591 + ], + [ + 0.0427076555788517, + 0.9990702867507935, + -0.0058854022063314915, + -0.11512582788504112 + ], + [ + -0.11678286641836166, + 0.01084238663315773, + 0.993098258972168, + 0.5780513440861421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9921472072601318, + -0.0417044572532177, + 0.11791792511940002, + -0.1293466999907704 + ], + [ + 0.04271174594759941, + 0.9990692734718323, + -0.0060270680114626884, + -0.11532875576042845 + ], + [ + -0.11755682528018951, + 0.011016218923032284, + 0.9930050373077393, + 0.5771624244311276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9921106696128845, + -0.04113752394914627, + 0.1184237003326416, + -0.1310746959027122 + ], + [ + 0.04216334968805313, + 0.9990916848182678, + -0.0061689564026892185, + -0.11556370857253889 + ], + [ + -0.11806236207485199, + 0.011113427579402924, + 0.9929440021514893, + 0.5761290865785935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9921705722808838, + -0.040383920073509216, + 0.11818083375692368, + -0.13236214228741386 + ], + [ + 0.041426852345466614, + 0.9991211891174316, + -0.006380652077496052, + -0.11570818778058953 + ], + [ + -0.11781930178403854, + 0.011226554401218891, + 0.9929715991020203, + 0.5745628136484062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9922382235527039, + -0.04174836352467537, + 0.11713404953479767, + -0.1326569734908202 + ], + [ + 0.04281478002667427, + 0.9990612268447876, + -0.006601773202419281, + -0.11556075332576737 + ], + [ + -0.11674846708774567, + 0.011565599590539932, + 0.9930941462516785, + 0.5735083498498973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9923568367958069, + -0.04154236614704132, + 0.11619852483272552, + -0.13365139830857514 + ], + [ + 0.042584531009197235, + 0.9990717172622681, + -0.006499606184661388, + -0.11580967715982457 + ], + [ + -0.11582064628601074, + 0.011398187838494778, + 0.9932047128677368, + 0.5724044586805737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9924716949462891, + -0.040945712476968765, + 0.1154269352555275, + -0.13464248688781963 + ], + [ + 0.041992370039224625, + 0.9990957975387573, + -0.006649632006883621, + -0.11572983966154211 + ], + [ + -0.1150502935051918, + 0.011446621268987656, + 0.9932937026023865, + 0.5718860843602349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9925404191017151, + -0.04092920571565628, + 0.11484016478061676, + -0.13561630223822943 + ], + [ + 0.04202362149953842, + 0.9990912079811096, + -0.007124121300876141, + -0.11522719409001772 + ], + [ + -0.11444421112537384, + 0.011896978132426739, + 0.9933584332466125, + 0.5708980498506743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9925409555435181, + -0.04142451658844948, + 0.11465805023908615, + -0.13691660033210235 + ], + [ + 0.04255376383662224, + 0.9990666508674622, + -0.007417707704007626, + -0.11495153987369336 + ], + [ + -0.1142437532544136, + 0.01224150974303484, + 0.9933773279190063, + 0.5700988375088748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.992602527141571, + -0.04105403646826744, + 0.1142573431134224, + -0.13831149113419303 + ], + [ + 0.04219072684645653, + 0.9990810751914978, + -0.007547091692686081, + -0.1150607596617192 + ], + [ + -0.11384250968694687, + 0.012311862781643867, + 0.9934225082397461, + 0.5687730810221504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9926797747612, + -0.040385738015174866, + 0.11382365226745605, + -0.13982841670513152 + ], + [ + 0.04156218469142914, + 0.9991040229797363, + -0.007980654016137123, + -0.11464115159366937 + ], + [ + -0.11339937150478363, + 0.012652993202209473, + 0.9934689402580261, + 0.5679386961109498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9927608966827393, + -0.03864942491054535, + 0.11371913552284241, + -0.14164815652458107 + ], + [ + 0.0398876890540123, + 0.9991669058799744, + -0.008632815442979336, + -0.1142960057956824 + ], + [ + -0.11329074203968048, + 0.013106315396726131, + 0.9934754371643066, + 0.5665839850902558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9927971959114075, + -0.03803517296910286, + 0.11360922455787659, + -0.14319526496178964 + ], + [ + 0.03929052874445915, + 0.9991888403892517, + -0.008830349892377853, + -0.11426211875479887 + ], + [ + -0.1131812036037445, + 0.013230513781309128, + 0.9934862852096558, + 0.565780238368932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9928642511367798, + -0.037470653653144836, + 0.11321013420820236, + -0.1444993767723003 + ], + [ + 0.038744814693927765, + 0.9992079138755798, + -0.009074865840375423, + -0.11402943586204749 + ], + [ + -0.11278042942285538, + 0.013396414928138256, + 0.9935296177864075, + 0.5644459884394617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9929565191268921, + -0.03580467402935028, + 0.11293946206569672, + -0.14587120562791825 + ], + [ + 0.037047915160655975, + 0.9992735981941223, + -0.008927824907004833, + -0.11421830775216221 + ], + [ + -0.11253777146339417, + 0.013049113564193249, + 0.9935617446899414, + 0.56406170129776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/push_in/transforms.json b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..fdb4ebe78e65d758aa5b42ba6070f20092f72834 --- /dev/null +++ b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/push_in/transforms.json @@ -0,0 +1,4808 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 137, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00015281095693353564, + 9.454473183723167e-05, + -0.00017298538296017796 + ], + [ + -0.00015282332606147975, + 1.0, + 0.0001308531645918265, + -0.0003619329072535038 + ], + [ + -9.452473750570789e-05, + -0.00013086760009173304, + 1.0, + -0.00011619761789916083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + 0.00029360686312429607, + 0.00029413201264105737, + 0.00016933316080266036 + ], + [ + -0.00029381419881246984, + 0.9999997019767761, + 0.0007050363346934319, + -0.000472728704335168 + ], + [ + -0.00029392490978352726, + -0.0007051227148622274, + 0.9999997019767761, + 0.001213370734373765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999985098838806, + 0.0007547845016233623, + 0.00156905478797853, + 2.939865041887114e-05 + ], + [ + -0.0007575366762466729, + 0.999998152256012, + 0.0017541872803121805, + -0.001319238410317613 + ], + [ + -0.0015677278861403465, + -0.0017553733196109533, + 0.9999972581863403, + 0.0028986606185379274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999956488609314, + -8.561230060877278e-05, + 0.0029411306604743004, + 0.00013413670839166597 + ], + [ + 7.824521890142933e-05, + 0.9999968409538269, + 0.0025048688985407352, + -0.0015130296558388235 + ], + [ + -0.002941336017102003, + -0.002504628151655197, + 0.9999925494194031, + 0.0063868113738649035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999929070472717, + 0.0001408472453476861, + 0.0037566900718957186, + -0.0015445087399498067 + ], + [ + -0.00015295388584490865, + 0.9999948143959045, + 0.003222595900297165, + -0.0012234905364868396 + ], + [ + -0.0037562164943665266, + -0.0032231477089226246, + 0.9999877214431763, + 0.009039221249301644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999926090240479, + 0.0007249152986332774, + 0.0037689527962356806, + -0.0016782621447311934 + ], + [ + -0.0007435694569721818, + 0.9999874830245972, + 0.004950384609401226, + -0.0023249040446792018 + ], + [ + -0.0037653169129043818, + -0.004953150637447834, + 0.999980628490448, + 0.011992635917575921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999907612800598, + 0.0006774791399948299, + 0.004238612949848175, + -0.0016390551182934466 + ], + [ + -0.000704616482835263, + 0.9999792575836182, + 0.006404184736311436, + -0.002930271448841428 + ], + [ + -0.004234186373651028, + -0.006407111883163452, + 0.9999704957008362, + 0.017640367632403092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999868273735046, + 0.0015402118442580104, + 0.004901085514575243, + -0.00467221029137042 + ], + [ + -0.0015756342327222228, + 0.9999725818634033, + 0.0072318450547754765, + -0.0033494931608027616 + ], + [ + -0.004889812786132097, + -0.007239471655339003, + 0.9999618530273438, + 0.02150152391370605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999898076057434, + 0.0018369132885709405, + 0.004124348051846027, + -0.005926006555776386 + ], + [ + -0.0018679556669667363, + 0.9999698400497437, + 0.007535446900874376, + -0.0027284008916467427 + ], + [ + -0.004110381938517094, + -0.007543074432760477, + 0.999963104724884, + 0.027580402177922868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999974370002747, + 0.000492562132421881, + 0.002214243169873953, + -0.004695541109300821 + ], + [ + -0.0005117107066325843, + 0.9999623894691467, + 0.008655671961605549, + -0.004517062448704725 + ], + [ + -0.0022098966874182224, + -0.00865678209811449, + 0.9999600648880005, + 0.033789760115392066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999983906745911, + -0.00048746351967565715, + 0.0017436784692108631, + -0.0057802520493757635 + ], + [ + 0.0004714640963356942, + 0.9999579191207886, + 0.00916433148086071, + -0.0037225013434448663 + ], + [ + -0.0017480722162872553, + -0.009163495153188705, + 0.999956488609314, + 0.04058100743328824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999987483024597, + -0.000861581414937973, + 0.0013272828655317426, + -0.005611370762498529 + ], + [ + 0.0008477658266201615, + 0.9999458193778992, + 0.0103745236992836, + -0.004353160613819081 + ], + [ + -0.0013361495221033692, + -0.01037338562309742, + 0.9999452829360962, + 0.04963499057818862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999989867210388, + -0.0009955024579539895, + 0.0010358664439991117, + -0.00715470640159979 + ], + [ + 0.0009837731486186385, + 0.9999361038208008, + 0.011262752115726471, + -0.004287351404919344 + ], + [ + -0.001047012279741466, + -0.011261722072958946, + 0.999936044216156, + 0.059760025362758075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999999403953552, + 8.155935211107135e-05, + 0.0003825852181762457, + -0.010104331427068888 + ], + [ + -8.610408985987306e-05, + 0.9999292492866516, + 0.01189410500228405, + -0.004307202410007663 + ], + [ + -0.0003815880627371371, + -0.011894136667251587, + 0.9999291896820068, + 0.06885248221018735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999988079071045, + -0.00021074646792840213, + -0.001545062055811286, + -0.010907652711509452 + ], + [ + 0.00023029600561130792, + 0.9999197721481323, + 0.012663671746850014, + -0.004931740547694704 + ], + [ + 0.0015422692522406578, + -0.012664012610912323, + 0.9999186396598816, + 0.08016600214383182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999916553497314, + -0.0003232348244637251, + -0.004071746487170458, + -0.014112051239113925 + ], + [ + 0.00037866109050810337, + 0.9999071955680847, + 0.013618994504213333, + -0.0062885193893795505 + ], + [ + 0.004066966008394957, + -0.013620423153042793, + 0.9998989701271057, + 0.09176314644077245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999650716781616, + -0.0022558749187737703, + -0.008049050346016884, + -0.014340694686945746 + ], + [ + 0.0023709621746093035, + 0.9998946785926819, + 0.014317485503852367, + -0.007558483487981207 + ], + [ + 0.008015904575586319, + -0.014336069114506245, + 0.9998651146888733, + 0.10680601079674328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999201893806458, + -0.005450161639600992, + -0.011395951732993126, + -0.013548905844800174 + ], + [ + 0.005623819772154093, + 0.9998676776885986, + 0.015262505039572716, + -0.00993759196717292 + ], + [ + 0.011311260983347893, + -0.015325376763939857, + 0.9998185634613037, + 0.12163271158933639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998934268951416, + -0.0051442356780171394, + -0.01366463303565979, + -0.01202511326135958 + ], + [ + 0.005359760485589504, + 0.9998610615730286, + 0.015782974660396576, + -0.011238902423749952 + ], + [ + 0.013581544160842896, + -0.015854530036449432, + 0.9997820854187012, + 0.13739237189292908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998873472213745, + -0.0056027937680482864, + -0.013925569131970406, + -0.011657491089392673 + ], + [ + 0.005831229500472546, + 0.9998481869697571, + 0.016417931765317917, + -0.01318799686508582 + ], + [ + 0.013831468299031258, + -0.016497284173965454, + 0.9997682571411133, + 0.1532780384316164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999139904975891, + -0.005516846664249897, + -0.011897078715264797, + -0.00991651852724745 + ], + [ + 0.005725112743675709, + 0.9998297095298767, + 0.01754327304661274, + -0.016072101973216322 + ], + [ + 0.011798269115388393, + -0.01760987751185894, + 0.9997753500938416, + 0.1706258260151919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999696016311646, + -0.004238581284880638, + -0.00654827943071723, + -0.009260308375130134 + ], + [ + 0.004358425736427307, + 0.9998212456703186, + 0.018397150561213493, + -0.01842635147520067 + ], + [ + 0.006469130981713533, + -0.01842513121664524, + 0.9998093247413635, + 0.18861003557548803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999961256980896, + -0.0027829306200146675, + 0.00016908126417547464, + -0.01346698139592156 + ], + [ + 0.0027789915911853313, + 0.9997960925102234, + 0.020002709701657295, + -0.022598385693067137 + ], + [ + -0.00022471294505521655, + -0.02000216208398342, + 0.999799907207489, + 0.20560935656814014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999899864196777, + -0.002705466700717807, + 0.0035687144845724106, + -0.015432091598289416 + ], + [ + 0.002630546921864152, + 0.9997795224189758, + 0.020833712071180344, + -0.024688463052734734 + ], + [ + -0.003624292556196451, + -0.020824115723371506, + 0.9997766017913818, + 0.2219471153090982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999764561653137, + -0.0008035755599848926, + 0.006818163208663464, + -0.017559398727162796 + ], + [ + 0.000654155679512769, + 0.9997602105140686, + 0.021888969466090202, + -0.027971902281484183 + ], + [ + -0.006834117695689201, + -0.021883992478251457, + 0.9997371435165405, + 0.2397633161614923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999381899833679, + -0.0009113797568716109, + 0.011081578209996223, + -0.02012480134555303 + ], + [ + 0.0006548821111209691, + 0.9997323155403137, + 0.023127947002649307, + -0.031058165121494848 + ], + [ + -0.011099690571427345, + -0.023119259625673294, + 0.9996711015701294, + 0.25594626498572964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999895453453064, + -0.0012546045472845435, + 0.014403465203940868, + -0.02188351010931108 + ], + [ + 0.0009036760893650353, + 0.9997032284736633, + 0.024344880133867264, + -0.03393303089610794 + ], + [ + -0.014429734088480473, + -0.02432931959629059, + 0.9995998740196228, + 0.27167508347946057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9998534917831421, + -0.0018739805091172457, + 0.017014548182487488, + -0.024524338554371805 + ], + [ + 0.0014253167901188135, + 0.9996519088745117, + 0.02634335309267044, + -0.03710553469136357 + ], + [ + -0.01705799251794815, + -0.026315242052078247, + 0.9995081424713135, + 0.28757225012078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9998077750205994, + -0.0024722174275666475, + 0.01945006474852562, + -0.02557077270877712 + ], + [ + 0.0019191859755665064, + 0.9995947480201721, + 0.028400860726833344, + -0.03931354154997012 + ], + [ + -0.019512396305799484, + -0.02835807204246521, + 0.9994073510169983, + 0.3037379420855466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9996970891952515, + -0.0019073485163971782, + 0.024537816643714905, + -0.02544334437698126 + ], + [ + 0.0011699559399858117, + 0.9995483160018921, + 0.03003060817718506, + -0.040437076459912694 + ], + [ + -0.024584010243415833, + -0.029992803931236267, + 0.9992477297782898, + 0.3185327848529114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9994542002677917, + -0.0014825770631432533, + 0.033002451062202454, + -0.027699857073671678 + ], + [ + 0.000432308588642627, + 0.9994938969612122, + 0.03180836886167526, + -0.04320028747486718 + ], + [ + -0.03303290903568268, + -0.03177674114704132, + 0.9989489912986755, + 0.33247850440880833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9991958141326904, + -0.002125207334756851, + 0.04003994166851044, + -0.03132257473600261 + ], + [ + 0.0007911827997304499, + 0.9994449615478516, + 0.03330377861857414, + -0.04632162126055097 + ], + [ + -0.04008849710226059, + -0.03324531391263008, + 0.9986429214477539, + 0.34409388058325824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9990509152412415, + -0.003292481880635023, + 0.04343291372060776, + -0.03339613281628665 + ], + [ + 0.001793720293790102, + 0.9994030594825745, + 0.03450144827365875, + -0.04927201726857354 + ], + [ + -0.04352058470249176, + -0.03439079970121384, + 0.9984604120254517, + 0.3560193931355196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.998942494392395, + -0.003975925035774708, + 0.04580545052886009, + -0.03344049252405325 + ], + [ + 0.002357017481699586, + 0.9993724822998047, + 0.035343073308467865, + -0.05190506439984721 + ], + [ + -0.04591722413897514, + -0.03519773483276367, + 0.998324990272522, + 0.36817063838243486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9987724423408508, + -0.0062836636789143085, + 0.049133285880088806, + -0.03445187993347645 + ], + [ + 0.004490536171942949, + 0.9993228316307068, + 0.03652075678110123, + -0.05503407251089811 + ], + [ + -0.049329496920108795, + -0.03625529259443283, + 0.9981243014335632, + 0.37906963676214217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9986397624015808, + -0.008156390860676765, + 0.05149795487523079, + -0.03647547758951345 + ], + [ + 0.006214732304215431, + 0.9992678165435791, + 0.03775178641080856, + -0.058028108029461956 + ], + [ + -0.051768165081739426, + -0.037380389869213104, + 0.997959315776825, + 0.3886668079477899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9985973238945007, + -0.009955805726349354, + 0.05200241506099701, + -0.03930053237606498 + ], + [ + 0.007932771928608418, + 0.9992091059684753, + 0.03896522894501686, + -0.061039265015107744 + ], + [ + -0.05234921723604202, + -0.03849804773926735, + 0.9978864789009094, + 0.39880375003113466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9985966086387634, + -0.014606578275561333, + 0.05090663582086563, + -0.04031729566152482 + ], + [ + 0.012579301372170448, + 0.999123752117157, + 0.03991879150271416, + -0.06303579408730216 + ], + [ + -0.05144510418176651, + -0.03922240063548088, + 0.9979053139686584, + 0.4087098162402125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9985551834106445, + -0.0184905007481575, + 0.05045466497540474, + -0.04093675206360572 + ], + [ + 0.016463767737150192, + 0.9990522265434265, + 0.04029348865151405, + -0.06398495517342406 + ], + [ + -0.05115189030766487, + -0.039404597133398056, + 0.9979131817817688, + 0.41826405551503687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.998429536819458, + -0.022734466940164566, + 0.051201917231082916, + -0.040172583724865145 + ], + [ + 0.020647455006837845, + 0.9989487528800964, + 0.040926989167928696, + -0.06541242816156763 + ], + [ + -0.05207854509353638, + -0.03980552777647972, + 0.9978493452072144, + 0.4282476983526174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9981499910354614, + -0.02952979877591133, + 0.05314650386571884, + -0.040639776079093706 + ], + [ + 0.02732277661561966, + 0.9987529516220093, + 0.0417853482067585, + -0.06668178726206808 + ], + [ + -0.05431414395570755, + -0.04025593772530556, + 0.9977120757102966, + 0.4379025732769686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.997906506061554, + -0.03559732809662819, + 0.053994741290807724, + -0.041316853554042826 + ], + [ + 0.03333868458867073, + 0.9985540509223938, + 0.042170148342847824, + -0.067601086234893 + ], + [ + -0.05541780963540077, + -0.0402817539870739, + 0.9976503849029541, + 0.4465004396789214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9975355267524719, + -0.04401472955942154, + 0.05464034900069237, + -0.04140400126685991 + ], + [ + 0.04171247035264969, + 0.998221755027771, + 0.04258370026946068, + -0.06808702124501853 + ], + [ + -0.056417498737573624, + -0.04019956663250923, + 0.9975976347923279, + 0.45521311120075336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9971495270729065, + -0.05133833363652229, + 0.055292386561632156, + -0.04029678577721557 + ], + [ + 0.04897664114832878, + 0.9978629350662231, + 0.043253496289253235, + -0.06921346749672118 + ], + [ + -0.057394783943891525, + -0.040422163903713226, + 0.9975329041481018, + 0.46426602650214643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9967167973518372, + -0.057651445269584656, + 0.0568501278758049, + -0.04034993435968371 + ], + [ + 0.055201753973960876, + 0.997515857219696, + 0.04375922307372093, + -0.0696910817285671 + ], + [ + -0.05923168361186981, + -0.04047732427716255, + 0.9974232912063599, + 0.4735502996865441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9965928792953491, + -0.058395471423864365, + 0.058246441185474396, + -0.04017345933243632 + ], + [ + 0.05585945025086403, + 0.9974572658538818, + 0.04425773024559021, + -0.0700051426230108 + ], + [ + -0.060682788491249084, + -0.04085332155227661, + 0.9973207116127014, + 0.48227737077018795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9965658187866211, + -0.05696986988186836, + 0.06009114906191826, + -0.03957132378812222 + ], + [ + 0.05428450182080269, + 0.997492253780365, + 0.0454130545258522, + -0.07164420613690334 + ], + [ + -0.06252763420343399, + -0.041995078325271606, + 0.9971593022346497, + 0.4919094838640269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9963860511779785, + -0.05627990514039993, + 0.06361956149339676, + -0.03877619352082119 + ], + [ + 0.05339501053094864, + 0.9975054264068604, + 0.046172402799129486, + -0.0733329177943661 + ], + [ + -0.06605943292379379, + -0.04260857403278351, + 0.9969055652618408, + 0.5013969058499617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9960622191429138, + -0.056859128177165985, + 0.06802242994308472, + -0.037751564383506776 + ], + [ + 0.05370757728815079, + 0.997435986995697, + 0.04729694128036499, + -0.07617531594108133 + ], + [ + -0.07053728401660919, + -0.04345737397670746, + 0.9965620636940002, + 0.5098918262649985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9959315061569214, + -0.05702411010861397, + 0.06977621465921402, + -0.03719048703308491 + ], + [ + 0.053753811866045, + 0.9974055290222168, + 0.04788236692547798, + -0.07993848719086279 + ], + [ + -0.07232563942670822, + -0.043936822563409805, + 0.9964128732681274, + 0.5178412736338728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9961288571357727, + -0.05440107360482216, + 0.06904976814985275, + -0.036315140314400196 + ], + [ + 0.0511900894343853, + 0.9975610375404358, + 0.047450773417949677, + -0.08411384620429839 + ], + [ + -0.0714627280831337, + -0.0437324196100235, + 0.996484100818634, + 0.5258256359135404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9962418675422668, + -0.054146818816661835, + 0.06760387122631073, + -0.034244433604180814 + ], + [ + 0.0511179193854332, + 0.9976438283920288, + 0.04575816169381142, + -0.08700889074243605 + ], + [ + -0.06992223858833313, + -0.04213042929768562, + 0.9966623783111572, + 0.5347474068403244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9962528347969055, + -0.0542583242058754, + 0.06735196709632874, + -0.03226028023397221 + ], + [ + 0.051276795566082, + 0.9976595044136047, + 0.045235175639390945, + -0.09056327990530168 + ], + [ + -0.06964871287345886, + -0.04161207750439644, + 0.9967033267021179, + 0.5443558712215985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9961004853248596, + -0.056014467030763626, + 0.06816273927688599, + -0.031273281618076215 + ], + [ + 0.0529915951192379, + 0.9975634217262268, + 0.04537714645266533, + -0.0943480644183343 + ], + [ + -0.07053843140602112, + -0.04158814623951912, + 0.9966417551040649, + 0.5527839836828848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9960060119628906, + -0.057692475616931915, + 0.06814383715391159, + -0.030516382997088573 + ], + [ + 0.054644905030727386, + 0.9974561929702759, + 0.04577174782752991, + -0.09792382029049537 + ], + [ + -0.07061117142438889, + -0.04186522215604782, + 0.9966250061988831, + 0.5609298287945635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9959902167320251, + -0.05847842991352081, + 0.0677032470703125, + -0.028296608477830887 + ], + [ + 0.05543334037065506, + 0.9974014759063721, + 0.046015579253435135, + -0.10032825162360336 + ], + [ + -0.07021823525428772, + -0.04207805171608925, + 0.9966437816619873, + 0.5707631225095076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9958760142326355, + -0.058728210628032684, + 0.06915189325809479, + -0.024953326539081687 + ], + [ + 0.05561378598213196, + 0.9973859786987305, + 0.0461340993642807, + -0.10283949760829701 + ], + [ + -0.07168050110340118, + -0.042098045349121094, + 0.9965388178825378, + 0.5802871265832116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9954899549484253, + -0.06170159950852394, + 0.07206052541732788, + -0.022901175872367972 + ], + [ + 0.05847367271780968, + 0.9972249865531921, + 0.04607829451560974, + -0.105891307333813 + ], + [ + -0.07470366358757019, + -0.04165683686733246, + 0.9963353276252747, + 0.5883613150347682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9952688217163086, + -0.06359197944402695, + 0.0734575167298317, + -0.021585002990768237 + ], + [ + 0.06034436076879501, + 0.9971347451210022, + 0.045617010444402695, + -0.1088653477073154 + ], + [ + -0.07614792138338089, + -0.04096844419836998, + 0.9962545037269592, + 0.5968520056675463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9952049255371094, + -0.06443510949611664, + 0.07358814030885696, + -0.019490946045912363 + ], + [ + 0.0612330287694931, + 0.9971098303794861, + 0.04497280344367027, + -0.11098799644969404 + ], + [ + -0.07627328485250473, + -0.04025113210082054, + 0.9962741732597351, + 0.6064001511563273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9950919151306152, + -0.06522076576948166, + 0.07441972941160202, + -0.01818272822043475 + ], + [ + 0.061980701982975006, + 0.9970601797103882, + 0.04504898563027382, + -0.11249679529710728 + ], + [ + -0.07713907212018967, + -0.04021529480814934, + 0.9962089657783508, + 0.6159267592079499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9950053095817566, + -0.06562334299087524, + 0.07521983236074448, + -0.01718331580324208 + ], + [ + 0.06223802641034126, + 0.9969774484634399, + 0.04650137573480606, + -0.11524777810691911 + ], + [ + -0.07804404944181442, + -0.04158758372068405, + 0.9960821270942688, + 0.6230566056773943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9949945211410522, + -0.06669652462005615, + 0.07441452145576477, + -0.01584875728277599 + ], + [ + 0.06325368583202362, + 0.9968567490577698, + 0.04770316183567047, + -0.11771775267141707 + ], + [ + -0.07736225426197052, + -0.042757391929626465, + 0.9960857629776001, + 0.6307516033158583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9951032996177673, + -0.067571260035038, + 0.0721353217959404, + -0.014760148125317167 + ], + [ + 0.06422685831785202, + 0.9967937469482422, + 0.04771936312317848, + -0.11889298093943473 + ], + [ + -0.07512848824262619, + -0.042852673679590225, + 0.9962526559829712, + 0.6381304561215289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.995218813419342, + -0.06855342537164688, + 0.06956963986158371, + -0.013650271844337968 + ], + [ + 0.0653330609202385, + 0.9967296123504639, + 0.04755709692835808, + -0.12014948778292713 + ], + [ + -0.07260232418775558, + -0.04278452321887016, + 0.9964428544044495, + 0.6438806428628809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9953156113624573, + -0.0696500912308693, + 0.06704965233802795, + -0.012448606574360062 + ], + [ + 0.06653843075037003, + 0.9966489672660828, + 0.047575924545526505, + -0.12158971360665471 + ], + [ + -0.07013863325119019, + -0.04289168491959572, + 0.9966146945953369, + 0.6494011116378448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.995322048664093, + -0.07163078337907791, + 0.06483083218336105, + -0.011579211954684818 + ], + [ + 0.06859711557626724, + 0.996495246887207, + 0.04787095636129379, + -0.12330338487072903 + ], + [ + -0.0680326446890831, + -0.0431998148560524, + 0.9967473745346069, + 0.6549034222083934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9954203367233276, + -0.07270568609237671, + 0.06206626072525978, + -0.011435879682026365 + ], + [ + 0.06976461410522461, + 0.996393084526062, + 0.04830855876207352, + -0.12551143987323432 + ], + [ + -0.06535469740629196, + -0.04375729709863663, + 0.9969022274017334, + 0.6590652004760854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.99559485912323, + -0.07308924198150635, + 0.05872679129242897, + -0.011528685130178929 + ], + [ + 0.07025165855884552, + 0.9963244199752808, + 0.049013443291187286, + -0.1282642509788275 + ], + [ + -0.06209329143166542, + -0.04467187821865082, + 0.9970701336860657, + 0.6630986362695694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9958266615867615, + -0.07323498278856277, + 0.05446045473217964, + -0.010166078989448792 + ], + [ + 0.07058323174715042, + 0.9962958097457886, + 0.04911907762289047, + -0.12975944513455034 + ], + [ + -0.057855959981679916, + -0.045070089399814606, + 0.9973070621490479, + 0.6682037572650349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9960190057754517, + -0.07306047528982162, + 0.05107180029153824, + -0.009785816621254472 + ], + [ + 0.07057126611471176, + 0.9963047504425049, + 0.04895409569144249, + -0.1310888835338547 + ], + [ + -0.05445968359708786, + -0.045155007392168045, + 0.9974944591522217, + 0.6719320153488832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9961717128753662, + -0.0735897421836853, + 0.04718580096960068, + -0.009286717287100413 + ], + [ + 0.07134799659252167, + 0.9963172674179077, + 0.04755410552024841, + -0.13147911821656366 + ], + [ + -0.050511524081230164, + -0.044005438685417175, + 0.9977535009384155, + 0.6762698128819465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.996304452419281, + -0.07425748556852341, + 0.0431654192507267, + -0.009606942567316925 + ], + [ + 0.07225777953863144, + 0.9963164925575256, + 0.04617597907781601, + -0.13335931235376527 + ], + [ + -0.04643533006310463, + -0.042886294424533844, + 0.9980002641677856, + 0.6800983176511877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9965529441833496, + -0.07330599427223206, + 0.03883861377835274, + -0.009901702642331228 + ], + [ + 0.07166951894760132, + 0.9965448379516602, + 0.04197457432746887, + -0.13421345613896846 + ], + [ + -0.041781406849622726, + -0.03904633969068527, + 0.9983634948730469, + 0.6841879487037659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9966990351676941, + -0.07295083999633789, + 0.03562513738870621, + -0.010316299548482193 + ], + [ + 0.07164378464221954, + 0.9967554807662964, + 0.036683738231658936, + -0.1360671952366829 + ], + [ + -0.038185663521289825, + -0.034010328352451324, + 0.998691737651825, + 0.6861501124851844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9968019127845764, + -0.07308874279260635, + 0.03231128305196762, + -0.011058138929964864 + ], + [ + 0.07209747284650803, + 0.9969204068183899, + 0.030848726630210876, + -0.13648069337667787 + ], + [ + -0.03446647524833679, + -0.02842050790786743, + 0.999001681804657, + 0.6897406255935922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9969727396965027, + -0.07199066877365112, + 0.02937217615544796, + -0.012944050938548411 + ], + [ + 0.07122749090194702, + 0.9971145987510681, + 0.02625202015042305, + -0.13693385782706388 + ], + [ + -0.031177325174212456, + -0.024080440402030945, + 0.9992237687110901, + 0.6922157734632493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9970915913581848, + -0.07131411880254745, + 0.0268830806016922, + -0.014409061510334997 + ], + [ + 0.07070062309503555, + 0.9972295761108398, + 0.023120740428566933, + -0.13696796720820095 + ], + [ + -0.028457440435886383, + -0.02115284465253353, + 0.9993711709976196, + 0.694095443364452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9970829486846924, + -0.07194807380437851, + 0.025476088747382164, + -0.015571720051743529 + ], + [ + 0.07139218598604202, + 0.997203528881073, + 0.022096725180745125, + -0.13814360081108615 + ], + [ + -0.02699466235935688, + -0.020213475450873375, + 0.9994311928749084, + 0.6961397149107036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9972251057624817, + -0.07024294137954712, + 0.024657217785716057, + -0.017011711131507422 + ], + [ + 0.06973440945148468, + 0.9973464012145996, + 0.020912213250994682, + -0.13830942315295996 + ], + [ + -0.026060720905661583, + -0.019134728237986565, + 0.999477207660675, + 0.6995762216255945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9972787499427795, + -0.06950578838586807, + 0.02457793988287449, + -0.018883427385898197 + ], + [ + 0.06902136653661728, + 0.9974139332771301, + 0.020038142800331116, + -0.1391659799744101 + ], + [ + -0.02590714581310749, + -0.018287211656570435, + 0.9994970560073853, + 0.7018361512352439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9973351359367371, + -0.06875816732645035, + 0.02439253404736519, + -0.020753351913984208 + ], + [ + 0.06830472499132156, + 0.9974843263626099, + 0.01896042190492153, + -0.13921510600895784 + ], + [ + -0.025634855031967163, + -0.017243770882487297, + 0.9995226263999939, + 0.7046479130054222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9973889589309692, + -0.0680261105298996, + 0.024243749678134918, + -0.023171970609794645 + ], + [ + 0.06759145855903625, + 0.9975448846817017, + 0.01831889897584915, + -0.13915033330593038 + ], + [ + -0.02543039247393608, + -0.01663239672780037, + 0.999538242816925, + 0.7072106204488698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9974722862243652, + -0.06683147698640823, + 0.024136971682310104, + -0.02525529666146373 + ], + [ + 0.06641025096178055, + 0.9976326823234558, + 0.01785174570977688, + -0.1387442518998047 + ], + [ + -0.02527289092540741, + -0.016203681007027626, + 0.9995492696762085, + 0.7098628949593095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9974761605262756, + -0.06644415855407715, + 0.02502881921827793, + -0.026597912450704503 + ], + [ + 0.06600800156593323, + 0.9976590871810913, + 0.01786806993186474, + -0.1387077358113054 + ], + [ + -0.026157459244132042, + -0.016170872375369072, + 0.9995270371437073, + 0.7117872660650927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9974320530891418, + -0.066026471555233, + 0.02774462103843689, + -0.027579402551054955 + ], + [ + 0.06557229906320572, + 0.9977034330368042, + 0.016973629593849182, + -0.13742441590875387 + ], + [ + -0.028801612555980682, + -0.015110764652490616, + 0.9994709491729736, + 0.7155886441469193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9973422884941101, + -0.06427687406539917, + 0.03430437296628952, + -0.02918442026438082 + ], + [ + 0.06373713910579681, + 0.9978286027908325, + 0.016603000462055206, + -0.13772938695243175 + ], + [ + -0.03529707342386246, + -0.014372413046658039, + 0.9992735385894775, + 0.7175823734087102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9971978068351746, + -0.061561260372400284, + 0.04250640049576759, + -0.030738797764677334 + ], + [ + 0.06095363572239876, + 0.9980210661888123, + 0.015447130426764488, + -0.13855319573571356 + ], + [ + -0.0433732308447361, + -0.012812923640012741, + 0.9989767670631409, + 0.7186089273323031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9969214200973511, + -0.06044849753379822, + 0.04993629455566406, + -0.03405875291894464 + ], + [ + 0.05985001474618912, + 0.9981175065040588, + 0.013395830988883972, + -0.1402767564443981 + ], + [ + -0.050652049481868744, + -0.010365903377532959, + 0.9986625909805298, + 0.7176307853530435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9968252778053284, + -0.0590817965567112, + 0.053373415023088455, + -0.03743796989266925 + ], + [ + 0.058602262288331985, + 0.9982261061668396, + 0.010506652295589447, + -0.14036420156960103 + ], + [ + -0.05389948561787605, + -0.007345493882894516, + 0.9985193610191345, + 0.719140179674415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9968588948249817, + -0.057854894548654556, + 0.054085154086351395, + -0.04101581616765436 + ], + [ + 0.057380709797143936, + 0.9982994198799133, + 0.010280872695147991, + -0.1408730947809732 + ], + [ + -0.05458797886967659, + -0.007145135197788477, + 0.998483419418335, + 0.7198294488822713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9967024326324463, + -0.062055427581071854, + 0.052281834185123444, + -0.04413033036295982 + ], + [ + 0.061561573296785355, + 0.9980425834655762, + 0.011005599983036518, + -0.1414631866856807 + ], + [ + -0.05286245793104172, + -0.007750756107270718, + 0.9985716938972473, + 0.7192933990236591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9970519542694092, + -0.058376602828502655, + 0.04979538917541504, + -0.04745801183230736 + ], + [ + 0.05786430835723877, + 0.998256266117096, + 0.011669527739286423, + -0.14231122498783996 + ], + [ + -0.050389789044857025, + -0.00875375047326088, + 0.9986912608146667, + 0.7223678822026534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9973938465118408, + -0.0521683432161808, + 0.04983992874622345, + -0.04814212360583684 + ], + [ + 0.051729414612054825, + 0.9986104965209961, + 0.010057361796498299, + -0.1406683347064673 + ], + [ + -0.050295352935791016, + -0.007452960591763258, + 0.998706579208374, + 0.7275733118548113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9970531463623047, + -0.05147377774119377, + 0.05688166245818138, + -0.04508928897078423 + ], + [ + 0.05099886283278465, + 0.9986509084701538, + 0.00977044366300106, + -0.14421170514679568 + ], + [ + -0.05730784311890602, + -0.0068407510407269, + 0.9983330965042114, + 0.7247978895902634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9950366020202637, + -0.052201803773641586, + 0.08471806347370148, + -0.04654195187065531 + ], + [ + 0.0523030050098896, + 0.9986307621002197, + 0.0010260477429255843, + -0.13935317312365547 + ], + [ + -0.08465562760829926, + 0.0034100539050996304, + 0.9964044094085693, + 0.7319864078479654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9947372078895569, + -0.05204939842224121, + 0.0882539302110672, + -0.049196759392233454 + ], + [ + 0.05202095955610275, + 0.9986425638198853, + 0.002623802050948143, + -0.13922545011429227 + ], + [ + -0.08827069401741028, + 0.0019810604862868786, + 0.9960945248603821, + 0.7320309232263004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9944118857383728, + -0.05018734931945801, + 0.09287761151790619, + -0.05236971063868088 + ], + [ + 0.050263866782188416, + 0.9987348318099976, + 0.0015166690573096275, + -0.13963431943933863 + ], + [ + -0.09283621609210968, + 0.0031601935625076294, + 0.9956763982772827, + 0.7320867534069454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9942619204521179, + -0.04800444468855858, + 0.09559683501720428, + -0.05450308969353928 + ], + [ + 0.048201728612184525, + 0.9988375902175903, + 0.0002457930240780115, + -0.13770312663297826 + ], + [ + -0.09549751877784729, + 0.0043635498732328415, + 0.9954200983047485, + 0.7347223515019697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9939408302307129, + -0.04743286967277527, + 0.09915495663881302, + -0.05699698765597799 + ], + [ + 0.04777016490697861, + 0.9988577961921692, + -0.0010289375204592943, + -0.13547477862397073 + ], + [ + -0.09899289160966873, + 0.005759350955486298, + 0.9950714707374573, + 0.7366905515246531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9936599135398865, + -0.047551821917295456, + 0.10187626630067825, + -0.06068620206240345 + ], + [ + 0.04790669307112694, + 0.9988512992858887, + -0.0010381382890045643, + -0.1344675670227255 + ], + [ + -0.10170987993478775, + 0.0059121111407876015, + 0.9947965145111084, + 0.7363527241875144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9936466813087463, + -0.04581461101770401, + 0.10279719531536102, + -0.0643350374282283 + ], + [ + 0.04620564728975296, + 0.9989309310913086, + -0.0014247368089854717, + -0.13290407705113894 + ], + [ + -0.10262201726436615, + 0.00616549514234066, + 0.9947013258934021, + 0.7370972098234821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9936120510101318, + -0.04432826489210129, + 0.1037788838148117, + -0.06759480796754361 + ], + [ + 0.04476667940616608, + 0.9989956617355347, + -0.0018979893065989017, + -0.13157781799091026 + ], + [ + -0.10359051823616028, + 0.0065317009575665, + 0.9945985674858093, + 0.7386975064873695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.993478536605835, + -0.042452987283468246, + 0.10582110285758972, + -0.07032011052703156 + ], + [ + 0.0429309718310833, + 0.9990755319595337, + -0.0022420664317905903, + -0.1305129725345657 + ], + [ + -0.10562808811664581, + 0.006770447362214327, + 0.9943826794624329, + 0.7407833854503492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9930721521377563, + -0.041942112147808075, + 0.10976609587669373, + -0.07316260618322036 + ], + [ + 0.04246654361486435, + 0.9990949034690857, + -0.0024432765785604715, + -0.12988851278171162 + ], + [ + -0.10956427454948425, + 0.007087736390531063, + 0.9939544200897217, + 0.742445487835828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9925575256347656, + -0.04089852049946785, + 0.11470337957143784, + -0.07733051415861529 + ], + [ + 0.04141625389456749, + 0.9991397261619568, + -0.002133152447640896, + -0.13047787975451416 + ], + [ + -0.1145174577832222, + 0.006867860443890095, + 0.9933974742889404, + 0.7419559070292641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.992238461971283, + -0.03858504816889763, + 0.11821196228265762, + -0.08141194510766689 + ], + [ + 0.039100971072912216, + 0.9992331862449646, + -0.002047380432486534, + -0.1310772733845036 + ], + [ + -0.11804231256246567, + 0.00665369164198637, + 0.992986261844635, + 0.742892237708849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9921202659606934, + -0.03679672256112099, + 0.11976390331983566, + -0.08527787680025486 + ], + [ + 0.03735599294304848, + 0.9992990493774414, + -0.002427326049655676, + -0.13138806836385117 + ], + [ + -0.1195906326174736, + 0.006882098037749529, + 0.9927994608879089, + 0.7430883425561821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.992163896560669, + -0.03616788238286972, + 0.11959368735551834, + -0.08796869720167974 + ], + [ + 0.03678654134273529, + 0.9993187189102173, + -0.002968678018078208, + -0.13091382053201361 + ], + [ + -0.11940484493970871, + 0.0073448531329631805, + 0.9928184747695923, + 0.7440616681295282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9922200441360474, + -0.03595837205648422, + 0.11919046938419342, + -0.0898845680824974 + ], + [ + 0.03664446622133255, + 0.9993219971656799, + -0.0035689359065145254, + -0.12935284972790054 + ], + [ + -0.11898133158683777, + 0.007908840663731098, + 0.9928649663925171, + 0.7453277965678888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9921925663948059, + -0.036252349615097046, + 0.1193300113081932, + -0.09175532919299953 + ], + [ + 0.03695765137672424, + 0.9993099570274353, + -0.0037021380849182606, + -0.12789602458189406 + ], + [ + -0.11911345273256302, + 0.008083390071988106, + 0.992847740650177, + 0.7466892735923037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9922837615013123, + -0.03734463453292847, + 0.11822976917028427, + -0.09312943248078227 + ], + [ + 0.038052625954151154, + 0.9992687702178955, + -0.0037357674445956945, + -0.12686451968397972 + ], + [ + -0.11800380796194077, + 0.008205894380807877, + 0.9929792284965515, + 0.7475128908805988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9925388097763062, + -0.03676077723503113, + 0.11625554412603378, + -0.0956451695631532 + ], + [ + 0.0374995619058609, + 0.9992879033088684, + -0.004173297435045242, + -0.12576830680756007 + ], + [ + -0.1160193458199501, + 0.008501690812408924, + 0.9932105541229248, + 0.7483554734903224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9929136037826538, + -0.037054579704999924, + 0.11291372030973434, + -0.0967885992161053 + ], + [ + 0.037839170545339584, + 0.9992722272872925, + -0.004812650382518768, + -0.12438938963391324 + ], + [ + -0.1126532182097435, + 0.009051106870174408, + 0.993593156337738, + 0.7482864379444543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9931296110153198, + -0.03779323771595955, + 0.11074851453304291, + -0.09800888118060196 + ], + [ + 0.038625892251729965, + 0.9992392659187317, + -0.005381845869123936, + -0.12311909358866294 + ], + [ + -0.11046086251735687, + 0.00962262973189354, + 0.9938338994979858, + 0.7483265349093605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9932031631469727, + -0.03928679600358009, + 0.10956262052059174, + -0.09907596333719351 + ], + [ + 0.04020237550139427, + 0.999172568321228, + -0.006159412208944559, + -0.12130086105282638 + ], + [ + -0.10922998189926147, + 0.010522225871682167, + 0.9939607977867126, + 0.7492090500891209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9931519031524658, + -0.040807656943798065, + 0.10947147756814957, + -0.10054879948935089 + ], + [ + 0.04177039861679077, + 0.9991059899330139, + -0.006514727137982845, + -0.11980837943744571 + ], + [ + -0.10910775512456894, + 0.011042780242860317, + 0.9939686059951782, + 0.7503864123540767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9931012392044067, + -0.04114844277501106, + 0.10980332642793655, + -0.10179752844988424 + ], + [ + 0.04216104373335838, + 0.9990869164466858, + -0.00691519770771265, + -0.118039030738531 + ], + [ + -0.10941851884126663, + 0.011496913619339466, + 0.9939292669296265, + 0.7517486767733799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9929545521736145, + -0.04177621379494667, + 0.11088751256465912, + -0.10253725803511984 + ], + [ + 0.042787063866853714, + 0.9990614056587219, + -0.006751073524355888, + -0.11667050937574137 + ], + [ + -0.11050139367580414, + 0.011448059231042862, + 0.9938100576400757, + 0.753369313303162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9927260875701904, + -0.04155769944190979, + 0.11299505084753036, + -0.10379001004621387 + ], + [ + 0.042560867965221405, + 0.9990728497505188, + -0.00647918414324522, + -0.11595584355527536 + ], + [ + -0.11262103170156479, + 0.011241222731769085, + 0.9935744404792786, + 0.7539552830159664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9925193190574646, + -0.04183449223637581, + 0.11469627916812897, + -0.10489100743742549 + ], + [ + 0.04282226786017418, + 0.9990637302398682, + -0.0061606913805007935, + -0.11573739700457629 + ], + [ + -0.11433115601539612, + 0.011026158928871155, + 0.9933815002441406, + 0.7547945941195768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9923714399337769, + -0.04160330072045326, + 0.11605221778154373, + -0.10625013366670293 + ], + [ + 0.042577262967824936, + 0.9990755915641785, + -0.00592509051784873, + -0.11600057821659207 + ], + [ + -0.1156984344124794, + 0.010821076110005379, + 0.9932254552841187, + 0.755051109633025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9922388195991516, + -0.04172558709979057, + 0.1171373501420021, + -0.10714322537841166 + ], + [ + 0.0427076555788517, + 0.9990702867507935, + -0.0058854022063314915, + -0.11618173828088295 + ], + [ + -0.11678286641836166, + 0.01084238663315773, + 0.993098258972168, + 0.7562248552546782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9921472072601318, + -0.0417044572532177, + 0.11791792511940002, + -0.10801742824123187 + ], + [ + 0.04271174594759941, + 0.9990692734718323, + -0.0060270680114626884, + -0.1164189460036783 + ], + [ + -0.11755682528018951, + 0.011016218923032284, + 0.9930050373077393, + 0.7567795120617923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9921106696128845, + -0.04113752394914627, + 0.1184237003326416, + -0.10947978584205403 + ], + [ + 0.04216334968805313, + 0.9990916848182678, + -0.0061689564026892185, + -0.1166886359165587 + ], + [ + -0.11806236207485199, + 0.011113427579402924, + 0.9929440021514893, + 0.7571953457944534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9921705722808838, + -0.040383920073509216, + 0.11818083375692368, + -0.11063772431739113 + ], + [ + 0.041426852345466614, + 0.9991211891174316, + -0.006380652077496052, + -0.11688110176542335 + ], + [ + -0.11781930178403854, + 0.011226554401218891, + 0.9929715991020203, + 0.7570943576009834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9922382235527039, + -0.04174836352467537, + 0.11713404953479767, + -0.11095272313584299 + ], + [ + 0.04281478002667427, + 0.9990612268447876, + -0.006601773202419281, + -0.11678402306621566 + ], + [ + -0.11674846708774567, + 0.011565599590539932, + 0.9930941462516785, + 0.7575228534200612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9923568367958069, + -0.04154236614704132, + 0.11619852483272552, + -0.11194961499422788 + ], + [ + 0.042584531009197235, + 0.9990717172622681, + -0.006499606184661388, + -0.11702357419725398 + ], + [ + -0.11582064628601074, + 0.011398187838494778, + 0.9932047128677368, + 0.7579000447602833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9924716949462891, + -0.040945712476968765, + 0.1154269352555275, + -0.1129150637808968 + ], + [ + 0.041992370039224625, + 0.9990957975387573, + -0.006649632006883621, + -0.11698153509813196 + ], + [ + -0.1150502935051918, + 0.011446621268987656, + 0.9932937026023865, + 0.7588590166148017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9925404191017151, + -0.04092920571565628, + 0.11484016478061676, + -0.11383044744896538 + ], + [ + 0.04202362149953842, + 0.9990912079811096, + -0.007124121300876141, + -0.11657868180738981 + ], + [ + -0.11444421112537384, + 0.011896978132426739, + 0.9933584332466125, + 0.759343987922458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9925409555435181, + -0.04142451658844948, + 0.11465805023908615, + -0.11499667896286529 + ], + [ + 0.04255376383662224, + 0.9990666508674622, + -0.007417707704007626, + -0.1163696310524007 + ], + [ + -0.1142437532544136, + 0.01224150974303484, + 0.9933773279190063, + 0.7600092090228024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.992602527141571, + -0.04105403646826744, + 0.1142573431134224, + -0.11630015003440135 + ], + [ + 0.04219072684645653, + 0.9990810751914978, + -0.007547091692686081, + -0.11651468467898667 + ], + [ + -0.11384250968694687, + 0.012311862781643867, + 0.9934225082397461, + 0.7601530054036308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9926797747612, + -0.040385738015174866, + 0.11382365226745605, + -0.11773323714733124 + ], + [ + 0.04156218469142914, + 0.9991040229797363, + -0.007980654016137123, + -0.11619033737327246 + ], + [ + -0.11339937150478363, + 0.012652993202209473, + 0.9934689402580261, + 0.7607885492198607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9927608966827393, + -0.03864942491054535, + 0.11371913552284241, + -0.11940603148849571 + ], + [ + 0.0398876890540123, + 0.9991669058799744, + -0.008632815442979336, + -0.11598448293379453 + ], + [ + -0.11329074203968048, + 0.013106315396726131, + 0.9934754371643066, + 0.7608960926532745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9927971959114075, + -0.03803517296910286, + 0.11360922455787659, + -0.12080756482832572 + ], + [ + 0.03929052874445915, + 0.9991888403892517, + -0.008830349892377853, + -0.11600221711594393 + ], + [ + -0.1131812036037445, + 0.013230513781309128, + 0.9934862852096558, + 0.7615554769249523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9928642511367798, + -0.037470653653144836, + 0.11321013420820236, + -0.12202383542214246 + ], + [ + 0.038744814693927765, + 0.9992079138755798, + -0.009074865840375423, + -0.11583106363918085 + ], + [ + -0.11278042942285538, + 0.013396414928138256, + 0.9935296177864075, + 0.7616908390294104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9929565191268921, + -0.03580467402935028, + 0.11293946206569672, + -0.1232833132147789 + ], + [ + 0.037047915160655975, + 0.9992735981941223, + -0.008927824907004833, + -0.11600387273356319 + ], + [ + -0.11253777146339417, + 0.013049113564193249, + 0.9935617446899414, + 0.7627740502357483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/tilt_down/transforms.json b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a7b7e74b58f1f8d949b8a5e856f86f08e35aa120 --- /dev/null +++ b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/tilt_down/transforms.json @@ -0,0 +1,4808 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 137, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00015281095693353564, + 9.454473183723167e-05, + -0.00017298538296017796 + ], + [ + -0.00015282332606147975, + 1.0, + 0.0001308531645918265, + -0.0003619329072535038 + ], + [ + -9.452473750570789e-05, + -0.00013086760009173304, + 1.0, + -0.00011619761789916083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + 0.00029304011667792405, + 0.00029469665921309134, + 0.00016911688726395369 + ], + [ + -0.00029381419881246984, + 0.9999964919831333, + 0.0026300287643504974, + -0.00047324711340479553 + ], + [ + -0.00029392490978352726, + -0.002630115144359248, + 0.999996491816852, + 0.00047807683586142957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999985098838808, + 0.0007487380758755341, + 0.0015719490657471636, + 2.7091216907138005e-05 + ], + [ + -0.0007575366762466731, + 0.9999839874749696, + 0.005604148651904336, + -0.0013218180974945426 + ], + [ + -0.001567727886140347, + -0.005605331240261443, + 0.9999830888456948, + 0.001428076415322721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999956488609314, + -0.00010259576844408952, + 0.002940587209435369, + 0.0001276489201700315 + ], + [ + 7.824521890142933e-05, + 0.9999657003146798, + 0.008279763281904558, + -0.0015185551019385457 + ], + [ + -0.002941336017102003, + -0.008279497755617935, + 0.9999614102421204, + 0.004180945456027985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999929070472717, + 0.00011191690989958395, + 0.0037576632164259237, + -0.0015555578283965588 + ], + [ + -0.00015295388584490865, + 0.9999403561495396, + 0.010922366344715552, + -0.0012329687597230077 + ], + [ + -0.0037562164943665266, + -0.010922863521914199, + 0.9999332591582054, + 0.006098080892115831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999926090240479, + 0.0006886061950132029, + 0.0037757554050328484, + -0.001692118588835001 + ], + [ + -0.0007435694569721818, + 0.9998935172613321, + 0.014574863718479455, + -0.002343103988096118 + ], + [ + -0.0037653169129043818, + -0.014577563644686107, + 0.9998866364221365, + 0.008316236548125744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999907612800598, + 0.000628479175372511, + 0.004246154925326191, + -0.0016577548813074827 + ], + [ + -0.000704616482835263, + 0.9998385922544288, + 0.01795323420174921, + -0.0029585252050310373 + ], + [ + -0.004234186373651028, + -0.01795605995610049, + 0.9998297971483507, + 0.013228733092546463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999868273735046, + 0.001474032040264225, + 0.00492139424255428, + -0.0046974364668130875 + ], + [ + -0.0015756342327222228, + 0.9997843524031857, + 0.02070537976467558, + -0.003386715892702341 + ], + [ + -0.004889812786132097, + -0.02071286110649763, + 0.9997735217760622, + 0.01635466143488884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999898076057434, + 0.0017731831717307978, + 0.004152146278972519, + -0.005950267426669598 + ], + [ + -0.0018679556669667363, + 0.9997352255000121, + 0.022933444214636507, + -0.0027727270498871803 + ], + [ + -0.004110381938517094, + -0.022940967122411483, + 0.9997283735147343, + 0.02169826626777649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999974370002747, + 0.0004541284577983448, + 0.0022224440630637114, + -0.004710194189101458 + ], + [ + -0.0005117107066325843, + 0.9996623700923314, + 0.025977814213960355, + -0.004574342630803585 + ], + [ + -0.0022098966874182224, + -0.02597888391260787, + 0.9996600266279349, + 0.027172377333045006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999983906745911, + -0.0005209368640923131, + 0.001733972338485763, + -0.0057930732145905495 + ], + [ + 0.0004714640963356942, + 0.9995962501818512, + 0.028410589685018663, + -0.0037898861337453127 + ], + [ + -0.0017480722162872553, + -0.02840972597671617, + 0.9995948360336898, + 0.03322838619351387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999987483024599, + -0.0008894913135636479, + 0.0013087427336170734, + -0.0056221061386168 + ], + [ + 0.0008477658266201618, + 0.999501987027485, + 0.03154441886347384, + -0.004437072202563286 + ], + [ + -0.0013361495221033695, + -0.03154326968414282, + 0.9995014748028482, + 0.041547197848558426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999989867210388, + -0.0010191631968638332, + 0.001012596075320308, + -0.0071638463996350765 + ], + [ + 0.0009837731486186385, + 0.9994091831513368, + 0.03435616309079826, + -0.0043867286294698715 + ], + [ + -0.001047012279741466, + -0.03435513194609617, + 0.9994091473544103, + 0.05093706026673317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999999403953554, + 7.196064183866293e-05, + 0.0003845062328622398, + -0.010107988491654396 + ], + [ + -8.610408985987307e-05, + 0.9993185457163303, + 0.03691094011497553, + -0.00442089606076479 + ], + [ + -0.0003815880627371372, + -0.036910970278581465, + 0.9993184853380168, + 0.059294335544109344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999988079071045, + -0.00016903565529285687, + -0.0015501799177165885, + -0.010891747660934925 + ], + [ + 0.00023029600561130792, + 0.9992154298640624, + 0.039603586156582896, + -0.005062101874500513 + ], + [ + 0.0015422692522406578, + -0.03960389638007544, + 0.9992142886018964, + 0.06987272202968597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999916553497314, + -0.00020554501560463421, + -0.004079381258731665, + -0.014067142270505428 + ], + [ + 0.00037866109050810337, + 0.9990971894519143, + 0.04248155822734519, + -0.006438728887587786 + ], + [ + 0.004066966008394957, + -0.04248274880458975, + 0.9990889261933197, + 0.08073484897613525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999650716781616, + -0.0020069340250435303, + -0.008114702640330675, + -0.014245999976992607 + ], + [ + 0.0023709621746093035, + 0.9989795404534466, + 0.04510251017998849, + -0.007726924493908882 + ], + [ + 0.008015904575586319, + -0.045120174554653246, + 0.9989494182878366, + 0.0950428918004036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999201893806458, + -0.005074378466218553, + -0.011568174487794722, + -0.01340645644813776 + ], + [ + 0.005623819772154093, + 0.9988329608455294, + 0.047969086660342726, + -0.01012837328016758 + ], + [ + 0.011311260983347893, + -0.04803031774993067, + 0.9987818158094501, + 0.1091349795460701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998934268951416, + -0.00466776417006023, + -0.013834642545542376, + -0.011844257824122906 + ], + [ + 0.005359760485589504, + 0.9987141272197374, + 0.05041167355675213, + -0.011447794735431671 + ], + [ + 0.013581544160842896, + -0.05048045001200988, + 0.9986327195788393, + 0.12415996193885803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998873472213745, + -0.005089833737753266, + -0.014121131901465843, + -0.011462942697107792 + ], + [ + 0.005831229500472546, + 0.9985791502969334, + 0.05296816083663066, + -0.013417365029454231 + ], + [ + 0.013831468299031258, + -0.05304453740046913, + 0.9984963722638486, + 0.13931068778038025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999139904975891, + -0.005054835201120763, + -0.012100608255933348, + -0.009741561487317085 + ], + [ + 0.005725112743675709, + 0.9984135581348339, + 0.05601411804470552, + -0.016330091282725334 + ], + [ + 0.011798269115388393, + -0.0560785808376281, + 0.9983566753482863, + 0.1559232473373413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999696016311646, + -0.003970476984080467, + -0.006714227232540023, + -0.009159195236861706 + ], + [ + 0.004358425736427307, + 0.9982609159504428, + 0.05878879253993007, + -0.01871042512357235 + ], + [ + 0.006469130981713533, + -0.05881626856467469, + 0.9982478739532883, + 0.17317180335521698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999961256980896, + -0.0027875938148688557, + 5.110805235283412e-05, + -0.013469716534018517 + ], + [ + 0.0027789915911853313, + 0.9980527927237197, + 0.06231338484229304, + -0.022921958938241005 + ], + [ + -0.00022471294505521655, + -0.062312999219390555, + 0.9980566271852624, + 0.18943612277507782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999899864196777, + -0.0028607682636222985, + 0.0034454721132148617, + -0.015492444857954979 + ], + [ + 0.002630546921864152, + 0.9978776562394897, + 0.06506396994468852, + -0.025040797889232635 + ], + [ + -0.003624292556196451, + -0.06505425373280135, + 0.9978751632125394, + 0.2050391286611557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999764561653139, + -0.0011176044832014035, + 0.0067737761580749945, + -0.017679719254374504 + ], + [ + 0.0006541556795127691, + 0.9976825328617298, + 0.06803799772205218, + -0.028358178213238716 + ], + [ + -0.006834117695689203, + -0.06803196073105845, + 0.9976597203317814, + 0.22212089598178864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999381899833679, + -0.001443418454596028, + 0.011024905072173189, + -0.02032850682735443 + ], + [ + 0.0006548821111209691, + 0.9974622462746501, + 0.07119460600975507, + -0.03148331120610237 + ], + [ + -0.011099690571427345, + -0.07118298391240871, + 0.9974015210943892, + 0.23756995797157288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999895453453064, + -0.001973624303063884, + 0.014322662097583606, + -0.022158870473504066 + ], + [ + 0.0009036760893650353, + 0.9972334163838172, + 0.07432853729798639, + -0.03439844772219658 + ], + [ + -0.014429734088480473, + -0.07430782552691323, + 0.9971309698317098, + 0.25256508588790894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9998534917831421, + -0.0027553808796084408, + 0.016894215844809955, + -0.024862127378582954 + ], + [ + 0.0014253167901188135, + 0.9969334127677146, + 0.07824117634556349, + -0.037628527730703354 + ], + [ + -0.01705799251794815, + -0.0782056343882882, + 0.9967913009154125, + 0.2677290737628937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9998077750205994, + -0.00351647565709176, + 0.01928863076229322, + -0.025971215218305588 + ], + [ + 0.0019191859755665064, + 0.9966130282717792, + 0.08221156268123256, + -0.03989826515316963 + ], + [ + -0.019512396305799484, + -0.08215874035176345, + 0.996428208603405, + 0.2831619083881378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9996970891952517, + -0.003273486275766819, + 0.024393169363695674, + -0.025966577231884003 + ], + [ + 0.001169955939985812, + 0.9963156320766929, + 0.0857545026767109, + -0.04107743501663208 + ], + [ + -0.02458401024341584, + -0.08569998584996757, + 0.9960176234284409, + 0.29722529649734497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9994542002677917, + -0.0033849334163438406, + 0.03286186295127142, + -0.02842785231769085 + ], + [ + 0.000432308588642627, + 0.9959917724659978, + 0.08944390181779176, + -0.043901942670345306 + ], + [ + -0.03303290903568268, + -0.08938087608845251, + 0.9954496006751061, + 0.31044286489486694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9991958141326904, + -0.004509384484275291, + 0.03984192373124571, + -0.03223524987697601 + ], + [ + 0.0007911827997304499, + 0.9956797143659272, + 0.09285084401257448, + -0.04708075150847435 + ], + [ + -0.04008849710226059, + -0.09274465014522992, + 0.9948825887130064, + 0.3213306963443756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9990509152412415, + -0.0059600066495461915, + 0.04314784759328596, + -0.03441808372735977 + ], + [ + 0.001793720293790102, + 0.9953835800008839, + 0.09596016830296979, + -0.050083816051483154 + ], + [ + -0.04352058470249176, + -0.09579169936286719, + 0.9944495320624862, + 0.33252620697021484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.998942494392395, + -0.006875733303833759, + 0.045460659581406215, + -0.0345519483089447 + ], + [ + 0.002357017481699586, + 0.9951130693108411, + 0.0987140845863363, + -0.052762653678655624 + ], + [ + -0.04591722413897514, + -0.09850254223135954, + 0.9940769164978874, + 0.34394657611846924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9987724423408508, + -0.009483680518551967, + 0.04861711647584911, + -0.03568021208047867 + ], + [ + 0.004490536171942949, + 0.9947946329634324, + 0.1018014033372242, + -0.055947091430425644 + ], + [ + -0.049329496920108795, + -0.10145811990438687, + 0.9936160310999484, + 0.3541165292263031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.998639762401581, + -0.011604927602460385, + 0.05083199507736336, + -0.03780079260468483 + ], + [ + 0.006214732304215433, + 0.9944590547230475, + 0.10494072153517253, + -0.05899966135621071 + ], + [ + -0.05176816508173944, + -0.10448207427815177, + 0.9931785265736761, + 0.3629840314388275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9985973238945007, + -0.013532784215211861, + 0.05118821144776922, + -0.04067706689238548 + ], + [ + 0.007932771928608418, + 0.994112608161103, + 0.10806131968556809, + -0.06207069754600525 + ], + [ + -0.05234921723604202, + -0.10750367534713032, + 0.9928255054337841, + 0.3723891079425812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9985966086387634, + -0.01819229633947372, + 0.04973809458971173, + -0.041702255606651306 + ], + [ + 0.012579301372170448, + 0.9937497514716919, + 0.11091985128755809, + -0.06412182003259659 + ], + [ + -0.05144510418176651, + -0.11013851636304414, + 0.9925839609684636, + 0.38156092166900635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9985551834106445, + -0.022128511938559105, + 0.048968365248219126, + -0.042346514761447906 + ], + [ + 0.016463767737150192, + 0.9934356712752563, + 0.11320107608573582, + -0.06511080265045166 + ], + [ + -0.05115189030766487, + -0.11223131504865315, + 0.9923646369009271, + 0.39038118720054626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.998429536819458, + -0.02651079373656804, + 0.049352508858712, + -0.04164087399840355 + ], + [ + 0.020647455006837845, + 0.9930652217312843, + 0.11573717946643995, + -0.06658606976270676 + ], + [ + -0.05207854509353638, + -0.11453641667144596, + 0.9920530253106915, + 0.39963290095329285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9981499910354614, + -0.033530529940159766, + 0.050717486637517156, + -0.0422029085457325 + ], + [ + 0.02732277661561966, + 0.9925793390704959, + 0.11848936386365279, + -0.06791076809167862 + ], + [ + -0.05431414395570755, + -0.11688441697590876, + 0.9916591952926641, + 0.40855810046195984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.997906506061554, + -0.0397436176127382, + 0.051020061875037916, + -0.042944636195898056 + ], + [ + 0.03333868458867073, + 0.9921207883732661, + 0.12076777427107535, + -0.06887239217758179 + ], + [ + -0.05541780963540077, + -0.11881401073495329, + 0.9913688219095667, + 0.4164242148399353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9975355267524719, + -0.048283803183379416, + 0.05090715575687921, + -0.04309142380952835 + ], + [ + 0.04171247035264969, + 0.9915218632816033, + 0.12306274161556793, + -0.06940210610628128 + ], + [ + -0.056417498737573624, + -0.12063599086108535, + 0.9910923285999406, + 0.42440494894981384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9971495270729065, + -0.05573414932402369, + 0.050858402564210245, + -0.042045000940561295 + ], + [ + 0.04897664114832878, + 0.9908701607581842, + 0.12560902292141338, + -0.07058104127645493 + ], + [ + -0.057394783943891525, + -0.12276009761434109, + 0.9907753552781389, + 0.4327263832092285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9967167973518372, + -0.06225421073298631, + 0.05176909722199353, + -0.04218920320272446 + ], + [ + 0.055201753973960876, + 0.99023791084363, + 0.1279907611384664, + -0.07110682129859924 + ], + [ + -0.05923168361186981, + -0.1247127966174242, + 0.9904233205965147, + 0.441280722618103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9965928792953491, + -0.06321579111523914, + 0.052975869480950843, + -0.042100731283426285 + ], + [ + 0.05585945025086403, + 0.989888193871608, + 0.13038829519860604, + -0.07146955281496048 + ], + [ + -0.060682788491249084, + -0.12698483742030198, + 0.9900466891813023, + 0.44927778840065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9965658187866211, + -0.062060771273885415, + 0.054817633466150026, + -0.04160381853580475 + ], + [ + 0.05428450182080269, + 0.9895680438388536, + 0.13344747463382362, + -0.07318023592233658 + ], + [ + -0.06252763420343399, + -0.13001344569156478, + 0.9895386624968454, + 0.45818203687667847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9963860511779785, + -0.06179783419427548, + 0.05827438559196779, + -0.04097481071949005 + ], + [ + 0.05339501053094864, + 0.989253835300361, + 0.1361095728995706, + -0.07492858171463013 + ], + [ + -0.06605943292379379, + -0.13250612208232562, + 0.9889784245583123, + 0.46694502234458923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9960622191429138, + -0.06289289517789998, + 0.062485959771543434, + -0.040152356028556824 + ], + [ + 0.05370757728815079, + 0.9888170897386137, + 0.13912696305683123, + -0.07784461975097656 + ], + [ + -0.07053728401660919, + -0.1352231392010501, + 0.988301165015811, + 0.4747190475463867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9959315061569214, + -0.06334249246938796, + 0.06409522535738191, + -0.03970448300242424 + ], + [ + 0.053753811866045, + 0.9884619781662793, + 0.141610127131079, + -0.08166366070508957 + ], + [ + -0.07232563942670822, + -0.13758862858334156, + 0.9878453460314369, + 0.4819411039352417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9961288571357727, + -0.0607850496960399, + 0.06350216550918288, + -0.038853734731674194 + ], + [ + 0.0511900894343853, + 0.9883838134775398, + 0.14309799709397722, + -0.08585835993289948 + ], + [ + -0.0714627280831337, + -0.1392933584964341, + 0.9876691996757074, + 0.4891901910305023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9962418675422668, + -0.060512425217039416, + 0.06197102376998641, + -0.036779578775167465 + ], + [ + 0.0511179193854332, + 0.9883548165185603, + 0.14332401876469947, + -0.08872482180595398 + ], + [ + -0.06992223858833313, + -0.1396175559613179, + 0.9877336723434349, + 0.497372567653656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9962528347969055, + -0.060717380727382336, + 0.06159263669450217, + -0.03483550250530243 + ], + [ + 0.051276795566082, + 0.9881449483214616, + 0.14470752906708823, + -0.09229286015033722 + ], + [ + -0.06964871287345886, + -0.14100701403069404, + 0.9875556229638149, + 0.5062466263771057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9961004853248596, + -0.06266541997334661, + 0.0621033387349934, + -0.033929623663425446 + ], + [ + 0.0529915951192379, + 0.9877545138340657, + 0.1467408811025515, + -0.09611643850803375 + ], + [ + -0.07053843140602112, + -0.14287771396981816, + 0.9872235414409998, + 0.5139442682266235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9960060119628906, + -0.06445184194816332, + 0.0617896783804389, + -0.03322209417819977 + ], + [ + 0.054644905030727386, + 0.9873226135284294, + 0.14902337604998242, + -0.09974122792482376 + ], + [ + -0.07061117142438889, + -0.14505169131922932, + 0.9869012648955973, + 0.5213579535484314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9959902167320254, + -0.06530566039169755, + 0.06114431412501584, + -0.03103460744023323 + ], + [ + 0.055433340370655074, + 0.9869537369981064, + 0.1511603741054896, + -0.10218917578458786 + ], + [ + -0.07021823525428773, + -0.14716482384322568, + 0.986616391808347, + 0.5304576754570007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9958760142326355, + -0.06582743405735766, + 0.062431850766846035, + -0.027800757437944412 + ], + [ + 0.05561378598213196, + 0.9866327665499909, + 0.15317613913037792, + -0.10473913699388504 + ], + [ + -0.07168050110340118, + -0.14907236652372172, + 0.9862247667281326, + 0.5392531752586365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9954899549484255, + -0.06922150969725777, + 0.06487055804110284, + -0.025921359658241272 + ], + [ + 0.05847367271780969, + 0.9861821622273522, + 0.1550020191354487, + -0.10782252997159958 + ], + [ + -0.0747036635875702, + -0.15050972906918872, + 0.9857820238711368, + 0.5466031432151794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9952688217163086, + -0.0713805165123919, + 0.06591485777992089, + -0.024717750027775764 + ], + [ + 0.06034436076879501, + 0.985843672775638, + 0.15643166053472546, + -0.1108107790350914 + ], + [ + -0.07614792138338089, + -0.1517139632719143, + 0.9854868456578266, + 0.5543646812438965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9952049255371094, + -0.07235977168364892, + 0.06581155804099124, + -0.02268337272107601 + ], + [ + 0.0612330287694931, + 0.9855889703649017, + 0.1576862339712749, + -0.1129390224814415 + ], + [ + -0.07627328485250473, + -0.15290027722314878, + 0.9852938075340019, + 0.5631794333457947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9950919151306155, + -0.07336258109409179, + 0.06640765097838096, + -0.021465951576828957 + ], + [ + 0.06198070198297502, + 0.9852254998252755, + 0.15965314768104108, + -0.11448425054550171 + ], + [ + -0.07713907212018968, + -0.15475356566916057, + 0.9849370067909717, + 0.571976363658905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9950053095817568, + -0.07398382055332652, + 0.06701373457739644, + -0.02055714651942253 + ], + [ + 0.06223802641034128, + 0.9846640266186927, + 0.16298210138835312, + -0.11733350157737732 + ], + [ + -0.07804404944181444, + -0.15799725611165177, + 0.9843505463489912, + 0.5783793926239014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9949945211410522, + -0.07508234622612213, + 0.06594382977250379, + -0.01924118399620056 + ], + [ + 0.06325368583202362, + 0.9840855292691516, + 0.16605613771914451, + -0.11989245563745499 + ], + [ + -0.07736225426197052, + -0.1610537519982904, + 0.9839089036788744, + 0.5853418111801147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9951032996177676, + -0.0758017270555078, + 0.06343089159651547, + -0.018101710826158524 + ], + [ + 0.06422685831785203, + 0.9836995494647094, + 0.16795864953888526, + -0.12110351026058197 + ], + [ + -0.0751284882426262, + -0.1630622448907215, + 0.9837511933846954, + 0.591980516910553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.995218813419342, + -0.07658311947183659, + 0.060617924185993204, + -0.016924137249588966 + ], + [ + 0.0653330609202385, + 0.9833306995434563, + 0.1696830366888104, + -0.12238746881484985 + ], + [ + -0.07260232418775558, + -0.16491139746177327, + 0.9836326085017506, + 0.5969892144203186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9953156113624573, + -0.07747326840616103, + 0.05783324104341521, + -0.015653185546398163 + ], + [ + 0.06653843075037003, + 0.9829198744771872, + 0.17158424434271852, + -0.12386356294155121 + ], + [ + -0.07013863325119019, + -0.16693234840241722, + 0.983470455669845, + 0.6017687916755676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9953220486640932, + -0.07926803870146232, + 0.05523209184442485, + -0.014725414104759693 + ], + [ + 0.06859711557626726, + 0.9823978902831776, + 0.17374921783680844, + -0.12562653422355652 + ], + [ + -0.06803264468908311, + -0.16914767219474686, + 0.9832398576320672, + 0.6065318584442139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9954203367233276, + -0.0800846161140786, + 0.052199538048145665, + -0.014493555761873722 + ], + [ + 0.06976461410522461, + 0.9819040067138521, + 0.17606083420315896, + -0.12789134681224823 + ], + [ + -0.06535469740629196, + -0.17161285866016734, + 0.9829942923488423, + 0.6099531054496765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9955948591232302, + -0.0801293378329739, + 0.04868431500375498, + -0.014465024694800377 + ], + [ + 0.07025165855884553, + 0.9814031883253423, + 0.17864055924450925, + -0.13071492314338684 + ], + [ + -0.062093291431665434, + -0.174433472034178, + 0.9827092103091498, + 0.6132451295852661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9958266615867617, + -0.07980235343859281, + 0.04428191752102421, + -0.01292914617806673 + ], + [ + 0.07058323174715044, + 0.9810151400671304, + 0.18063033871033124, + -0.13225151598453522 + ], + [ + -0.05785595998167993, + -0.17675093962042207, + 0.9825537107528374, + 0.6176050901412964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9960190057754519, + -0.07925928290606175, + 0.04079372387770293, + -0.012414512224495411 + ], + [ + 0.07057126611471178, + 0.980696633761176, + 0.18235616734502522, + -0.13360857963562012 + ], + [ + -0.054459683597087874, + -0.17875134598639136, + 0.9823859358928261, + 0.6205903887748718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9961717128753662, + -0.07933252926496374, + 0.03671920162840843, + -0.011750093661248684 + ], + [ + 0.07134799659252167, + 0.9805469304388846, + 0.18285843571954483, + -0.1339617222547531 + ], + [ + -0.050511524081230164, + -0.17953854800564809, + 0.9824532747407301, + 0.6241812109947205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.996304452419281, + -0.0795089652612808, + 0.032492337944981915, + -0.011892170645296574 + ], + [ + 0.07225777953863144, + 0.9803827417262466, + 0.18338062632473603, + -0.1358039230108261 + ], + [ + -0.04643533006310463, + -0.1803551120780803, + 0.9825048575328984, + 0.6272630095481873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9965529441833496, + -0.07802322963429367, + 0.02818833719641596, + -0.01198642235249281 + ], + [ + 0.07166951894760132, + 0.9808424729337915, + 0.18113951039791748, + -0.13646650314331055 + ], + [ + -0.041781406849622726, + -0.17849486628528594, + 0.9830533389639458, + 0.630599319934845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9966990351676941, + -0.07726957839655434, + 0.02490758367554406, + -0.012254726141691208 + ], + [ + 0.07164378464221954, + 0.9814516038502151, + 0.17781994935366527, + -0.1380632221698761 + ], + [ + -0.038185663521289825, + -0.17544850520983932, + 0.9837477884642466, + 0.6318095326423645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9968019127845764, + -0.07697707401289537, + 0.021459576227907323, + -0.012840011157095432 + ], + [ + 0.07209747284650803, + 0.9821101974739067, + 0.1739583326070168, + -0.1381819099187851 + ], + [ + -0.03446647524833679, + -0.1718548174843229, + 0.9845191756515991, + 0.6346486210823059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9969727396965027, + -0.07550343926582002, + 0.018563722191867697, + -0.014585437253117561 + ], + [ + 0.07122749090194702, + 0.982635726628992, + 0.17132927466371564, + -0.1384008824825287 + ], + [ + -0.031177325174212456, + -0.16948836456182154, + 0.9850389341773802, + 0.6363767981529236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.997091591358185, + -0.07450230713022409, + 0.016056456504929595, + -0.01593111827969551 + ], + [ + 0.07070062309503557, + 0.9828802499075732, + 0.17014056086012302, + -0.13827700912952423 + ], + [ + -0.02845744043588639, + -0.16851051946550022, + 0.9852889855709924, + 0.6375133991241455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9970829486846926, + -0.07494943344250438, + 0.014427018010399672, + -0.017032848671078682 + ], + [ + 0.07139218598604204, + 0.9826783334942135, + 0.1710158944590065, + -0.13941091299057007 + ], + [ + -0.026994662359356887, + -0.16948706129737737, + 0.9851626413612855, + 0.6388193964958191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9972251057624817, + -0.07316756307736764, + 0.013731602816210239, + -0.018444005399942398 + ], + [ + 0.06973440945148468, + 0.9826679723078884, + 0.17175803002791848, + -0.1395241767168045 + ], + [ + -0.026060720905661583, + -0.17032385318681845, + 0.9850434566523026, + 0.6415183544158936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9972787499427795, + -0.07245327106484441, + 0.013625463662989473, + -0.02032918855547905 + ], + [ + 0.06902136653661728, + 0.982536326352383, + 0.17279597466435856, + -0.14034469425678253 + ], + [ + -0.02590714581310749, + -0.17138529860701174, + 0.9848633745342488, + 0.6430422067642212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9973351359367371, + -0.07171202223437344, + 0.013418910477409944, + -0.0222061425447464 + ], + [ + 0.06830472499132156, + 0.9824387768799955, + 0.17363331656229075, + -0.14034436643123627 + ], + [ + -0.025634855031967163, + -0.1722540262438987, + 0.9847189338905573, + 0.6451175212860107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9973889589309695, + -0.0709913769739794, + 0.013248981380488557, + -0.024633726105093956 + ], + [ + 0.06759145855903627, + 0.9822633630576458, + 0.17490015611485477, + -0.14025485515594482 + ], + [ + -0.025430392473936088, + -0.1735479669543838, + 0.984497048568688, + 0.6469443440437317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9974722862243652, + -0.06982034404141588, + 0.013196941922876586, + -0.02672836184501648 + ], + [ + 0.06641025096178055, + 0.9820858627686468, + 0.1763434484599374, + -0.1398337334394455 + ], + [ + -0.02527289092540741, + -0.17502129570735162, + 0.9842402388834443, + 0.6488609910011292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9974761605262756, + -0.06960693660970996, + 0.014005083835250726, + -0.028143810108304024 + ], + [ + 0.06600800156593323, + 0.981768015297582, + 0.178253993775021, + -0.13981135189533234 + ], + [ + -0.026157459244132042, + -0.17687966829458582, + 0.9838848398256046, + 0.6500517725944519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9974320530891418, + -0.06966405107927222, + 0.016618632008231587, + -0.02931344136595726 + ], + [ + 0.06557229906320572, + 0.9816125121760411, + 0.17926829149198642, + -0.13848526775836945 + ], + [ + -0.028801612555980682, + -0.1777182285967542, + 0.9836598724526379, + 0.6531217098236084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9973422884941101, + -0.06905124664484051, + 0.023242888826969905, + -0.0313536673784256 + ], + [ + 0.06373713910579681, + 0.9814501390502418, + 0.18081262325985162, + -0.13877928256988525 + ], + [ + -0.03529707342386246, + -0.17885064999568373, + 0.9832429080232622, + 0.6543930172920227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9971978068351748, + -0.06778546106917668, + 0.03164986776250713, + -0.033457957208156586 + ], + [ + 0.06095363572239877, + 0.9814827032050898, + 0.18159395833646289, + -0.139541357755661 + ], + [ + -0.043373230844736106, + -0.1791559155436356, + 0.9828641361194597, + 0.6547037959098816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9969214200973511, + -0.06800203648474781, + 0.039030467611478596, + -0.037289924919605255 + ], + [ + 0.05985001474618912, + 0.9815722070153334, + 0.1814772919480836, + -0.1411435455083847 + ], + [ + -0.050652049481868744, + -0.17858263032510988, + 0.9826203064881889, + 0.6530114412307739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9968252778053284, + -0.06731633849324398, + 0.04251929782414632, + -0.04093078896403313 + ], + [ + 0.058602262288331985, + 0.9818206247885983, + 0.18053811097714842, + -0.1410517692565918 + ], + [ + -0.05389948561787605, + -0.17747322889157474, + 0.9826485249758649, + 0.6537958979606628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9968588948249817, + -0.06631222071836487, + 0.043302218178508746, + -0.04459498077630997 + ], + [ + 0.057380709797143936, + 0.9815824078593328, + 0.18221801408483157, + -0.14155344665050507 + ], + [ + -0.05458797886967659, + -0.17916093784989817, + 0.9823042044901724, + 0.6537533402442932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9967024326324463, + -0.07021742028559307, + 0.04066669603578313, + -0.047628600150346756 + ], + [ + 0.061561573296785355, + 0.9808506092034494, + 0.1847760917079108, + -0.1421995908021927 + ], + [ + -0.05286245793104172, + -0.18166327294884727, + 0.9819388765776436, + 0.6524772047996521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9970519542694092, + -0.06623623965413147, + 0.038732016438706704, + -0.05082652345299721 + ], + [ + 0.05786430835723877, + 0.9805864717046319, + 0.18735506993290996, + -0.14310063421726227 + ], + [ + -0.050389789044857025, + -0.18456153419063837, + 0.9815283504169071, + 0.6548093557357788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9973938465118408, + -0.06020956869867249, + 0.03975377175149178, + -0.05155029520392418 + ], + [ + 0.051729414612054825, + 0.9808596445826557, + 0.18771902385587516, + -0.14135608077049255 + ], + [ + -0.050295352935791016, + -0.1851733560004228, + 0.9814179569394558, + 0.6592794060707092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9970531463623047, + -0.06087001409943381, + 0.04668955667481784, + -0.04902081564068794 + ], + [ + 0.05099886283278465, + 0.9805878562000843, + 0.18933186427687881, + -0.1448870152235031 + ], + [ + -0.05730784311890602, + -0.18639280939655753, + 0.9808024714771814, + 0.6557954549789429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9950366020202637, + -0.06673790790388329, + 0.07381212803170414, + -0.05245975777506828 + ], + [ + 0.0523030050098896, + 0.9817919954300194, + 0.1826168926917148, + -0.13942484557628632 + ], + [ + -0.08465562760829926, + -0.17784988532812876, + 0.9804095031389929, + 0.6623846292495728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9947372078895569, + -0.06737977562549367, + 0.0771871874761301, + -0.055426448583602905 + ], + [ + 0.05202095955610275, + 0.9811566540726036, + 0.18607921640798492, + -0.13941065967082977 + ], + [ + -0.08827069401741028, + -0.1810845594759542, + 0.9794981415892939, + 0.6617183685302734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9944118857383728, + -0.06655690017942437, + 0.0819463226233523, + -0.05899406969547272 + ], + [ + 0.050263866782188416, + 0.9810928286104647, + 0.1868968330515282, + -0.13974249362945557 + ], + [ + -0.09283621609210968, + -0.18173349384037013, + 0.9789557774109854, + 0.6610715985298157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9942619204521179, + -0.06508028970555736, + 0.08489839496129584, + -0.0613916851580143 + ], + [ + 0.048201728612184525, + 0.9810705014723475, + 0.18755602679383648, + -0.13772083818912506 + ], + [ + -0.09549751877784729, + -0.18238757000542233, + 0.9785780433792947, + 0.6629935503005981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9939408302307129, + -0.06535636143120452, + 0.08837493180712015, + -0.06421488523483276 + ], + [ + 0.04777016490697861, + 0.9809689429983045, + 0.18819640963389103, + -0.13539987802505493 + ], + [ + -0.09899289160966873, + -0.18283442024514474, + 0.9781472163088011, + 0.6642552018165588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9936599135398865, + -0.06616373823402191, + 0.09089724498531691, + -0.06817710399627686 + ], + [ + 0.04790669307112694, + 0.98060023176104, + 0.19007414681226287, + -0.13439123332500458 + ], + [ + -0.10170987993478775, + -0.1845144680811934, + 0.9775527962265288, + 0.6632059216499329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9936466813087463, + -0.06481203748248075, + 0.09200892209333571, + -0.07196924090385437 + ], + [ + 0.04620564728975296, + 0.9803853463038091, + 0.19159751490738045, + -0.13279826939105988 + ], + [ + -0.10262201726436615, + -0.18612890915895627, + 0.977151354826743, + 0.6632260084152222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9936120510101318, + -0.06372276557389422, + 0.0931367861900281, + -0.07537822425365448 + ], + [ + 0.04476667940616608, + 0.9801705195619048, + 0.19303286536642567, + -0.13143546879291534 + ], + [ + -0.10359051823616028, + -0.1876303586524095, + 0.9767619065433456, + 0.6641026139259338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.993478536605835, + -0.0624656704348984, + 0.09538554374959321, + -0.0783345028758049 + ], + [ + 0.0429309718310833, + 0.9799431973436665, + 0.19459772712439796, + -0.13034316897392273 + ], + [ + -0.10562808811664581, + -0.18923367807347588, + 0.9762342788773379, + 0.6654735207557678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9930721521377563, + -0.0629330205114288, + 0.09923291543000697, + -0.08155648410320282 + ], + [ + 0.04246654361486435, + 0.9796257804170828, + 0.1962904126047999, + -0.1297016739845276 + ], + [ + -0.10956427454948425, + -0.1907164553547145, + 0.975511588285844, + 0.6664372086524963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9925575256347656, + -0.0630927451272999, + 0.10415785988803875, + -0.08618628978729248 + ], + [ + 0.04141625389456749, + 0.9792277598935943, + 0.19848863188638305, + -0.1303131878376007 + ], + [ + -0.1145174577832222, + -0.19269754856713323, + 0.9745529047757953, + 0.6652597784996033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.992238461971283, + -0.061738621313624814, + 0.10794080140153423, + -0.09062552452087402 + ], + [ + 0.039100971072912216, + 0.9789179967127076, + 0.20047620300643912, + -0.13091769814491272 + ], + [ + -0.11804231256246567, + -0.19469959934701267, + 0.9737340775790696, + 0.6654977202415466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9921202659606934, + -0.06051317292761186, + 0.10970664169445712, + -0.09470047801733017 + ], + [ + 0.03735599294304848, + 0.9786724452714595, + 0.20200179916226443, + -0.13119709491729736 + ], + [ + -0.1195906326174736, + -0.19631188804077973, + 0.9732213393810208, + 0.6649783849716187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.992163896560669, + -0.06007381290004064, + 0.10955319609669759, + -0.09746584296226501 + ], + [ + 0.03678654134273529, + 0.9784127634591326, + 0.20335972883979792, + -0.13067807257175446 + ], + [ + -0.11940484493970871, + -0.1977361040002328, + 0.9729557563867812, + 0.6652202010154724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9922200441360474, + -0.05999569006651225, + 0.10908661552371994, + -0.09943733364343643 + ], + [ + 0.03664446622133255, + 0.9781477173589535, + 0.20465638115674975, + -0.1290668100118637 + ], + [ + -0.11898133158683777, + -0.19906673772368028, + 0.972736256742962, + 0.6657525897026062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9921925663948061, + -0.06052230912379186, + 0.10904556180676465, + -0.1014070212841034 + ], + [ + 0.03695765137672425, + 0.9777681666445541, + 0.20640617320497565, + -0.12759658694267273 + ], + [ + -0.11911345273256305, + -0.2007646095079865, + 0.9723710962787423, + 0.6663854122161865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9922837615013123, + -0.061566244774926615, + 0.1076220123895224, + -0.10277906805276871 + ], + [ + 0.038052625954151154, + 0.9773359053526917, + 0.20824639060406253, + -0.12655961513519287 + ], + [ + -0.11800380796194077, + -0.20254421029677805, + 0.9721372988438671, + 0.6664682626724243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9925388097763062, + -0.06078061039630701, + 0.10569968629478571, + -0.10521915555000305 + ], + [ + 0.0374995619058609, + 0.9770455136922037, + 0.2097040635868881, + -0.12542462348937988 + ], + [ + -0.1160193458199501, + -0.20417573374853717, + 0.972034851904027, + 0.6665616631507874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9929136037826538, + -0.060549638594323024, + 0.10225600900385257, + -0.1061704009771347 + ], + [ + 0.037839170545339584, + 0.9767626984294604, + 0.2109568126138854, + -0.1239895150065422 + ], + [ + -0.1126532182097435, + -0.20559261868839013, + 0.9721321710537176, + 0.6657305359840393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9931296110153198, + -0.0609959630195778, + 0.09986518304016141, + -0.10729221254587173 + ], + [ + 0.038625892251729965, + 0.9764465366465392, + 0.21227396422958625, + -0.12266796827316284 + ], + [ + -0.11046086251735687, + -0.20695817832622732, + 0.9720939909382319, + 0.6650198698043823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9932031631469727, + -0.06238481260302473, + 0.0982626852475119, + -0.10834044963121414 + ], + [ + 0.04020237550139427, + 0.9761417622025174, + 0.21337998905371366, + -0.12078002840280533 + ], + [ + -0.10922998189926147, + -0.2079792905167333, + 0.9720151230769248, + 0.6651608943939209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9931519031524658, + -0.06403676981581147, + 0.09771674051949011, + -0.10988607257604599 + ], + [ + 0.04177039861679077, + 0.9757429568687609, + 0.21489742416026675, + -0.11925271153450012 + ], + [ + -0.10910775512456894, + -0.20934412777138428, + 0.9717358534432741, + 0.6656067371368408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9931012392044067, + -0.06463104448598003, + 0.09784065068313692, + -0.1112438440322876 + ], + [ + 0.04216104373335838, + 0.9753983160827633, + 0.21638070976220034, + -0.11744412034749985 + ], + [ + -0.10941851884126663, + -0.21076287669826968, + 0.9713941406493583, + 0.6662415266036987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9929545521736147, + -0.06567507240477521, + 0.09863101614829924, + -0.1121583804488182 + ], + [ + 0.04278706386685372, + 0.9749181607998763, + 0.21841210821083032, + -0.1160847544670105 + ], + [ + -0.11050139367580417, + -0.21265316775322723, + 0.9708594743685854, + 0.6671416759490967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9927260875701904, + -0.06613058068603861, + 0.10060651170310705, + -0.11367707699537277 + ], + [ + 0.042560867965221405, + 0.9744453179157924, + 0.22055580093884433, + -0.1153889149427414 + ], + [ + -0.11262103170156479, + -0.21466960295310383, + 0.9701718896309939, + 0.6670175194740295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9925193190574646, + -0.06698306292052242, + 0.10207169283143147, + -0.11501126736402512 + ], + [ + 0.04282226786017418, + 0.9739371474266721, + 0.2227391390426988, + -0.11519380658864975 + ], + [ + -0.11433115601539612, + -0.21670195809639312, + 0.969519799986165, + 0.6671432852745056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9923714399337769, + -0.06726746109104509, + 0.1033152484448257, + -0.11657536774873734 + ], + [ + 0.042577262967824936, + 0.9734637300221947, + 0.22484552628023038, + -0.1154734194278717 + ], + [ + -0.1156984344124794, + -0.21873140243275624, + 0.9689016845389026, + 0.6666832566261292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9922388195991518, + -0.06783765384605436, + 0.10421245673035025, + -0.11765113472938538 + ], + [ + 0.04270765557885171, + 0.9730147054997642, + 0.2267563862576984, + -0.11565378308296204 + ], + [ + -0.11678286641836169, + -0.220545803713948, + 0.9683600868404394, + 0.6671380996704102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9921472072601321, + -0.06820069436575352, + 0.10484542959652068, + -0.11868206411600113 + ], + [ + 0.04271174594759942, + 0.9726086432396246, + 0.2284910629322876, + -0.11587385088205338 + ], + [ + -0.11755682528018954, + -0.22221863358921698, + 0.9678838980392465, + 0.66697096824646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9921106696128845, + -0.06797112127033283, + 0.10533942922949407, + -0.12027724087238312 + ], + [ + 0.04216334968805313, + 0.9722223210628297, + 0.23023033927635933, + -0.1161261722445488 + ], + [ + -0.11806236207485199, + -0.22397250932658933, + 0.9674180144834653, + 0.6666622161865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9921705722808838, + -0.06738400375321627, + 0.10515211127776632, + -0.1214999333024025 + ], + [ + 0.041426852345466614, + 0.9718564309043168, + 0.231902869698259, + -0.11629464477300644 + ], + [ + -0.11781930178403854, + -0.225731077562385, + 0.9670388372601545, + 0.6658285856246948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9922382235527039, + -0.06865938592713841, + 0.10367834943476457, + -0.1218048483133316 + ], + [ + 0.04281478002667427, + 0.9714031199117604, + 0.2335442078488063, + -0.11617238819599152 + ], + [ + -0.11674846708774567, + -0.22729251580751314, + 0.9668029058040373, + 0.6655156016349792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9923568367958071, + -0.06843252656960791, + 0.10268814277070303, + -0.12280050665140152 + ], + [ + 0.04258453100919724, + 0.9709371981428657, + 0.23551538883142017, + -0.11641662567853928 + ], + [ + -0.11582064628601077, + -0.22934238073304894, + 0.9664303351759933, + 0.6651522517204285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9924716949462891, + -0.06786323968281927, + 0.10195346709397653, + -0.12377877533435822 + ], + [ + 0.041992370039224625, + 0.9705419797386917, + 0.2372443799762882, + -0.11635568737983704 + ], + [ + -0.1150502935051918, + -0.23117706392735468, + 0.9660851773430547, + 0.6653725504875183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9925404191017153, + -0.06789915684439517, + 0.10125792723127384, + -0.12472337484359741 + ], + [ + 0.04202362149953843, + 0.9701956586945998, + 0.23865116555259963, + -0.11590293794870377 + ], + [ + -0.11444421112537387, + -0.23261571113650237, + 0.9658118066804257, + 0.6651210188865662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9925409555435183, + -0.0685287343857039, + 0.10082793076677306, + -0.12595663964748383 + ], + [ + 0.042553763836622245, + 0.9697833721855246, + 0.24022782165182785, + -0.11566058546304703 + ], + [ + -0.11424375325441363, + -0.23414534187305439, + 0.9654658611589768, + 0.6650540232658386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9926025271415713, + -0.06826395745965318, + 0.1004002314619983, + -0.12730582058429718 + ], + [ + 0.042190726846456535, + 0.9693653889151189, + 0.2419725111913701, + -0.11578772217035294 + ], + [ + -0.1138425096869469, + -0.23594656936197647, + 0.965074649055096, + 0.6644630432128906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9926797747612, + -0.06770124288406902, + 0.10001686539022, + -0.12878082692623138 + ], + [ + 0.04156218469142914, + 0.9690289943248316, + 0.24342421352573898, + -0.11541574448347092 + ], + [ + -0.11339937150478363, + -0.237485390453694, + 0.9647493575097302, + 0.6643636226654053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9927608966827393, + -0.06618746496828291, + 0.1002249435572343, + -0.1305270940065384 + ], + [ + 0.0398876890540123, + 0.9687845929833225, + 0.244674158231661, + -0.11514024436473846 + ], + [ + -0.11329074203968048, + -0.23890518683765338, + 0.9644114948786925, + 0.6637400388717651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9927971959114075, + -0.0657583071910068, + 0.10014776743794535, + -0.13200141489505768 + ], + [ + 0.03929052874445915, + 0.9683834011705775, + 0.24635320613895756, + -0.1151321679353714 + ], + [ + -0.1131812036037445, + -0.24064390885594272, + 0.9639919888282951, + 0.6636678576469421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9928642511367798, + -0.06530285527953007, + 0.09978036612968444, + -0.13326160609722137 + ], + [ + 0.038744814693927765, + 0.9679886420820139, + 0.24798547768332674, + -0.11493024975061417 + ], + [ + -0.11278042942285538, + -0.24234994622429398, + 0.9636114719723989, + 0.663068413734436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9929565191268921, + -0.0638155430730469, + 0.09982421167396752, + -0.13457725942134857 + ], + [ + 0.037047915160655975, + 0.9675348671417814, + 0.25000742183049995, + -0.1151110902428627 + ], + [ + -0.11253777146339417, + -0.24454822620921188, + 0.9630843083209587, + 0.6634178757667542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/boom_down/transforms.json b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..0fc44a088fbb0fb69af3dc5ccb69241a5ec4b3ad --- /dev/null +++ b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/boom_down/transforms.json @@ -0,0 +1,5368 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 153, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 7.486010872526094e-05, + 0.0002196452987845987, + -0.0002654411073308438 + ], + [ + -7.484106026822701e-05, + 1.0, + -8.672619151184335e-05, + 0.0001142723995144479 + ], + [ + -0.00021965178893879056, + 8.67097478476353e-05, + 1.0, + 0.00021108951477799565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999338388442993, + -0.009409398771822453, + 0.006617182865738869, + 0.011815125229890998 + ], + [ + 0.00942306313663721, + 0.9999535083770752, + -0.0020369677804410458, + 0.0014534997778307451 + ], + [ + -0.006597708910703659, + 0.0020991871133446693, + 0.9999760389328003, + -6.374458998355916e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997265338897705, + -0.01911240443587303, + 0.013475535437464714, + 0.023080749108799193 + ], + [ + 0.019168775528669357, + 0.9998080134391785, + -0.004066530615091324, + 0.002067707546398436 + ], + [ + -0.013395227491855621, + 0.004323728382587433, + 0.9999009370803833, + -0.0016556809264186181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993758797645569, + -0.028921371325850487, + 0.020282726734876633, + 0.0342587205029926 + ], + [ + 0.02905130200088024, + 0.9995590448379517, + -0.006140855140984058, + 0.0024351502535864713 + ], + [ + -0.020096182823181152, + 0.006726262159645557, + 0.9997754096984863, + -0.0012133333568559272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9989352822303772, + -0.037066735327243805, + 0.027465980499982834, + 0.04410490662251648 + ], + [ + 0.03730567544698715, + 0.999269962310791, + -0.008238716050982475, + 0.0027812665314597422 + ], + [ + -0.027140546590089798, + 0.009254580363631248, + 0.9995887875556946, + -0.0021234631268797735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9983547329902649, + -0.04569840803742409, + 0.03463355824351311, + 0.053551222332508155 + ], + [ + 0.04611467197537422, + 0.9988720417022705, + -0.011316673830151558, + 0.004224879002370136 + ], + [ + -0.034077342599630356, + 0.012895170599222183, + 0.9993360042572021, + -0.0014131202325715047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9977129697799683, + -0.053892139345407486, + 0.04079800471663475, + 0.06297499371300402 + ], + [ + 0.05444388464093208, + 0.9984381198883057, + -0.012534970417618752, + 0.003935865673319265 + ], + [ + -0.04005875065922737, + 0.014727504923939705, + 0.9990887641906738, + -0.0020253315004275033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9970232248306274, + -0.0614449717104435, + 0.04657505080103874, + 0.07216706405589847 + ], + [ + 0.06219964101910591, + 0.9979520440101624, + -0.014929651282727718, + 0.005354540992993861 + ], + [ + -0.04556231573224068, + 0.01778215914964676, + 0.9988031983375549, + -0.001440383165486549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.996251106262207, + -0.06872429698705673, + 0.05254223570227623, + 0.0798717553286176 + ], + [ + 0.06967084854841232, + 0.9974352121353149, + -0.016398794949054718, + 0.0064622481047224845 + ], + [ + -0.05128047987818718, + 0.019997980445623398, + 0.9984840750694275, + -0.0005918951545792975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9954705834388733, + -0.07528886198997498, + 0.058051031082868576, + 0.08708918967137211 + ], + [ + 0.07648171484470367, + 0.9968973994255066, + -0.01860480196774006, + 0.008371763634740521 + ], + [ + -0.05647018924355507, + 0.022960374131798744, + 0.9981402158737183, + 0.0014417928214626092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9946188926696777, + -0.08198574930429459, + 0.06333675980567932, + 0.09356702604380093 + ], + [ + 0.08339744061231613, + 0.9963161945343018, + -0.0199715718626976, + 0.009447061652807813 + ], + [ + -0.06146605685353279, + 0.025146227329969406, + 0.9977923631668091, + 0.004291341860631579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9937976002693176, + -0.08808811008930206, + 0.06787349283695221, + 0.09958203075159537 + ], + [ + 0.08970342576503754, + 0.9957444667816162, + -0.02112470753490925, + 0.010247790646788322 + ], + [ + -0.06572382152080536, + 0.02708216942846775, + 0.9974702596664429, + 0.0057880575756395335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.992946445941925, + -0.09379029273986816, + 0.07253063470125198, + 0.10421348755296908 + ], + [ + 0.09565320611000061, + 0.9951571226119995, + -0.022644715383648872, + 0.011776046366675905 + ], + [ + -0.0700555220246315, + 0.029422776773571968, + 0.997109055519104, + 0.007827428826376012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9920786023139954, + -0.09927861392498016, + 0.07696626335382462, + 0.10790557125093121 + ], + [ + 0.10140794515609741, + 0.9945490956306458, + -0.024260051548480988, + 0.013446195369684381 + ], + [ + -0.07413821667432785, + 0.03187286853790283, + 0.9967384934425354, + 0.00940371183188338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9912728071212769, + -0.10420301556587219, + 0.08074606955051422, + 0.11106620411339559 + ], + [ + 0.10652104020118713, + 0.9939975738525391, + -0.02494071051478386, + 0.014232144661639865 + ], + [ + -0.07766249775886536, + 0.03332420065999031, + 0.9964225888252258, + 0.008481383563852625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9904168248176575, + -0.10920058190822601, + 0.08455628156661987, + 0.11321549093056667 + ], + [ + 0.11181765794754028, + 0.9933660626411438, + -0.02684522047638893, + 0.01669812930355731 + ], + [ + -0.08106382191181183, + 0.036042843014001846, + 0.9960570335388184, + 0.007525089552233878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9896203279495239, + -0.11374238133430481, + 0.08783086389303207, + 0.1154202200080219 + ], + [ + 0.11657829582691193, + 0.9927910566329956, + -0.0278471652418375, + 0.018227061354800275 + ], + [ + -0.08403029292821884, + 0.037797294557094574, + 0.9957460761070251, + 0.005343660378926678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9887679815292358, + -0.11818021535873413, + 0.09149499237537384, + 0.11672949339998395 + ], + [ + 0.12130987644195557, + 0.992178738117218, + -0.029416179284453392, + 0.020952066808546846 + ], + [ + -0.08730296790599823, + 0.04018501937389374, + 0.9953709840774536, + 0.0019885142787212603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9880070090293884, + -0.12232591956853867, + 0.09422606974840164, + 0.1193934655209121 + ], + [ + 0.1257130205631256, + 0.9915862679481506, + -0.03086874634027481, + 0.02365423184084265 + ], + [ + -0.08965722471475601, + 0.04234398156404495, + 0.9950721263885498, + -0.0026686590851137514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9871285557746887, + -0.1264643669128418, + 0.097897969186306, + 0.12149390578269958 + ], + [ + 0.13012224435806274, + 0.9909846186637878, + -0.031902045011520386, + 0.026390028558671473 + ], + [ + -0.09298091381788254, + 0.04423011839389801, + 0.9946849942207336, + -0.008447379246354103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9863113164901733, + -0.13061530888080597, + 0.10064583271741867, + 0.1249364196862045 + ], + [ + 0.1345066875219345, + 0.9903672933578491, + -0.03287120908498764, + 0.030167236237933763 + ], + [ + -0.09538286179304123, + 0.045958779752254486, + 0.9943791627883911, + -0.017387527972459793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9854454398155212, + -0.1344515085220337, + 0.10401938110589981, + 0.12833162663798584 + ], + [ + 0.13864803314208984, + 0.9897513389587402, + -0.03419088199734688, + 0.03589971577258486 + ], + [ + -0.09835629910230637, + 0.048115331679582596, + 0.9939873814582825, + -0.028332010595324007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.984514594078064, + -0.13797539472579956, + 0.10813789069652557, + 0.13083979150182323 + ], + [ + 0.14246487617492676, + 0.9891838431358337, + -0.03491576761007309, + 0.042816570205123805 + ], + [ + -0.10215073823928833, + 0.04978092759847641, + 0.993522584438324, + -0.04026856515556574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9835415482521057, + -0.14122694730758667, + 0.112698495388031, + 0.13340714946389198 + ], + [ + 0.146053284406662, + 0.9886308312416077, + -0.03574281185865402, + 0.05193783495771258 + ], + [ + -0.10636936128139496, + 0.05161452293395996, + 0.9929861426353455, + -0.05333662566385771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9825727343559265, + -0.14466817677021027, + 0.11671313643455505, + 0.13694419900053426 + ], + [ + 0.14964686334133148, + 0.9881184101104736, + -0.03503997623920441, + 0.0605856738592449 + ], + [ + -0.11025723814964294, + 0.05189507454633713, + 0.992547333240509, + -0.06619355486411797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9815168976783752, + -0.14834892749786377, + 0.12090172618627548, + 0.14071403090891085 + ], + [ + 0.15355730056762695, + 0.9875227212905884, + -0.03491394221782684, + 0.07115738446775235 + ], + [ + -0.11421375721693039, + 0.05283396691083908, + 0.992050290107727, + -0.07871082809900767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9804078340530396, + -0.1519862711429596, + 0.1253024786710739, + 0.14465209414300165 + ], + [ + 0.1573057770729065, + 0.9869763255119324, + -0.033654287457466125, + 0.0814646662850129 + ], + [ + -0.11855559796094894, + 0.05270572751760483, + 0.9915476441383362, + -0.09124918753575338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9792719483375549, + -0.15514804422855377, + 0.13021358847618103, + 0.14883930076305804 + ], + [ + 0.1605307012796402, + 0.9865168929100037, + -0.03184787929058075, + 0.09256260249959795 + ], + [ + -0.12351676821708679, + 0.05209100991487503, + 0.9909743070602417, + -0.10172204095380087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9778348803520203, + -0.1601947396993637, + 0.13482047617435455, + 0.15479920377072534 + ], + [ + 0.16554240882396698, + 0.9857654571533203, + -0.02936270833015442, + 0.10423199754012258 + ], + [ + -0.12819762527942657, + 0.05103038251399994, + 0.9904348850250244, + -0.11231495334129585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9764490723609924, + -0.1634153127670288, + 0.1408640593290329, + 0.1595309452790963 + ], + [ + 0.16890498995780945, + 0.9852386116981506, + -0.02785685285925865, + 0.11778148259771498 + ], + [ + -0.13423247635364532, + 0.05099343881011009, + 0.9896369576454163, + -0.12241944983650586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9747384190559387, + -0.1686803102493286, + 0.14639659225940704, + 0.16539092440354197 + ], + [ + 0.17388007044792175, + 0.9844890832901001, + -0.023386262357234955, + 0.12894629059653534 + ], + [ + -0.1401810497045517, + 0.04825093597173691, + 0.9889494776725769, + -0.13484129030257463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9727408289909363, + -0.17421966791152954, + 0.15304487943649292, + 0.17012951048581224 + ], + [ + 0.17926058173179626, + 0.983604907989502, + -0.019672542810440063, + 0.14137110396435387 + ], + [ + -0.14710834622383118, + 0.04657120257616043, + 0.9880234003067017, + -0.14605865631938764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9704703688621521, + -0.18006034195423126, + 0.1605164110660553, + 0.1740164976370962 + ], + [ + 0.18495769798755646, + 0.9826164841651917, + -0.015984144061803818, + 0.15394709173001742 + ], + [ + -0.15484794974327087, + 0.045200884342193604, + 0.986903727054596, + -0.15690973950059792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9679154753684998, + -0.1860344260931015, + 0.16891080141067505, + 0.17791124661698154 + ], + [ + 0.1904001086950302, + 0.9816568493843079, + -0.009882360696792603, + 0.16359015346357697 + ], + [ + -0.16397398710250854, + 0.041725918650627136, + 0.9855818152427673, + -0.16747974813180536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9535432457923889, + -0.2096485197544098, + 0.2163396179676056, + 0.11353284947966275 + ], + [ + 0.2042618691921234, + 0.9777764678001404, + 0.04722607880830765, + 0.10203551728474466 + ], + [ + -0.2214326560497284, + -0.0008421782404184341, + 0.9751753211021423, + -0.2055327774589195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9606420993804932, + -0.20141346752643585, + 0.1913096159696579, + 0.17901605117673935 + ], + [ + 0.1995498090982437, + 0.9794536232948303, + 0.02916313335299492, + 0.14945210810554654 + ], + [ + -0.19325275719165802, + 0.010160461999475956, + 0.9810963869094849, + -0.23099087691240894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9576839208602905, + -0.21403126418590546, + 0.19243745505809784, + 0.20267218841533913 + ], + [ + 0.21720202267169952, + 0.9761152863502502, + 0.0047199297696352005, + 0.19718522743174904 + ], + [ + -0.18885134160518646, + 0.03727760165929794, + 0.9812979102134705, + -0.19537586297251677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.952888548374176, + -0.22093382477760315, + 0.2078259438276291, + 0.2076758728019501 + ], + [ + 0.22392362356185913, + 0.9745620489120483, + 0.009332165122032166, + 0.2069630523261271 + ], + [ + -0.20460106432437897, + 0.03764461725950241, + 0.978121280670166, + -0.20252625411376357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9271285533905029, + -0.24985088407993317, + 0.27929773926734924, + 0.11507299952208996 + ], + [ + 0.23404096066951752, + 0.9681298732757568, + 0.08915950357913971, + 0.11035083085298539 + ], + [ + -0.2926730811595917, + -0.01729520782828331, + 0.9560561180114746, + -0.25013428246602415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9124606847763062, + -0.28992247581481934, + 0.28872203826904297, + 0.12414171632967497 + ], + [ + 0.2748124599456787, + 0.9570366740226746, + 0.09251425415277481, + 0.11679985095795832 + ], + [ + -0.3031395673751831, + -0.00507122278213501, + 0.9529327154159546, + -0.22596718366993102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9027099013328552, + -0.30045634508132935, + 0.3079622685909271, + 0.12885500882801257 + ], + [ + 0.2835652828216553, + 0.9537926316261292, + 0.09934937953948975, + 0.11957815995341853 + ], + [ + -0.32358232140541077, + -0.0023562535643577576, + 0.9461970925331116, + -0.2295151084269348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8812745213508606, + -0.31362080574035645, + 0.35354945063591003, + 0.11637223496248847 + ], + [ + 0.2914339303970337, + 0.9495478868484497, + 0.11586682498455048, + 0.11602010185781278 + ], + [ + -0.37205037474632263, + 0.0009258240461349487, + 0.9282121062278748, + -0.2321473374668705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8721312284469604, + -0.3263741135597229, + 0.36450937390327454, + 0.12842873766234048 + ], + [ + 0.3030738830566406, + 0.945228636264801, + 0.12119840085506439, + 0.11969444194906637 + ], + [ + -0.38410070538520813, + 0.004772353917360306, + 0.9232788681983948, + -0.23632413909133326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.864270031452179, + -0.33876946568489075, + 0.3718501627445221, + 0.14396358769583076 + ], + [ + 0.3148517310619354, + 0.9408286809921265, + 0.12533846497535706, + 0.12374344773982701 + ], + [ + -0.39230814576148987, + 0.008751384913921356, + 0.9197922348976135, + -0.24011224090170705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.855633020401001, + -0.3510538935661316, + 0.38033315539360046, + 0.15892726073139593 + ], + [ + 0.3258659243583679, + 0.9362813830375671, + 0.13110506534576416, + 0.12681768285600764 + ], + [ + -0.4021237790584564, + 0.01175978034734726, + 0.915509819984436, + -0.24346019560961346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8466073870658875, + -0.36290690302848816, + 0.3893001079559326, + 0.17337221544432013 + ], + [ + 0.3370571434497833, + 0.9316796064376831, + 0.1355198472738266, + 0.1306128768544448 + ], + [ + -0.411884069442749, + 0.016484275460243225, + 0.911087155342102, + -0.24701776272176126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8381093740463257, + -0.3741820156574249, + 0.3969389498233795, + 0.1871184551794278 + ], + [ + 0.34812650084495544, + 0.9270997643470764, + 0.1389029175043106, + 0.13496284414278834 + ], + [ + -0.41997697949409485, + 0.02176910638809204, + 0.9072736501693726, + -0.2506729744766888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8278724551200867, + -0.3860226273536682, + 0.4069567322731018, + 0.19675306132749507 + ], + [ + 0.35846996307373047, + 0.9221380949020386, + 0.14546693861484528, + 0.13694681658556587 + ], + [ + -0.4314238429069519, + 0.025453690439462662, + 0.901790201663971, + -0.25411280452665924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8132416605949402, + -0.4000590443611145, + 0.42260006070137024, + 0.19944548544130827 + ], + [ + 0.36699265241622925, + 0.916172444820404, + 0.1610727608203888, + 0.1332364327029178 + ], + [ + -0.4516131579875946, + 0.024100027978420258, + 0.8918883204460144, + -0.25922552590307435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.800495445728302, + -0.4116794764995575, + 0.4355767071247101, + 0.20417943206664763 + ], + [ + 0.3771609365940094, + 0.9108340740203857, + 0.1677226722240448, + 0.1352662557834073 + ], + [ + -0.46578606963157654, + 0.030021272599697113, + 0.8843879699707031, + -0.2613550222478807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7912006378173828, + -0.42177432775497437, + 0.4428408443927765, + 0.20914905047730395 + ], + [ + 0.3861995339393616, + 0.9060561656951904, + 0.17295131087303162, + 0.1380649020797328 + ], + [ + -0.4741850793361664, + 0.034185729920864105, + 0.8797612190246582, + -0.26489028378732893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7883719205856323, + -0.4314103424549103, + 0.43858277797698975, + 0.21092826718170393 + ], + [ + 0.39451298117637634, + 0.901553213596344, + 0.17765501141548157, + 0.13773318274240745 + ], + [ + -0.47204792499542236, + 0.03296840935945511, + 0.8809561729431152, + -0.2785784561236046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7732312679290771, + -0.4401988685131073, + 0.4564410448074341, + 0.2023645106899111 + ], + [ + 0.3983771502971649, + 0.8972340822219849, + 0.1904381364583969, + 0.13223336676233693 + ], + [ + -0.4933651089668274, + 0.034582942724227905, + 0.8691345453262329, + -0.27896382596931957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.762651801109314, + -0.4486672878265381, + 0.4658969044685364, + 0.20442684684929094 + ], + [ + 0.4064124822616577, + 0.8927561044692993, + 0.19446197152137756, + 0.13534805986442064 + ], + [ + -0.5031810402870178, + 0.04103954881429672, + 0.8632060289382935, + -0.2748285572436687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7619649171829224, + -0.45308035612106323, + 0.46273931860923767, + 0.21820594691916517 + ], + [ + 0.41071194410324097, + 0.8905273675918579, + 0.19564446806907654, + 0.14201908754675013 + ], + [ + -0.5007246732711792, + 0.0409783273935318, + 0.8646361231803894, + -0.2761997925019578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7553388476371765, + -0.45733121037483215, + 0.4693734049797058, + 0.21825646148308328 + ], + [ + 0.41277989745140076, + 0.8883169293403625, + 0.20126056671142578, + 0.14261401974056898 + ], + [ + -0.5089950561523438, + 0.04172797501087189, + 0.8597574234008789, + -0.2765448799748954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7476083040237427, + -0.46362730860710144, + 0.47553306818008423, + 0.2197571260364432 + ], + [ + 0.41872766613960266, + 0.8848179578781128, + 0.20436331629753113, + 0.14413260048941562 + ], + [ + -0.5155085921287537, + 0.046335093677043915, + 0.8556307554244995, + -0.27507259904554016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7409449815750122, + -0.46880772709846497, + 0.48085328936576843, + 0.22027346082031726 + ], + [ + 0.42371925711631775, + 0.8818568587303162, + 0.20685862004756927, + 0.14478265419602393 + ], + [ + -0.5210207104682922, + 0.050475940108299255, + 0.852050244808197, + -0.27437289264053105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7370342016220093, + -0.4708939492702484, + 0.48480871319770813, + 0.2217176905195964 + ], + [ + 0.42591890692710876, + 0.8805760145187378, + 0.20779554545879364, + 0.147173598879262 + ], + [ + -0.5247606039047241, + 0.05333675444126129, + 0.8495773077011108, + -0.2735194983254922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.733278751373291, + -0.47555649280548096, + 0.4859509766101837, + 0.2243735003628229 + ], + [ + 0.43025994300842285, + 0.8779549598693848, + 0.2099321484565735, + 0.1474028739490007 + ], + [ + -0.5264776945114136, + 0.05514641851186752, + 0.8483985662460327, + -0.2741846442565714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7299193739891052, + -0.4792203903198242, + 0.48740702867507935, + 0.22690616312779877 + ], + [ + 0.43289369344711304, + 0.8759338855743408, + 0.2129388153553009, + 0.14628592486444272 + ], + [ + -0.5289809107780457, + 0.05556723475456238, + 0.8468125462532043, + -0.2730972245335579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7269030809402466, + -0.4841855764389038, + 0.4870075583457947, + 0.2305827859985201 + ], + [ + 0.4368501901626587, + 0.873192548751831, + 0.2160942107439041, + 0.14405643626263268 + ], + [ + -0.5298810601234436, + 0.055669769644737244, + 0.8462428450584412, + -0.273052856767256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7242805361747742, + -0.48809078335762024, + 0.4870165288448334, + 0.23316755737913283 + ], + [ + 0.4403545558452606, + 0.8709574937820435, + 0.21799282729625702, + 0.14317272070207093 + ], + [ + -0.5305709838867188, + 0.056571975350379944, + 0.8457505702972412, + -0.2723341515385791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7222667932510376, + -0.49074244499206543, + 0.48734232783317566, + 0.23648695428120464 + ], + [ + 0.4425734877586365, + 0.8694324493408203, + 0.21958135068416595, + 0.14289007367272127 + ], + [ + -0.5314691066741943, + 0.057088449597358704, + 0.8451517820358276, + -0.27003775965422394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7200033068656921, + -0.4935426712036133, + 0.4878636300563812, + 0.23932063391334132 + ], + [ + 0.4453998804092407, + 0.8677505254745483, + 0.2205176055431366, + 0.14307523448216286 + ], + [ + -0.5321787595748901, + 0.05852096527814865, + 0.8446070551872253, + -0.2679224167999468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7186486721038818, + -0.49534931778907776, + 0.4880298376083374, + 0.2421449570867576 + ], + [ + 0.4471587836742401, + 0.8666703701019287, + 0.22120466828346252, + 0.1433315026132684 + ], + [ + -0.5325345993041992, + 0.059258364140987396, + 0.8443313241004944, + -0.26606516718962475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7161622643470764, + -0.49725329875946045, + 0.4897455871105194, + 0.24425001379690672 + ], + [ + 0.4491681456565857, + 0.8654537796974182, + 0.22189579904079437, + 0.14330094660583295 + ], + [ + -0.5341905951499939, + 0.06106473505496979, + 0.8431556820869446, + -0.2628452059273657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7124788761138916, + -0.5017019510269165, + 0.49058035016059875, + 0.24625124688211242 + ], + [ + 0.4538414478302002, + 0.8626941442489624, + 0.22312942147254944, + 0.14236146611602682 + ], + [ + -0.5351652503013611, + 0.06367069482803345, + 0.8423444628715515, + -0.2601254653381674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7072316408157349, + -0.5058014392852783, + 0.4939517378807068, + 0.245992710715846 + ], + [ + 0.46034589409828186, + 0.8597296476364136, + 0.22123877704143524, + 0.14485098539214386 + ], + [ + -0.5365678668022156, + 0.07092158496379852, + 0.8408716320991516, + -0.25701958650821133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7088268995285034, + -0.5011103749275208, + 0.49644020199775696, + 0.2441700511464947 + ], + [ + 0.44815048575401306, + 0.8634193539619446, + 0.23166388273239136, + 0.13834437598523341 + ], + [ + -0.544725239276886, + 0.05827031284570694, + 0.83658766746521, + -0.24791586320161035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7064495086669922, + -0.5092297196388245, + 0.491542786359787, + 0.24821420445253975 + ], + [ + 0.45558616518974304, + 0.8586693406105042, + 0.23479411005973816, + 0.1317219028347417 + ], + [ + -0.5416368842124939, + 0.05806984752416611, + 0.8386044502258301, + -0.2536753241070791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7066060304641724, + -0.5129421949386597, + 0.48744046688079834, + 0.25538744102967414 + ], + [ + 0.45840588212013245, + 0.8565908074378967, + 0.23688878118991852, + 0.13013265944625202 + ], + [ + -0.5390472412109375, + 0.05605851113796234, + 0.8404079675674438, + -0.2543807912715956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7055343389511108, + -0.5136846899986267, + 0.48821038007736206, + 0.2592740369470496 + ], + [ + 0.4590679705142975, + 0.8561062812805176, + 0.2373577058315277, + 0.13156374073342272 + ], + [ + -0.539887011051178, + 0.056657709181308746, + 0.8398285508155823, + -0.24954462282751735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6304056644439697, + -0.5233215093612671, + 0.5733440518379211, + 0.13438399473303242 + ], + [ + 0.4432392716407776, + 0.8490173816680908, + 0.2875908315181732, + 0.07364315241575242 + ], + [ + -0.6372814774513245, + 0.07282967120409012, + 0.7671819925308228, + -0.2064225910476556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.623478889465332, + -0.5025610327720642, + 0.5989211797714233, + 0.12482271657178276 + ], + [ + 0.4283827543258667, + 0.8604052066802979, + 0.27602726221084595, + 0.08247825193562006 + ], + [ + -0.6540354490280151, + 0.08447032421827316, + 0.7517329454421997, + -0.1648894466557785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.692449152469635, + -0.515053927898407, + 0.5052065253257751, + 0.24193045085198 + ], + [ + 0.45391494035720825, + 0.8553050756454468, + 0.24982890486717224, + 0.11877404741550747 + ], + [ + -0.5607810616493225, + 0.056326963007450104, + 0.8260459303855896, + -0.2333788118129106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7024346590042114, + -0.5159513354301453, + 0.4902855157852173, + 0.2651276677846909 + ], + [ + 0.4622131288051605, + 0.8545053601264954, + 0.2370224893093109, + 0.13671378344297408 + ], + [ + -0.5412436723709106, + 0.060123562812805176, + 0.8387135863304138, + -0.23886266052722932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7010699510574341, + -0.5140037536621094, + 0.4942682385444641, + 0.2638323611334751 + ], + [ + 0.4596215784549713, + 0.8556593060493469, + 0.23789751529693604, + 0.13977979190255466 + ], + [ + -0.5452054142951965, + 0.06039350479841232, + 0.8361241817474365, + -0.23170463170758204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6960209608078003, + -0.5207414031028748, + 0.4943513870239258, + 0.2688125333503673 + ], + [ + 0.46947816014289856, + 0.8509830832481384, + 0.23541045188903809, + 0.14230936279422357 + ], + [ + -0.5432726144790649, + 0.06823652237653732, + 0.8367787599563599, + -0.23055149409919978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6972241997718811, + -0.5184755325317383, + 0.4950369894504547, + 0.2667685126003466 + ], + [ + 0.4704066216945648, + 0.852001428604126, + 0.2298070639371872, + 0.14645558509387469 + ], + [ + -0.5409215092658997, + 0.07264159619808197, + 0.8379302620887756, + -0.23287604371772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7007420659065247, + -0.5122458934783936, + 0.49655282497406006, + 0.26798972801158305 + ], + [ + 0.46397605538368225, + 0.8559435606002808, + 0.22822552919387817, + 0.14879023401360764 + ], + [ + -0.541928768157959, + 0.07046139240264893, + 0.8374654650688171, + -0.22867998716078305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7012858390808105, + -0.5165933966636658, + 0.49125295877456665, + 0.2699660172980083 + ], + [ + 0.4691143035888672, + 0.8532971143722534, + 0.22763106226921082, + 0.15026044492658816 + ], + [ + -0.5367774367332458, + 0.07081928849220276, + 0.8407465219497681, + -0.23309501023276857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.7049028873443604, + -0.5171411633491516, + 0.48546576499938965, + 0.2736951968387554 + ], + [ + 0.46874839067459106, + 0.8533053994178772, + 0.22835247218608856, + 0.1495845066089379 + ], + [ + -0.5323410034179688, + 0.06659497320652008, + 0.8439065217971802, + -0.23606941274514323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.7034510374069214, + -0.5215265154838562, + 0.4828735291957855, + 0.27489697270487484 + ], + [ + 0.46564480662345886, + 0.8514518141746521, + 0.24125659465789795, + 0.13890786127824534 + ], + [ + -0.5369652509689331, + 0.05513530224561691, + 0.8418007493019104, + -0.23032130063266346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.7005684971809387, + -0.5174944996833801, + 0.49132809042930603, + 0.26446385963966973 + ], + [ + 0.4678799510002136, + 0.8529921770095825, + 0.2312850058078766, + 0.14814236783667614 + ], + [ + -0.5387877225875854, + 0.06785152107477188, + 0.839704692363739, + -0.22760912193671654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.70619797706604, + -0.5167732834815979, + 0.48397305607795715, + 0.2674632086173484 + ], + [ + 0.4635133445262909, + 0.854164183139801, + 0.2357095181941986, + 0.14410228890023735 + ], + [ + -0.535200834274292, + 0.05787036567926407, + 0.8427402973175049, + -0.22987698300398493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.7053415775299072, + -0.5109115839004517, + 0.4913884997367859, + 0.2569791798528872 + ], + [ + 0.4630224406719208, + 0.856951117515564, + 0.22637349367141724, + 0.15256210549881583 + ], + [ + -0.5367527604103088, + 0.06785324215888977, + 0.8410068154335022, + -0.22894823115907217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.7119850516319275, + -0.5083200335502625, + 0.48444610834121704, + 0.25807655151737363 + ], + [ + 0.4578325152397156, + 0.8591428995132446, + 0.22861087322235107, + 0.15064823360819565 + ], + [ + -0.5324159264564514, + 0.059027642011642456, + 0.8444223403930664, + -0.23124688799051862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.7145720720291138, + -0.50968337059021, + 0.47917598485946655, + 0.2575085263503225 + ], + [ + 0.45987576246261597, + 0.8584074378013611, + 0.22726856172084808, + 0.15104482346459439 + ], + [ + -0.5271632075309753, + 0.05796162784099579, + 0.8477849960327148, + -0.23522054529503772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.7195661664009094, + -0.5060887336730957, + 0.47549837827682495, + 0.2539041732486926 + ], + [ + 0.45179399847984314, + 0.8611865043640137, + 0.2328948676586151, + 0.14674970146856808 + ], + [ + -0.5273582339286804, + 0.04724404960870743, + 0.8483285307884216, + -0.234745371395624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.7255055904388428, + -0.5013484358787537, + 0.47147780656814575, + 0.24811581286944842 + ], + [ + 0.45057833194732666, + 0.8638554811477661, + 0.2252395898103714, + 0.15167608033669622 + ], + [ + -0.5202121734619141, + 0.04902510344982147, + 0.852628767490387, + -0.24274459843964954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.7274364233016968, + -0.49972307682037354, + 0.4702266752719879, + 0.24121602969734293 + ], + [ + 0.4442753195762634, + 0.8652628064155579, + 0.2322491705417633, + 0.14469554828185782 + ], + [ + -0.5229299068450928, + 0.03996359556913376, + 0.8514382839202881, + -0.24082772721487442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.7286536693572998, + -0.4982719421386719, + 0.4698818027973175, + 0.23129217279584785 + ], + [ + 0.4420715570449829, + 0.8661899566650391, + 0.2329971194267273, + 0.14292320107158862 + ], + [ + -0.5231028199195862, + 0.037947170436382294, + 0.8514243364334106, + -0.24067633150047377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.7307535409927368, + -0.49414342641830444, + 0.4709794819355011, + 0.2190072190212576 + ], + [ + 0.43856102228164673, + 0.8685547113418579, + 0.23081810772418976, + 0.14474011408655266 + ], + [ + -0.5231286883354187, + 0.03788207471370697, + 0.8514114022254944, + -0.24276639659349855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.7341200113296509, + -0.4901063144207001, + 0.4699612259864807, + 0.2088636397923294 + ], + [ + 0.43532487750053406, + 0.8708741664886475, + 0.22818945348262787, + 0.14628325269410486 + ], + [ + -0.5211141705513, + 0.03706739842891693, + 0.8526816368103027, + -0.24186415388003776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.735008955001831, + -0.48444947600364685, + 0.47441601753234863, + 0.19520416297018528 + ], + [ + 0.4309946596622467, + 0.873934805393219, + 0.22468113899230957, + 0.14907538518309593 + ], + [ + -0.5234553217887878, + 0.039328090846538544, + 0.8511450290679932, + -0.23551994608715177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.7425163984298706, + -0.48451104760169983, + 0.46251314878463745, + 0.18042561317745007 + ], + [ + 0.4290448725223541, + 0.8742762804031372, + 0.2270716428756714, + 0.13956474206949535 + ], + [ + -0.5143829584121704, + 0.029834486544132233, + 0.8570414781570435, + -0.25063255256728123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.7706372141838074, + -0.47004398703575134, + 0.43032193183898926, + 0.20108264992503744 + ], + [ + 0.4160093367099762, + 0.8825839161872864, + 0.2190476357936859, + 0.1482986869388505 + ], + [ + -0.4827572703361511, + 0.010211654007434845, + 0.8756946921348572, + -0.2802208888246433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.7728095054626465, + -0.46671777963638306, + 0.43004655838012695, + 0.20088294422940203 + ], + [ + 0.41932570934295654, + 0.8841539621353149, + 0.20600436627864838, + 0.16294764280319213 + ], + [ + -0.47637325525283813, + 0.02112741768360138, + 0.8789892792701721, + -0.2633206371217966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.7804538607597351, + -0.4630095958709717, + 0.4201355278491974, + 0.19523123581158489 + ], + [ + 0.41482144594192505, + 0.8862516283988953, + 0.20610970258712769, + 0.16052628014432757 + ], + [ + -0.4677765667438507, + 0.01342211663722992, + 0.8837448358535767, + -0.2669871626225741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.783412516117096, + -0.45389920473098755, + 0.4245472848415375, + 0.17551531211325996 + ], + [ + 0.40902382135391235, + 0.8908549547195435, + 0.1976788341999054, + 0.1675027797096654 + ], + [ + -0.46793630719184875, + 0.01878587156534195, + 0.8835625052452087, + -0.260909547048964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.7882930040359497, + -0.44812509417533875, + 0.4216373562812805, + 0.16193797080532502 + ], + [ + 0.4036045968532562, + 0.8938250541687012, + 0.1953972578048706, + 0.16770930298064884 + ], + [ + -0.4644324779510498, + 0.01614445447921753, + 0.8854613900184631, + -0.2588585693977381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8005181550979614, + -0.44388347864151, + 0.40266385674476624, + 0.17341646246219936 + ], + [ + 0.39876091480255127, + 0.896073579788208, + 0.19504337012767792, + 0.16664595313762365 + ], + [ + -0.4473929703235626, + 0.004430860280990601, + 0.8943265080451965, + -0.2660020925104618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.7917172312736511, + -0.43485942482948303, + 0.4290468096733093, + 0.13605581296509817 + ], + [ + 0.39788469672203064, + 0.9000052213668823, + 0.1779842972755432, + 0.18026118631425658 + ], + [ + -0.46354252099990845, + 0.02979787439107895, + 0.8855735063552856, + -0.23894758390654858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8151552081108093, + -0.42993101477622986, + 0.38817697763442993, + 0.16343805695834912 + ], + [ + 0.38576188683509827, + 0.9028477072715759, + 0.18987837433815002, + 0.16697226323579487 + ], + [ + -0.43209928274154663, + -0.005036473274230957, + 0.901811957359314, + -0.26496728909643075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.820561408996582, + -0.42322832345962524, + 0.3841313123703003, + 0.15612569510152466 + ], + [ + 0.3796986937522888, + 0.9059905409812927, + 0.18710988759994507, + 0.1669499534917505 + ], + [ + -0.4272094964981079, + -0.007681019604206085, + 0.9041200280189514, + -0.262168880478528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.827160656452179, + -0.4162408709526062, + 0.37755632400512695, + 0.1518183241549291 + ], + [ + 0.37398338317871094, + 0.9091972708702087, + 0.18302103877067566, + 0.16841689630558615 + ], + [ + -0.41945403814315796, + -0.010188020765781403, + 0.9077193737030029, + -0.26069762605781616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8328419327735901, + -0.4097776412963867, + 0.37209758162498474, + 0.14719715730140084 + ], + [ + 0.36858171224594116, + 0.9121019840240479, + 0.17949247360229492, + 0.1704055942987141 + ], + [ + -0.41294291615486145, + -0.012340493500232697, + 0.9106733202934265, + -0.2581945040655371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.838611900806427, + -0.40415653586387634, + 0.36522266268730164, + 0.14377669982219998 + ], + [ + 0.3633940517902374, + 0.9145456552505493, + 0.17762595415115356, + 0.17113812620702543 + ], + [ + -0.4058015048503876, + -0.016239523887634277, + 0.9138169884681702, + -0.25784540615583723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8444271087646484, + -0.39733707904815674, + 0.3592577576637268, + 0.13993469312002785 + ], + [ + 0.3558822274208069, + 0.9173950552940369, + 0.17814090847969055, + 0.17009514472202253 + ], + [ + -0.4003632664680481, + -0.022573575377464294, + 0.9160784482955933, + -0.26036294317363123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.849764883518219, + -0.392733097076416, + 0.3516537547111511, + 0.13792520996771362 + ], + [ + 0.3529582619667053, + 0.9193497896194458, + 0.1738288402557373, + 0.17398152108255183 + ], + [ + -0.3915611505508423, + -0.023594550788402557, + 0.9198495149612427, + -0.257461732792619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.8546483516693115, + -0.38429921865463257, + 0.3491278886795044, + 0.13179291467133322 + ], + [ + 0.3426940441131592, + 0.9226746559143066, + 0.17672666907310486, + 0.1701039637389936 + ], + [ + -0.3900473713874817, + -0.03139510005712509, + 0.920259416103363, + -0.26340905395091363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8597441911697388, + -0.3775408864021301, + 0.3439517021179199, + 0.12826044543793327 + ], + [ + 0.3364899158477783, + 0.9253537654876709, + 0.1746281534433365, + 0.1701019884724366 + ], + [ + -0.38420623540878296, + -0.03439928591251373, + 0.9226062297821045, + -0.26537468700032485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8646875619888306, + -0.37034493684768677, + 0.33935239911079407, + 0.12383106111695892 + ], + [ + 0.3301492929458618, + 0.9281793236732483, + 0.1717109978199005, + 0.17061267577503858 + ], + [ + -0.3785721957683563, + -0.036439456045627594, + 0.9248542189598083, + -0.26751260406974897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8691304326057434, + -0.36383354663848877, + 0.3350185751914978, + 0.11835865378379821 + ], + [ + 0.3241749405860901, + 0.9306519627571106, + 0.16969838738441467, + 0.17070058286190035 + ], + [ + -0.3735276460647583, + -0.03888542205095291, + 0.9268036484718323, + -0.2703142872080207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.873528003692627, + -0.35741961002349854, + 0.3304542601108551, + 0.11325096966404664 + ], + [ + 0.3183661103248596, + 0.9330348968505859, + 0.16759741306304932, + 0.17159889520783173 + ], + [ + -0.3682279884815216, + -0.04119560122489929, + 0.92882239818573, + -0.27232907800690126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8780645132064819, + -0.3508320152759552, + 0.3254529535770416, + 0.10860459184960315 + ], + [ + 0.3122831881046295, + 0.9354058504104614, + 0.16581663489341736, + 0.17248294055461882 + ], + [ + -0.3626043498516083, + -0.0439642108976841, + 0.9309055805206299, + -0.27409468901980866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8825093507766724, + -0.344427227973938, + 0.3202299177646637, + 0.10414584020250722 + ], + [ + 0.30631494522094727, + 0.9376392960548401, + 0.16432791948318481, + 0.17331464623934345 + ], + [ + -0.3568591773509979, + -0.046929728239774704, + 0.932978630065918, + -0.27582211760853076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.886790931224823, + -0.33798882365226746, + 0.31522274017333984, + 0.09975136749838528 + ], + [ + 0.300291508436203, + 0.9398306608200073, + 0.1629212647676468, + 0.17422530549137216 + ], + [ + -0.35132157802581787, + -0.04981839656829834, + 0.9349284768104553, + -0.2767260110691974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8911631107330322, + -0.33143916726112366, + 0.3098006248474121, + 0.09591890740159312 + ], + [ + 0.2943502962589264, + 0.9420216679573059, + 0.1610996127128601, + 0.17545780927727095 + ], + [ + -0.34523361921310425, + -0.05237612873315811, + 0.9370541572570801, + -0.277321038645153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8949630260467529, + -0.3251459300518036, + 0.3054853081703186, + 0.09185792780236193 + ], + [ + 0.2886522710323334, + 0.9441028237342834, + 0.15921582281589508, + 0.1763478541060498 + ], + [ + -0.3401779532432556, + -0.05431325361132622, + 0.9387912750244141, + -0.27708833399964006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8987240195274353, + -0.3191351294517517, + 0.3007456064224243, + 0.0886371928218164 + ], + [ + 0.28336966037750244, + 0.946054995059967, + 0.1571037322282791, + 0.17744849265406004 + ], + [ + -0.334659218788147, + -0.05597071722149849, + 0.9406755566596985, + -0.2760396870465851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9024629592895508, + -0.3131062984466553, + 0.2958463132381439, + 0.08653776841728311 + ], + [ + 0.27785009145736694, + 0.9479281902313232, + 0.15566477179527283, + 0.1782229818011585 + ], + [ + -0.32918068766593933, + -0.05828075855970383, + 0.942466676235199, + -0.2751849843777324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9055334329605103, + -0.3067973554134369, + 0.2930607199668884, + 0.08345544861727638 + ], + [ + 0.2721077501773834, + 0.9499197602272034, + 0.15365487337112427, + 0.17907648051255629 + ], + [ + -0.32552510499954224, + -0.05939554423093796, + 0.9436660408973694, + -0.27448684999131057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.909050464630127, + -0.3007713258266449, + 0.2883813977241516, + 0.08285895138978958 + ], + [ + 0.26709476113319397, + 0.9518061280250549, + 0.15074962377548218, + 0.18084629499598553 + ], + [ + -0.31982433795928955, + -0.06001388281583786, + 0.9455742835998535, + -0.2729563449754527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.911984920501709, + -0.2952769994735718, + 0.2847718894481659, + 0.08193786559920561 + ], + [ + 0.26238763332366943, + 0.9534888863563538, + 0.14836351573467255, + 0.1816881677429927 + ], + [ + -0.31533512473106384, + -0.06058468297123909, + 0.9470444917678833, + -0.2710419896818501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9149344563484192, + -0.2893524765968323, + 0.2813718020915985, + 0.0812869576247115 + ], + [ + 0.25733649730682373, + 0.9552890062332153, + 0.14560532569885254, + 0.18249111818639857 + ], + [ + -0.31092265248298645, + -0.060812100768089294, + 0.9484877586364746, + -0.2693307994423728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9177725315093994, + -0.2845602333545685, + 0.2769821286201477, + 0.08190532030635758 + ], + [ + 0.25344064831733704, + 0.9567061066627502, + 0.14311274886131287, + 0.18339606433322556 + ], + [ + -0.3057146668434143, + -0.06114642694592476, + 0.9501577019691467, + -0.26714231800042876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.919809877872467, + -0.27856481075286865, + 0.2763177156448364, + 0.07922019472247677 + ], + [ + 0.24788494408130646, + 0.95846027135849, + 0.1410922110080719, + 0.1832087475218271 + ], + [ + -0.30414289236068726, + -0.061283014714717865, + 0.9506531953811646, + -0.2668724809822283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9224017858505249, + -0.2735200822353363, + 0.2726934850215912, + 0.07924239849181552 + ], + [ + 0.2437637746334076, + 0.9599246382713318, + 0.13828910887241364, + 0.18316917384141368 + ], + [ + -0.29959002137184143, + -0.061085328459739685, + 0.9521104693412781, + -0.2666269064635823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9238014817237854, + -0.2670380175113678, + 0.2743748724460602, + 0.07493952759786657 + ], + [ + 0.23810602724552155, + 0.9618843793869019, + 0.1344766616821289, + 0.18351694902307109 + ], + [ + -0.29982730746269226, + -0.058899424970149994, + 0.9521735310554504, + -0.2665976524647129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9269278645515442, + -0.26325544714927673, + 0.2673971951007843, + 0.07724860355650123 + ], + [ + 0.23559096455574036, + 0.9629353880882263, + 0.13134820759296417, + 0.18350077361652728 + ], + [ + -0.2920643389225006, + -0.058753952383995056, + 0.9545922875404358, + -0.2679112355665941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9285373687744141, + -0.25822579860687256, + 0.26671677827835083, + 0.07439701729699186 + ], + [ + 0.23132503032684326, + 0.9643733501434326, + 0.12834639847278595, + 0.18386415196092504 + ], + [ + -0.2903568744659424, + -0.05747615918517113, + 0.9551907777786255, + -0.26876586486438386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9306685328483582, + -0.2542046904563904, + 0.26312747597694397, + 0.0740069530904293 + ], + [ + 0.22844937443733215, + 0.9655272364616394, + 0.124771848320961, + 0.1850350745022297 + ], + [ + -0.2857743203639984, + -0.0560099333524704, + 0.9566587209701538, + -0.26949020866304635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9325607419013977, + -0.2496175616979599, + 0.2608093321323395, + 0.07327861383949455 + ], + [ + 0.22491614520549774, + 0.9668216705322266, + 0.12111407518386841, + 0.1863386232601969 + ], + [ + -0.282388299703598, + -0.05428600683808327, + 0.9577629566192627, + -0.26971920698783114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9340623021125793, + -0.2461741864681244, + 0.2587004005908966, + 0.07193300745597012 + ], + [ + 0.22223544120788574, + 0.9677646160125732, + 0.11850358545780182, + 0.18604821437283564 + ], + [ + -0.27953359484672546, + -0.05319733917713165, + 0.9586610794067383, + -0.27160992507675763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9354463219642639, + -0.2420240193605423, + 0.2576131820678711, + 0.07063131434352775 + ], + [ + 0.2191012054681778, + 0.9689366817474365, + 0.11470118165016174, + 0.18677295469924024 + ], + [ + -0.27737128734588623, + -0.05085345730185509, + 0.9594160318374634, + -0.2724271778801554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9368312358856201, + -0.2383032739162445, + 0.25604453682899475, + 0.06910376511514187 + ], + [ + 0.21647104620933533, + 0.9699880480766296, + 0.11074045300483704, + 0.1864242217650539 + ], + [ + -0.2747499644756317, + -0.04831889271736145, + 0.960300862789154, + -0.2743920535045235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9385542273521423, + -0.23396188020706177, + 0.2537277042865753, + 0.06876748949289321 + ], + [ + 0.21356543898582458, + 0.9712091088294983, + 0.10555864870548248, + 0.18626553447623 + ], + [ + -0.2711193859577179, + -0.04488503932952881, + 0.9614986181259155, + -0.2774286061525345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9398833513259888, + -0.2296581268310547, + 0.25273796916007996, + 0.06723856745581878 + ], + [ + 0.21073001623153687, + 0.9724205136299133, + 0.09995590150356293, + 0.18553875625917787 + ], + [ + -0.2687232792377472, + -0.04068741202354431, + 0.9623576998710632, + -0.28243168829695176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9399502873420715, + -0.2307678759098053, + 0.2514748275279999, + 0.06572634569908443 + ], + [ + 0.21362799406051636, + 0.9723976254463196, + 0.09384015947580338, + 0.18298907734845815 + ], + [ + -0.2661888301372528, + -0.03448302298784256, + 0.9633039236068726, + -0.2889278875173707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9377308487892151, + -0.2427201122045517, + 0.24849115312099457, + 0.061936861874633715 + ], + [ + 0.22903086245059967, + 0.9698697328567505, + 0.0830516591668129, + 0.17806016355752946 + ], + [ + -0.26116234064102173, + -0.020967965945601463, + 0.9650671482086182, + -0.2981931926866405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9403764009475708, + -0.23075002431869507, + 0.24989326298236847, + 0.0732875503207508 + ], + [ + 0.21805864572525024, + 0.9728351831436157, + 0.07773130387067795, + 0.18113139475646772 + ], + [ + -0.26104146242141724, + -0.01860530488193035, + 0.9651482701301575, + -0.28115370481667157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9412107467651367, + -0.22006924450397491, + 0.25630414485931396, + 0.05838640690045921 + ], + [ + 0.20896519720554352, + 0.9754047393798828, + 0.07013658434152603, + 0.17779726291957654 + ], + [ + -0.2654351592063904, + -0.012454666197299957, + 0.9640482664108276, + -0.2944092590312817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9433553218841553, + -0.21683743596076965, + 0.2511219382286072, + 0.048472845083788824 + ], + [ + 0.2066613733768463, + 0.9761471748352051, + 0.06654191017150879, + 0.16854168741326583 + ], + [ + -0.259560763835907, + -0.010875467211008072, + 0.9656655192375183, + -0.31590406239817015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9453468322753906, + -0.21196967363357544, + 0.2477663904428482, + 0.045568625197598814 + ], + [ + 0.20353031158447266, + 0.9772589206695557, + 0.059501711279153824, + 0.16463018718518707 + ], + [ + -0.2547444701194763, + -0.005821790546178818, + 0.9669908881187439, + -0.3231281359116302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9462596774101257, + -0.21004147827625275, + 0.24591703712940216, + 0.04283315247218859 + ], + [ + 0.20378150045871735, + 0.977690577507019, + 0.05093326419591904, + 0.162730736010953 + ], + [ + -0.2511288821697235, + 0.001917244866490364, + 0.967951774597168, + -0.3280737321407191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.948069155216217, + -0.20971746742725372, + 0.23913072049617767, + 0.046180935605968296 + ], + [ + 0.20583896338939667, + 0.9777109026908875, + 0.04137275367975235, + 0.16137988626172667 + ], + [ + -0.24247731268405914, + 0.009998185560107231, + 0.9701055288314819, + -0.33240572274294927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9483022689819336, + -0.2067573219537735, + 0.24077832698822021, + 0.03964122255381785 + ], + [ + 0.20344235002994537, + 0.9783166646957397, + 0.03882946819067001, + 0.1550495408867535 + ], + [ + -0.2435857355594635, + 0.012162433005869389, + 0.9698030948638916, + -0.3361904800992067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9496135711669922, + -0.19846345484256744, + 0.2425825297832489, + 0.03130596686938876 + ], + [ + 0.19880951941013336, + 0.9797608852386475, + 0.023309694603085518, + 0.16124459356069565 + ], + [ + -0.24229899048805237, + 0.02609250880777836, + 0.9698507189750671, + -0.3424195667324392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9511950016021729, + -0.19419731199741364, + 0.2398238480091095, + 0.033397611132577845 + ], + [ + 0.19596697390079498, + 0.9804685115814209, + 0.016685357317328453, + 0.16127454960032514 + ], + [ + -0.23837998509407043, + 0.03112652711570263, + 0.9706730246543884, + -0.3383596825633982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9529887437820435, + -0.18905577063560486, + 0.2367917150259018, + 0.03501405372823539 + ], + [ + 0.19241276383399963, + 0.9812721610069275, + 0.009071139618754387, + 0.1650396030592291 + ], + [ + -0.23407207429409027, + 0.036917053163051605, + 0.9715180993080139, + -0.3326920831036803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9534120559692383, + -0.18574461340904236, + 0.2377064973115921, + 0.032530948519706726 + ], + [ + 0.1888699233531952, + 0.9819535613059998, + 0.009767157956957817, + 0.16086577326059343 + ], + [ + -0.2352309376001358, + 0.03558347374200821, + 0.9712879061698914, + -0.3292408786714077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/boom_up/transforms.json b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..e6b78ec41e65a60353fe7d4d156625bf948101b2 --- /dev/null +++ b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/boom_up/transforms.json @@ -0,0 +1,5368 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 153, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 7.486010872526094e-05, + 0.0002196452987845987, + -0.0002654411073308438 + ], + [ + -7.484106026822701e-05, + 1.0, + -8.672619151184335e-05, + 0.0001142723995144479 + ], + [ + -0.00021965178893879056, + 8.67097478476353e-05, + 1.0, + 0.00021108951477799565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999338388442993, + -0.009409398771822453, + 0.006617182865738869, + 0.011827506017748658 + ], + [ + 0.00942306313663721, + 0.9999535083770752, + -0.0020369677804410458, + 0.00013777147733459348 + ], + [ + -0.006597708910703659, + 0.0020991871133446693, + 0.9999760389328003, + -6.650667829059162e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997265338897705, + -0.01911240443587303, + 0.013475535437464714, + 0.02313104490994623 + ], + [ + 0.019168775528669357, + 0.9998080134391785, + -0.004066530615091324, + -0.0005633661731783497 + ], + [ + -0.013395227491855621, + 0.004323728382587433, + 0.9999009370803833, + -0.0016670591590043746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993758797645569, + -0.028921371325850487, + 0.020282726734876633, + 0.034372883810857804 + ], + [ + 0.02905130200088024, + 0.9995590448379517, + -0.006140855140984058, + -0.001510477554984391 + ], + [ + -0.020096182823181152, + 0.006726262159645557, + 0.9997754096984863, + -0.0012398843916966336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9989352822303772, + -0.037066735327243805, + 0.027465980499982834, + 0.044299994703186185 + ], + [ + 0.03730567544698715, + 0.999269962310791, + -0.008238716050982475, + -0.0024780490596496845 + ], + [ + -0.027140546590089798, + 0.009254580363631248, + 0.9995887875556946, + -0.002172171444583096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9983547329902649, + -0.04569840803742409, + 0.03463355824351311, + 0.053851869753807 + ], + [ + 0.04611467197537422, + 0.9988720417022705, + -0.011316673830151558, + -0.00234664758777638 + ], + [ + -0.034077342599630356, + 0.012895170599222183, + 0.9993360042572021, + -0.0014979568812505978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9977129697799683, + -0.053892139345407486, + 0.04079800471663475, + 0.06340045797099408 + ], + [ + 0.05444388464093208, + 0.9984381198883057, + -0.012534970417618752, + -0.003946540536325253 + ], + [ + -0.04005875065922737, + 0.014727504923939705, + 0.9990887641906738, + -0.002141601276142817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9970232248306274, + -0.0614449717104435, + 0.04657505080103874, + 0.07273300458481045 + ], + [ + 0.06219964101910591, + 0.9979520440101624, + -0.014929651282727718, + -0.0038371225702576338 + ], + [ + -0.04556231573224068, + 0.01778215914964676, + 0.9988031983375549, + -0.001604166210285927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.996251106262207, + -0.06872429698705673, + 0.05254223570227623, + 0.08059516898111294 + ], + [ + 0.06967084854841232, + 0.9974352121353149, + -0.016398794949054718, + -0.0040370699177545155 + ], + [ + -0.05128047987818718, + 0.019997980445623398, + 0.9984840750694275, + -0.000802400211901649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9954705834388733, + -0.07528886198997498, + 0.058051031082868576, + 0.08798076830020077 + ], + [ + 0.07648171484470367, + 0.9968973994255066, + -0.01860480196774006, + -0.003433600305824688 + ], + [ + -0.05647018924355507, + 0.022960374131798744, + 0.9981402158737183, + 0.001169893654112361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9946188926696777, + -0.08198574930429459, + 0.06333675980567932, + 0.09464578590306796 + ], + [ + 0.08339744061231613, + 0.9963161945343018, + -0.0199715718626976, + -0.003662361959485631 + ], + [ + -0.06146605685353279, + 0.025146227329969406, + 0.9977923631668091, + 0.003960470448395139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9937976002693176, + -0.08808811008930206, + 0.06787349283695221, + 0.10085699023973001 + ], + [ + 0.08970342576503754, + 0.9957444667816162, + -0.02112470753490925, + -0.004164300319787704 + ], + [ + -0.06572382152080536, + 0.02708216942846775, + 0.9974702596664429, + 0.005396078807595921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.992946445941925, + -0.09379029273986816, + 0.07253063470125198, + 0.10569438691201963 + ], + [ + 0.09565320611000061, + 0.9951571226119995, + -0.022644715383648872, + -0.0039369608324609316 + ], + [ + -0.0700555220246315, + 0.029422776773571968, + 0.997109055519104, + 0.007362858666793296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9920786023139954, + -0.09927861392498016, + 0.07696626335382462, + 0.10960375806806903 + ], + [ + 0.10140794515609741, + 0.9945490956306458, + -0.024260051548480988, + -0.0035658286345240306 + ], + [ + -0.07413821667432785, + 0.03187286853790283, + 0.9967384934425354, + 0.008858518027945569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9912728071212769, + -0.10420301556587219, + 0.08074606955051422, + 0.11298573334750377 + ], + [ + 0.10652104020118713, + 0.9939975738525391, + -0.02494071051478386, + -0.0040783369619595364 + ], + [ + -0.07766249775886536, + 0.03332420065999031, + 0.9964225888252258, + 0.007867516709589644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9904168248176575, + -0.10920058190822601, + 0.08455628156661987, + 0.11537076557349217 + ], + [ + 0.11181765794754028, + 0.9933660626411438, + -0.02684522047638893, + -0.002907779827517899 + ], + [ + -0.08106382191181183, + 0.036042843014001846, + 0.9960570335388184, + 0.006813717650641736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9896203279495239, + -0.11374238133430481, + 0.08783086389303207, + 0.11781479645716517 + ], + [ + 0.11657829582691193, + 0.9927910566329956, + -0.0278471652418375, + -0.002673802995368053 + ], + [ + -0.08403029292821884, + 0.037797294557094574, + 0.9957460761070251, + 0.004547927861935214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9887679815292358, + -0.11818021535873413, + 0.09149499237537384, + 0.1193729982172188 + ], + [ + 0.12130987644195557, + 0.992178738117218, + -0.029416179284453392, + -0.0012414049651277691 + ], + [ + -0.08730296790599823, + 0.04018501937389374, + 0.9953709840774536, + 0.001089638845357848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9880070090293884, + -0.12232591956853867, + 0.09422606974840164, + 0.12229065835279854 + ], + [ + 0.1257130205631256, + 0.9915862679481506, + -0.03086874634027481, + 0.00016929391575487042 + ], + [ + -0.08965722471475601, + 0.04234398156404495, + 0.9950721263885498, + -0.0036715428589990263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9871285557746887, + -0.1264643669128418, + 0.097897969186306, + 0.12465551495552063 + ], + [ + 0.13012224435806274, + 0.9909846186637878, + -0.031902045011520386, + 0.001615413092076778 + ], + [ + -0.09298091381788254, + 0.04423011839389801, + 0.9946849942207336, + -0.009553132206201553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9863113164901733, + -0.13061530888080597, + 0.10064583271741867, + 0.12837366465675204 + ], + [ + 0.1345066875219345, + 0.9903672933578491, + -0.03287120908498764, + 0.004104939044306153 + ], + [ + -0.09538286179304123, + 0.045958779752254486, + 0.9943791627883911, + -0.018596969544887543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9854454398155212, + -0.1344515085220337, + 0.10401938110589981, + 0.13204673411030518 + ], + [ + 0.13864803314208984, + 0.9897513389587402, + -0.03419088199734688, + 0.008551323511882833 + ], + [ + -0.09835629910230637, + 0.048115331679582596, + 0.9939873814582825, + -0.029661513181207213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.984514594078064, + -0.13797539472579956, + 0.10813789069652557, + 0.1348338160859911 + ], + [ + 0.14246487617492676, + 0.9891838431358337, + -0.03491576761007309, + 0.014182301061718085 + ], + [ + -0.10215073823928833, + 0.04978092759847641, + 0.993522584438324, + -0.04170959200710058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9835415482521057, + -0.14122694730758667, + 0.112698495388031, + 0.13768112286925316 + ], + [ + 0.146053284406662, + 0.9886308312416077, + -0.03574281185865402, + 0.02201874401224287 + ], + [ + -0.10636936128139496, + 0.05161452293395996, + 0.9929861426353455, + -0.05489864412106966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9825727343559265, + -0.14466817677021027, + 0.11671313643455505, + 0.14151266774064616 + ], + [ + 0.14964686334133148, + 0.9881184101104736, + -0.03503997623920441, + 0.029381934592598365 + ], + [ + -0.11025723814964294, + 0.05189507454633713, + 0.992547333240509, + -0.06783234669189704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9815168976783752, + -0.14834892749786377, + 0.12090172618627548, + 0.14559392983976163 + ], + [ + 0.15355730056762695, + 0.9875227212905884, + -0.03491394221782684, + 0.03867308442529879 + ], + [ + -0.11421375721693039, + 0.05283396691083908, + 0.992050290107727, + -0.08044878753686421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9804078340530396, + -0.1519862711429596, + 0.1253024786710739, + 0.1498516244715766 + ], + [ + 0.1573057770729065, + 0.9869763255119324, + -0.033654287457466125, + 0.04769968672802574 + ], + [ + -0.11855559796094894, + 0.05270572751760483, + 0.9915476441383362, + -0.09305227821398722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9792719483375549, + -0.15514804422855377, + 0.13021358847618103, + 0.15435113917644086 + ], + [ + 0.1605307012796402, + 0.9865168929100037, + -0.03184787929058075, + 0.057515291830426765 + ], + [ + -0.12351676821708679, + 0.05209100991487503, + 0.9909743070602417, + -0.10357264262182932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9778348803520203, + -0.1601947396993637, + 0.13482047617435455, + 0.1607011152333335 + ], + [ + 0.16554240882396698, + 0.9857654571533203, + -0.02936270833015442, + 0.067914322802895 + ], + [ + -0.12819762527942657, + 0.05103038251399994, + 0.9904348850250244, + -0.11419502006549584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9764490723609924, + -0.1634153127670288, + 0.1408640593290329, + 0.1657665295820487 + ], + [ + 0.16890498995780945, + 0.9852386116981506, + -0.02785685285925865, + 0.08018685136186449 + ], + [ + -0.13423247635364532, + 0.05099343881011009, + 0.9896369576454163, + -0.12436525210689166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9747384190559387, + -0.1686803102493286, + 0.14639659225940704, + 0.17204935770285756 + ], + [ + 0.17388007044792175, + 0.9844890832901001, + -0.023386262357234955, + 0.09008487941403137 + ], + [ + -0.1401810497045517, + 0.04825093597173691, + 0.9889494776725769, + -0.1367459325119853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9727408289909363, + -0.17421966791152954, + 0.15304487943649292, + 0.17723583904536147 + ], + [ + 0.17926058173179626, + 0.983604907989502, + -0.019672542810440063, + 0.10125037745425576 + ], + [ + -0.14710834622383118, + 0.04657120257616043, + 0.9880234003067017, + -0.14795827116131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9704703688621521, + -0.18006034195423126, + 0.1605164110660553, + 0.18159798571937963 + ], + [ + 0.18495769798755646, + 0.9826164841651917, + -0.015984144061803818, + 0.1125737660809567 + ], + [ + -0.15484794974327087, + 0.045200884342193604, + 0.986903727054596, + -0.15881293463079552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9679154753684998, + -0.1860344260931015, + 0.16891080141067505, + 0.18598905722365566 + ], + [ + 0.1904001086950302, + 0.9816568493843079, + -0.009882360696792603, + 0.12096557974031097 + ], + [ + -0.16397398710250854, + 0.041725918650627136, + 0.9855818152427673, + -0.1692915314416352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9535432457923889, + -0.2096485197544098, + 0.2163396179676056, + 0.12291186220551792 + ], + [ + 0.2042618691921234, + 0.9777764678001404, + 0.04722607880830765, + 0.05829288583052786 + ], + [ + -0.2214326560497284, + -0.0008421782404184341, + 0.9751753211021423, + -0.2054951010639534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9606420993804932, + -0.20141346752643585, + 0.1913096159696579, + 0.1882916713917726 + ], + [ + 0.1995498090982437, + 0.9794536232948303, + 0.02916313335299492, + 0.10434569124328463 + ], + [ + -0.19325275719165802, + 0.010160461999475956, + 0.9810963869094849, + -0.23145879292554272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9576839208602905, + -0.21403126418590546, + 0.19243745505809784, + 0.2128105114557241 + ], + [ + 0.21720202267169952, + 0.9761152863502502, + 0.0047199297696352005, + 0.15094818755200035 + ], + [ + -0.18885134160518646, + 0.03727760165929794, + 0.9812979102134705, + -0.19714164410374665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.952888548374176, + -0.22093382477760315, + 0.2078259438276291, + 0.2184318616398071 + ], + [ + 0.22392362356185913, + 0.9745620489120483, + 0.009332165122032166, + 0.15951726836593527 + ], + [ + -0.20460106432437897, + 0.03764461725950241, + 0.978121280670166, + -0.20435895258560777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9271285533905029, + -0.24985088407993317, + 0.27929773926734924, + 0.1275655437260866 + ], + [ + 0.23404096066951752, + 0.9681298732757568, + 0.08915950357913971, + 0.061944337189197535 + ], + [ + -0.2926730811595917, + -0.01729520782828331, + 0.9560561180114746, + -0.24926952207461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9124606847763062, + -0.28992247581481934, + 0.28872203826904297, + 0.13901931706227755 + ], + [ + 0.2748124599456787, + 0.9570366740226746, + 0.09251425415277481, + 0.06768875847521581 + ], + [ + -0.3031395673751831, + -0.00507122278213501, + 0.9529327154159546, + -0.2257069498692688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9027099013328552, + -0.30045634508132935, + 0.3079622685909271, + 0.14466850067439832 + ], + [ + 0.2835652828216553, + 0.9537926316261292, + 0.09934937953948975, + 0.06937854776256963 + ], + [ + -0.32358232140541077, + -0.0023562535643577576, + 0.9461970925331116, + -0.2293910950814423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8812745213508606, + -0.31362080574035645, + 0.35354945063591003, + 0.13329125211427087 + ], + [ + 0.2914339303970337, + 0.9495478868484497, + 0.11586682498455048, + 0.06479449217256747 + ], + [ + -0.37205037474632263, + 0.0009258240461349487, + 0.9282121062278748, + -0.23219728323778038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8721312284469604, + -0.3263741135597229, + 0.36450937390327454, + 0.1464652018327462 + ], + [ + 0.3030738830566406, + 0.945228636264801, + 0.12119840085506439, + 0.06745812257653788 + ], + [ + -0.38410070538520813, + 0.004772353917360306, + 0.9232788681983948, + -0.23658787443939794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.864270031452179, + -0.33876946568489075, + 0.3718501627445221, + 0.1631308074648443 + ], + [ + 0.3148517310619354, + 0.9408286809921265, + 0.12533846497535706, + 0.07051235131527248 + ], + [ + -0.39230814576148987, + 0.008751384913921356, + 0.9197922348976135, + -0.24060738504815257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.855633020401001, + -0.3510538935661316, + 0.38033315539360046, + 0.17925143351680353 + ], + [ + 0.3258659243583679, + 0.9362813830375671, + 0.13110506534576416, + 0.07261191857488532 + ], + [ + -0.4021237790584564, + 0.01175978034734726, + 0.915509819984436, + -0.2441410249981441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8466073870658875, + -0.36290690302848816, + 0.3893001079559326, + 0.19486012417627008 + ], + [ + 0.3370571434497833, + 0.9316796064376831, + 0.1355198472738266, + 0.07544763699958199 + ], + [ + -0.411884069442749, + 0.016484275460243225, + 0.911087155342102, + -0.24799380534769674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8381093740463257, + -0.3741820156574249, + 0.3969389498233795, + 0.2097663140218509 + ], + [ + 0.34812650084495544, + 0.9270997643470764, + 0.1389029175043106, + 0.07884891103757055 + ], + [ + -0.41997697949409485, + 0.02176910638809204, + 0.9072736501693726, + -0.2519905782843891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8278724551200867, + -0.3860226273536682, + 0.4069567322731018, + 0.2206255132822614 + ], + [ + 0.35846996307373047, + 0.9221380949020386, + 0.14546693861484528, + 0.07991985545346611 + ], + [ + -0.4314238429069519, + 0.025453690439462662, + 0.901790201663971, + -0.2556869143301523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8132416605949402, + -0.4000590443611145, + 0.42260006070137024, + 0.2247123724535892 + ], + [ + 0.36699265241622925, + 0.916172444820404, + 0.1610727608203888, + 0.07537290987215545 + ], + [ + -0.4516131579875946, + 0.024100027978420258, + 0.8918883204460144, + -0.2607476329332904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.800495445728302, + -0.4116794764995575, + 0.4355767071247101, + 0.2307219246304349 + ], + [ + 0.3771609365940094, + 0.9108340740203857, + 0.1677226722240448, + 0.07654142732682981 + ], + [ + -0.46578606963157654, + 0.030021272599697113, + 0.8843879699707031, + -0.2632906042970717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7912006378173828, + -0.42177432775497437, + 0.4428408443927765, + 0.23689736151381544 + ], + [ + 0.3861995339393616, + 0.9060561656951904, + 0.17295131087303162, + 0.07845594381031237 + ], + [ + -0.4741850793361664, + 0.034185729920864105, + 0.8797612190246582, + -0.2671393449663332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7883719205856323, + -0.4314103424549103, + 0.43858277797698975, + 0.23987817174117815 + ], + [ + 0.39451298117637634, + 0.901553213596344, + 0.17765501141548157, + 0.0772342170931791 + ], + [ + -0.47204792499542236, + 0.03296840935945511, + 0.8809561729431152, + -0.280790809909568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7732312679290771, + -0.4401988685131073, + 0.4564410448074341, + 0.2324833806408079 + ], + [ + 0.3983771502971649, + 0.8972340822219849, + 0.1904381364583969, + 0.07084366639978007 + ], + [ + -0.4933651089668274, + 0.034582942724227905, + 0.8691345453262329, + -0.2813300273136089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.762651801109314, + -0.4486672878265381, + 0.4658969044685364, + 0.2357154866582469 + ], + [ + 0.4064124822616577, + 0.8927561044692993, + 0.19446197152137756, + 0.0730900683685353 + ], + [ + -0.5031810402870178, + 0.04103954881429672, + 0.8632060289382935, + -0.27769052577940256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7619649171829224, + -0.45308035612106323, + 0.46273931860923767, + 0.2503984985382933 + ], + [ + 0.41071194410324097, + 0.8905273675918579, + 0.19564446806907654, + 0.078744774586276 + ], + [ + -0.5007246732711792, + 0.0409783273935318, + 0.8646361231803894, + -0.2791114105009719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7553388476371765, + -0.45733121037483215, + 0.4693734049797058, + 0.2513527990759988 + ], + [ + 0.41277989745140076, + 0.8883169293403625, + 0.20126056671142578, + 0.07832792616988483 + ], + [ + -0.5089950561523438, + 0.04172797501087189, + 0.8597574234008789, + -0.27956466764015586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7476083040237427, + -0.46362730860710144, + 0.47553306818008423, + 0.25391913824959805 + ], + [ + 0.41872766613960266, + 0.8848179578781128, + 0.20436331629753113, + 0.07893548780365994 + ], + [ + -0.5155085921287537, + 0.046335093677043915, + 0.8556307554244995, + -0.278486763842796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7409449815750122, + -0.46880772709846497, + 0.48085328936576843, + 0.2554340403527021 + ], + [ + 0.42371925711631775, + 0.8818568587303162, + 0.20685862004756927, + 0.07864338979125023 + ], + [ + -0.5210207104682922, + 0.050475940108299255, + 0.852050244808197, + -0.2781585881486535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7370342016220093, + -0.4708939492702484, + 0.48480871319770813, + 0.2576543340165364 + ], + [ + 0.42591890692710876, + 0.8805760145187378, + 0.20779554545879364, + 0.07997174513967414 + ], + [ + -0.5247606039047241, + 0.05333675444126129, + 0.8495773077011108, + -0.2775899348486411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.733278751373291, + -0.47555649280548096, + 0.4859509766101837, + 0.2612917017779852 + ], + [ + 0.43025994300842285, + 0.8779549598693848, + 0.2099321484565735, + 0.07924584416966689 + ], + [ + -0.5264776945114136, + 0.05514641851186752, + 0.8483985662460327, + -0.27846574779894007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7299193739891052, + -0.4792203903198242, + 0.48740702867507935, + 0.2647393518372586 + ], + [ + 0.43289369344711304, + 0.8759338855743408, + 0.2129388153553009, + 0.07713324968752108 + ], + [ + -0.5289809107780457, + 0.05556723475456238, + 0.8468125462532043, + -0.27748411148786545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7269030809402466, + -0.4841855764389038, + 0.4870075583457947, + 0.26944504937059 + ], + [ + 0.4368501901626587, + 0.873192548751831, + 0.2160942107439041, + 0.07397124484965675 + ], + [ + -0.5298810601234436, + 0.055669769644737244, + 0.8462428450584412, + -0.2775210882782152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7242805361747742, + -0.48809078335762024, + 0.4870165288448334, + 0.27298548970567554 + ], + [ + 0.4403545558452606, + 0.8709574937820435, + 0.21799282729625702, + 0.07212092515669372 + ], + [ + -0.5305709838867188, + 0.056571975350379944, + 0.8457505702972412, + -0.27694923373821534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7222667932510376, + -0.49074244499206543, + 0.48734232783317566, + 0.2771669201160732 + ], + [ + 0.4425734877586365, + 0.8694324493408203, + 0.21958135068416595, + 0.07081869958262695 + ], + [ + -0.5314691066741943, + 0.057088449597358704, + 0.8451517820358276, + -0.27477009166032074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7200033068656921, + -0.4935426712036133, + 0.4878636300563812, + 0.28088212201469825 + ], + [ + 0.4453998804092407, + 0.8677505254745483, + 0.2205176055431366, + 0.07000150602114828 + ], + [ + -0.5321787595748901, + 0.05852096527814865, + 0.8446070551872253, + -0.2728504980865278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7186486721038818, + -0.49534931778907776, + 0.4880298376083374, + 0.28451035926608664 + ], + [ + 0.4471587836742401, + 0.8666703701019287, + 0.22120466828346252, + 0.0692083788545508 + ], + [ + -0.5325345993041992, + 0.059258364140987396, + 0.8443313241004944, + -0.27113331675431446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7161622643470764, + -0.49725329875946045, + 0.4897455871105194, + 0.2874325371102283 + ], + [ + 0.4491681456565857, + 0.8654537796974182, + 0.22189579904079437, + 0.0681431183689519 + ], + [ + -0.5341905951499939, + 0.06106473505496979, + 0.8431556820869446, + -0.26814819607687623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7124788761138916, + -0.5017019510269165, + 0.49058035016059875, + 0.2904802346700116 + ], + [ + 0.4538414478302002, + 0.8626941442489624, + 0.22312942147254944, + 0.06630816655723673 + ], + [ + -0.5351652503013611, + 0.06367069482803345, + 0.8423444628715515, + -0.26573853975063877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7072316408157349, + -0.5058014392852783, + 0.4939517378807068, + 0.2912486289676867 + ], + [ + 0.46034589409828186, + 0.8597296476364136, + 0.22123877704143524, + 0.06792780639309631 + ], + [ + -0.5365678668022156, + 0.07092158496379852, + 0.8408716320991516, + -0.26336520200497227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7088268995285034, + -0.5011103749275208, + 0.49644020199775696, + 0.28966559834386174 + ], + [ + 0.44815048575401306, + 0.8634193539619446, + 0.23166388273239136, + 0.059954987270267386 + ], + [ + -0.544725239276886, + 0.05827031284570694, + 0.83658766746521, + -0.2532061942362864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7064495086669922, + -0.5092297196388245, + 0.491542786359787, + 0.29511694178769465 + ], + [ + 0.45558616518974304, + 0.8586693406105042, + 0.23479411005973816, + 0.052633937252195256 + ], + [ + -0.5416368842124939, + 0.05806984752416611, + 0.8386044502258301, + -0.2590238626948313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7066060304641724, + -0.5129421949386597, + 0.48744046688079834, + 0.30330704081999627 + ], + [ + 0.45840588212013245, + 0.8565908074378967, + 0.23688878118991852, + 0.05010904454086956 + ], + [ + -0.5390472412109375, + 0.05605851113796234, + 0.8404079675674438, + -0.2596178363910631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7055343389511108, + -0.5136846899986267, + 0.48821038007736206, + 0.30793890231534055 + ], + [ + 0.4590679705142975, + 0.8561062812805176, + 0.2373577058315277, + 0.05045893513842633 + ], + [ + -0.539887011051178, + 0.056657709181308746, + 0.8398285508155823, + -0.2549121952762729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6304056644439697, + -0.5233215093612671, + 0.5733440518379211, + 0.18465040286904888 + ], + [ + 0.4432392716407776, + 0.8490173816680908, + 0.2875908315181732, + -0.007907201349735264 + ], + [ + -0.6372814774513245, + 0.07282967120409012, + 0.7671819925308228, + -0.21341807262383794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.623478889465332, + -0.5025610327720642, + 0.5989211797714233, + 0.1737562908153785 + ], + [ + 0.4283827543258667, + 0.8604052066802979, + 0.27602726221084595, + -0.0012980445043036803 + ], + [ + -0.6540354490280151, + 0.08447032421827316, + 0.7517329454421997, + -0.17311418875071563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.692449152469635, + -0.515053927898407, + 0.5052065253257751, + 0.2927581411051123 + ], + [ + 0.45391494035720825, + 0.8553050756454468, + 0.24982890486717224, + 0.034368941266285744 + ], + [ + -0.5607810616493225, + 0.056326963007450104, + 0.8260459303855896, + -0.2389373936886458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7024346590042114, + -0.5159513354301453, + 0.4902855157852173, + 0.31672280132770536 + ], + [ + 0.4622131288051605, + 0.8545053601264954, + 0.2370224893093109, + 0.05126324743032455 + ], + [ + -0.5412436723709106, + 0.060123562812805176, + 0.8387135863304138, + -0.24487501680850982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7010699510574341, + -0.5140037536621094, + 0.4942682385444641, + 0.31590905722818874 + ], + [ + 0.4596215784549713, + 0.8556593060493469, + 0.23789751529693604, + 0.0530879937896603 + ], + [ + -0.5452054142951965, + 0.06039350479841232, + 0.8361241817474365, + -0.2378234473253159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6960209608078003, + -0.5207414031028748, + 0.4943513870239258, + 0.3222570457740834 + ], + [ + 0.46947816014289856, + 0.8509830832481384, + 0.23541045188903809, + 0.05497162530296728 + ], + [ + -0.5432726144790649, + 0.06823652237653732, + 0.8367787599563599, + -0.23755471613258122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6972241997718811, + -0.5184755325317383, + 0.4950369894504547, + 0.32066267979772467 + ], + [ + 0.4704066216945648, + 0.852001428604126, + 0.2298070639371872, + 0.05789227869949842 + ], + [ + -0.5409215092658997, + 0.07264159619808197, + 0.8379302620887756, + -0.24042694648041538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7007420659065247, + -0.5122458934783936, + 0.49655282497406006, + 0.3219103483777297 + ], + [ + 0.46397605538368225, + 0.8559435606002808, + 0.22822552919387817, + 0.058690911845157026 + ], + [ + -0.541928768157959, + 0.07046139240264893, + 0.8374654650688171, + -0.23609697583474612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7012858390808105, + -0.5165933966636658, + 0.49125295877456665, + 0.32502399773189894 + ], + [ + 0.4691143035888672, + 0.8532971143722534, + 0.22763106226921082, + 0.0593169366842822 + ], + [ + -0.5367774367332458, + 0.07081928849220276, + 0.8407465219497681, + -0.24064285545364805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.7049028873443604, + -0.5171411633491516, + 0.48546576499938965, + 0.3294920065685322 + ], + [ + 0.46874839067459106, + 0.8533053994178772, + 0.22835247218608856, + 0.05751734509279853 + ], + [ + -0.5323410034179688, + 0.06659497320652008, + 0.8439065217971802, + -0.24325465985426778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.7034510374069214, + -0.5215265154838562, + 0.4828735291957855, + 0.3318531579485065 + ], + [ + 0.46564480662345886, + 0.8514518141746521, + 0.24125659465789795, + 0.04592036051969779 + ], + [ + -0.5369652509689331, + 0.05513530224561691, + 0.8418007493019104, + -0.23634265600948742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.7005684971809387, + -0.5174944996833801, + 0.49132809042930603, + 0.32166062013099067 + ], + [ + 0.4678799510002136, + 0.8529921770095825, + 0.2312850058078766, + 0.0538642851145644 + ], + [ + -0.5387877225875854, + 0.06785152107477188, + 0.839704692363739, + -0.2351085005818229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.70619797706604, + -0.5167732834815979, + 0.48397305607795715, + 0.32526022058568504 + ], + [ + 0.4635133445262909, + 0.854164183139801, + 0.2357095181941986, + 0.04857076841749643 + ], + [ + -0.535200834274292, + 0.05787036567926407, + 0.8427402973175049, + -0.23634932653390264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.7053415775299072, + -0.5109115839004517, + 0.4913884997367859, + 0.3147928590837278 + ], + [ + 0.4630224406719208, + 0.856951117515564, + 0.22637349367141724, + 0.05559132114837044 + ], + [ + -0.5367527604103088, + 0.06785324215888977, + 0.8410068154335022, + -0.23662636119284128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.7119850516319275, + -0.5083200335502625, + 0.48444610834121704, + 0.31626581851589053 + ], + [ + 0.4578325152397156, + 0.8591428995132446, + 0.22861087322235107, + 0.05229898063760055 + ], + [ + -0.5324159264564514, + 0.059027642011642456, + 0.8444223403930664, + -0.23800399964185137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.7145720720291138, + -0.50968337059021, + 0.47917598485946655, + 0.3165244955765574 + ], + [ + 0.45987576246261597, + 0.8584074378013611, + 0.22726856172084808, + 0.0516502780349631 + ], + [ + -0.5271632075309753, + 0.05796162784099579, + 0.8477849960327148, + -0.2419318916766267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.7195661664009094, + -0.5060887336730957, + 0.47549837827682495, + 0.3131698275867261 + ], + [ + 0.45179399847984314, + 0.8611865043640137, + 0.2328948676586151, + 0.045900229246992816 + ], + [ + -0.5273582339286804, + 0.04724404960870743, + 0.8483285307884216, + -0.24027789825769633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.7255055904388428, + -0.5013484358787537, + 0.47147780656814575, + 0.3074860223814061 + ], + [ + 0.45057833194732666, + 0.8638554811477661, + 0.2252395898103714, + 0.04937740493761866 + ], + [ + -0.5202121734619141, + 0.04902510344982147, + 0.852628767490387, + -0.24855020279554943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.7274364233016968, + -0.49972307682037354, + 0.4702266752719879, + 0.3010512928429403 + ], + [ + 0.4442753195762634, + 0.8652628064155579, + 0.2322491705417633, + 0.041091712250521314 + ], + [ + -0.5229299068450928, + 0.03996359556913376, + 0.8514382839202881, + -0.24561284194749436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.7286536693572998, + -0.4982719421386719, + 0.4698818027973175, + 0.29160930263368706 + ], + [ + 0.4420715570449829, + 0.8661899566650391, + 0.2329971194267273, + 0.038068627370031256 + ], + [ + -0.5231028199195862, + 0.037947170436382294, + 0.8514243364334106, + -0.2452699363427727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.7307535409927368, + -0.49414342641830444, + 0.4709794819355011, + 0.27947476988560277 + ], + [ + 0.43856102228164673, + 0.8685547113418579, + 0.23081810772418976, + 0.03845644546182533 + ], + [ + -0.5231286883354187, + 0.03788207471370697, + 0.8514114022254944, + -0.2474019662624127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.7341200113296509, + -0.4901063144207001, + 0.4699612259864807, + 0.269482052365416 + ], + [ + 0.43532487750053406, + 0.8708741664886475, + 0.22818945348262787, + 0.03856986894419319 + ], + [ + -0.5211141705513, + 0.03706739842891693, + 0.8526816368103027, + -0.24644880579098274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.735008955001831, + -0.48444947600364685, + 0.47441601753234863, + 0.25576034747064114 + ], + [ + 0.4309946596622467, + 0.873934805393219, + 0.22468113899230957, + 0.03983353450894356 + ], + [ + -0.5234553217887878, + 0.039328090846538544, + 0.8511450290679932, + -0.24043595744296908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.7425163984298706, + -0.48451104760169983, + 0.46251314878463745, + 0.2416270086639806 + ], + [ + 0.4290448725223541, + 0.8742762804031372, + 0.2270716428756714, + 0.029129843492256967 + ], + [ + -0.5143829584121704, + 0.029834486544132233, + 0.8570414781570435, + -0.2544011192886453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.7706372141838074, + -0.47004398703575134, + 0.43032193183898926, + 0.26107510616512675 + ], + [ + 0.4160093367099762, + 0.8825839161872864, + 0.2190476357936859, + 0.035653108162315275 + ], + [ + -0.4827572703361511, + 0.010211654007434845, + 0.8756946921348572, + -0.2815242183492764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.7728095054626465, + -0.46671777963638306, + 0.43004655838012695, + 0.26106497370883036 + ], + [ + 0.41932570934295654, + 0.8841539621353149, + 0.20600436627864838, + 0.04893831610679626 + ], + [ + -0.47637325525283813, + 0.02112741768360138, + 0.8789892792701721, + -0.26604496203362943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.7804538607597351, + -0.4630095958709717, + 0.4201355278491974, + 0.25554432790530357 + ], + [ + 0.41482144594192505, + 0.8862516283988953, + 0.20610970258712769, + 0.04508034433973464 + ], + [ + -0.4677765667438507, + 0.01342211663722992, + 0.8837448358535767, + -0.2687355699213712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.783412516117096, + -0.45389920473098755, + 0.4245472848415375, + 0.23523889168312676 + ], + [ + 0.40902382135391235, + 0.8908549547195435, + 0.1976788341999054, + 0.050285022509725476 + ], + [ + -0.46793630719184875, + 0.01878587156534195, + 0.8835625052452087, + -0.26338137225493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.7882930040359497, + -0.44812509417533875, + 0.4216373562812805, + 0.22149143726810028 + ], + [ + 0.4036045968532562, + 0.8938250541687012, + 0.1953972578048706, + 0.04892465762401882 + ], + [ + -0.4644324779510498, + 0.01614445447921753, + 0.8854613900184631, + -0.26100408242721307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8005181550979614, + -0.44388347864151, + 0.40266385674476624, + 0.23299029775355992 + ], + [ + 0.39876091480255127, + 0.896073579788208, + 0.19504337012767792, + 0.04638344637657467 + ], + [ + -0.4473929703235626, + 0.004430860280990601, + 0.8943265080451965, + -0.2665967606008053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.7917172312736511, + -0.43485942482948303, + 0.4290468096733093, + 0.1949907086985676 + ], + [ + 0.39788469672203064, + 0.9000052213668823, + 0.1779842972755432, + 0.058286794471113304 + ], + [ + -0.46354252099990845, + 0.02979787439107895, + 0.8855735063552856, + -0.24298598004112903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8151552081108093, + -0.42993101477622986, + 0.38817697763442993, + 0.22227072213825427 + ], + [ + 0.38576188683509827, + 0.9028477072715759, + 0.18987837433815002, + 0.043424682240737124 + ], + [ + -0.43209928274154663, + -0.005036473274230957, + 0.901811957359314, + -0.2642780874904833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.820561408996582, + -0.42322832345962524, + 0.3841313123703003, + 0.21459802926370972 + ], + [ + 0.3796986937522888, + 0.9059905409812927, + 0.18710988759994507, + 0.04178020769828243 + ], + [ + -0.4272094964981079, + -0.007681019604206085, + 0.9041200280189514, + -0.26110768698057846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.827160656452179, + -0.4162408709526062, + 0.37755632400512695, + 0.20987297194568735 + ], + [ + 0.37398338317871094, + 0.9091972708702087, + 0.18302103877067566, + 0.04160780326316231 + ], + [ + -0.41945403814315796, + -0.010188020765781403, + 0.9077193737030029, + -0.2592766652667993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8328419327735901, + -0.4097776412963867, + 0.37209758162498474, + 0.20488953574707633 + ], + [ + 0.36858171224594116, + 0.9121019840240479, + 0.17949247360229492, + 0.04199123602164419 + ], + [ + -0.41294291615486145, + -0.012340493500232697, + 0.9106733202934265, + -0.256457092480636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.838611900806427, + -0.40415653586387634, + 0.36522266268730164, + 0.20120947070811923 + ], + [ + 0.3633940517902374, + 0.9145456552505493, + 0.17762595415115356, + 0.04117637519773684 + ], + [ + -0.4058015048503876, + -0.016239523887634277, + 0.9138169884681702, + -0.255537684340226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8444271087646484, + -0.39733707904815674, + 0.3592577576637268, + 0.19692119524667137 + ], + [ + 0.3558822274208069, + 0.9173950552940369, + 0.17814090847969055, + 0.03852138021274616 + ], + [ + -0.4003632664680481, + -0.022573575377464294, + 0.9160784482955933, + -0.25712541723133703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.849764883518219, + -0.392733097076416, + 0.3516537547111511, + 0.1947681582287738 + ], + [ + 0.3529582619667053, + 0.9193497896194458, + 0.1738288402557373, + 0.04091773574289524 + ], + [ + -0.3915611505508423, + -0.023594550788402557, + 0.9198495149612427, + -0.2540467320206134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.8546483516693115, + -0.38429921865463257, + 0.3491278886795044, + 0.1879208268695756 + ], + [ + 0.3426940441131592, + 0.9226746559143066, + 0.17672666907310486, + 0.03534490215150933 + ], + [ + -0.3900473713874817, + -0.03139510005712509, + 0.920259416103363, + -0.2588237169688862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8597441911697388, + -0.3775408864021301, + 0.3439517021179199, + 0.18389804974982613 + ], + [ + 0.3364899158477783, + 0.9253537654876709, + 0.1746281534433365, + 0.03373406513741142 + ], + [ + -0.38420623540878296, + -0.03439928591251373, + 0.9226062297821045, + -0.26030531855005967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8646875619888306, + -0.37034493684768677, + 0.33935239911079407, + 0.17889550567457552 + ], + [ + 0.3301492929458618, + 0.9281793236732483, + 0.1717109978199005, + 0.03260706580783192 + ], + [ + -0.3785721957683563, + -0.036439456045627594, + 0.9248542189598083, + -0.2620946323155965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8691304326057434, + -0.36383354663848877, + 0.3350185751914978, + 0.17293368577957152 + ], + [ + 0.3241749405860901, + 0.9306519627571106, + 0.16969838738441467, + 0.031102788448333724 + ], + [ + -0.3735276460647583, + -0.03888542205095291, + 0.9268036484718323, + -0.26448147390037774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.873528003692627, + -0.35741961002349854, + 0.3304542601108551, + 0.16733420012812866 + ], + [ + 0.3183661103248596, + 0.9330348968505859, + 0.16759741306304932, + 0.030415983184387804 + ], + [ + -0.3682279884815216, + -0.04119560122489929, + 0.92882239818573, + -0.2660955330847125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8780645132064819, + -0.3508320152759552, + 0.3254529535770416, + 0.16215263628645948 + ], + [ + 0.3122831881046295, + 0.9354058504104614, + 0.16581663489341736, + 0.029710468649864194 + ], + [ + -0.3626043498516083, + -0.0439642108976841, + 0.9309055805206299, + -0.26738436209332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8825093507766724, + -0.344427227973938, + 0.3202299177646637, + 0.15716950556165293 + ], + [ + 0.30631494522094727, + 0.9376392960548401, + 0.16432791948318481, + 0.028967544083532526 + ], + [ + -0.3568591773509979, + -0.046929728239774704, + 0.932978630065918, + -0.26859740944530225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.886790931224823, + -0.33798882365226746, + 0.31522274017333984, + 0.15222857959176364 + ], + [ + 0.300291508436203, + 0.9398306608200073, + 0.1629212647676468, + 0.02830422920616049 + ], + [ + -0.35132157802581787, + -0.04981839656829834, + 0.9349284768104553, + -0.26899104949675107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8911631107330322, + -0.33143916726112366, + 0.3098006248474121, + 0.14781530332800588 + ], + [ + 0.2943502962589264, + 0.9420216679573059, + 0.1610996127128601, + 0.027957048110271762 + ], + [ + -0.34523361921310425, + -0.05237612873315811, + 0.9370541572570801, + -0.26912003954088215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8949630260467529, + -0.3251459300518036, + 0.3054853081703186, + 0.14319675886317304 + ], + [ + 0.2886522710323334, + 0.9441028237342834, + 0.15921582281589508, + 0.02727898720063661 + ], + [ + -0.3401779532432556, + -0.05431325361132622, + 0.9387912750244141, + -0.2685125571136412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8987240195274353, + -0.3191351294517517, + 0.3007456064224243, + 0.1394468647476874 + ], + [ + 0.28336966037750244, + 0.946054995059967, + 0.1571037322282791, + 0.026826578966881107 + ], + [ + -0.334659218788147, + -0.05597071722149849, + 0.9406755566596985, + -0.26712855969947813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9024629592895508, + -0.3131062984466553, + 0.2958463132381439, + 0.13679956895740408 + ], + [ + 0.27785009145736694, + 0.9479281902313232, + 0.15566477179527283, + 0.026055561790340825 + ], + [ + -0.32918068766593933, + -0.05828075855970383, + 0.942466676235199, + -0.2658293889247273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9055334329605103, + -0.3067973554134369, + 0.2930607199668884, + 0.13310817850655632 + ], + [ + 0.2721077501773834, + 0.9499197602272034, + 0.15365487337112427, + 0.025339466686311513 + ], + [ + -0.32552510499954224, + -0.05939554423093796, + 0.9436660408973694, + -0.2648741500697246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.909050464630127, + -0.3007713258266449, + 0.2883813977241516, + 0.13193216770887375 + ], + [ + 0.26709476113319397, + 0.9518061280250549, + 0.15074962377548218, + 0.025551610949792358 + ], + [ + -0.31982433795928955, + -0.06001388281583786, + 0.9455742835998535, + -0.263164606200237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.911984920501709, + -0.2952769994735718, + 0.2847718894481659, + 0.1305031615652536 + ], + [ + 0.26238763332366943, + 0.9534888863563538, + 0.14836351573467255, + 0.024864337750171356 + ], + [ + -0.31533512473106384, + -0.06058468297123909, + 0.9470444917678833, + -0.26107740366684373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9149344563484192, + -0.2893524765968323, + 0.2813718020915985, + 0.12925855242892315 + ], + [ + 0.25733649730682373, + 0.9552890062332153, + 0.14560532569885254, + 0.024114256626681277 + ], + [ + -0.31092265248298645, + -0.060812100768089294, + 0.9484877586364746, + -0.25924879326240013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9177725315093994, + -0.2845602333545685, + 0.2769821286201477, + 0.1294568329853447 + ], + [ + 0.25344064831733704, + 0.9567061066627502, + 0.14311274886131287, + 0.023525438614581756 + ], + [ + -0.3057146668434143, + -0.06114642694592476, + 0.9501577019691467, + -0.25692442823446504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.919809877872467, + -0.27856481075286865, + 0.2763177156448364, + 0.12613637337559147 + ], + [ + 0.24788494408130646, + 0.95846027135849, + 0.1410922110080719, + 0.021783859714081408 + ], + [ + -0.30414289236068726, + -0.061283014714717865, + 0.9506531953811646, + -0.256551131135539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9224017858505249, + -0.2735200822353363, + 0.2726934850215912, + 0.12566883350281338 + ], + [ + 0.2437637746334076, + 0.9599246382713318, + 0.13828910887241364, + 0.02023459708220081 + ], + [ + -0.29959002137184143, + -0.061085328459739685, + 0.9521104693412781, + -0.2562584757118633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9238014817237854, + -0.2670380175113678, + 0.2743748724460602, + 0.12061708322481104 + ], + [ + 0.23810602724552155, + 0.9618843793869019, + 0.1344766616821289, + 0.01898409465425893 + ], + [ + -0.29982730746269226, + -0.058899424970149994, + 0.9521735310554504, + -0.256522750825082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9269278645515442, + -0.26325544714927673, + 0.2673971951007843, + 0.12262552931512657 + ], + [ + 0.23559096455574036, + 0.9629353880882263, + 0.13134820759296417, + 0.017521121196056658 + ], + [ + -0.2920643389225006, + -0.058753952383995056, + 0.9545922875404358, + -0.2577839095635634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9285373687744141, + -0.25822579860687256, + 0.26671677827835083, + 0.11924676126555392 + ], + [ + 0.23132503032684326, + 0.9643733501434326, + 0.12834639847278595, + 0.01636772798864465 + ], + [ + -0.2903568744659424, + -0.05747615918517113, + 0.9551907777786255, + -0.2587831635322226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9306685328483582, + -0.2542046904563904, + 0.26312747597694397, + 0.11849277392029763 + ], + [ + 0.22844937443733215, + 0.9655272364616394, + 0.124771848320961, + 0.01606780812144279 + ], + [ + -0.2857743203639984, + -0.0560099333524704, + 0.9566587209701538, + -0.25968847032636405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9325607419013977, + -0.2496175616979599, + 0.2608093321323395, + 0.11729013129676644 + ], + [ + 0.22491614520549774, + 0.9668216705322266, + 0.12111407518386841, + 0.01587269714004115 + ], + [ + -0.282388299703598, + -0.05428600683808327, + 0.9577629566192627, + -0.2601477268348007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9340623021125793, + -0.2461741864681244, + 0.2587004005908966, + 0.11566131689438694 + ], + [ + 0.22223544120788574, + 0.9677646160125732, + 0.11850358545780182, + 0.014142657581128579 + ], + [ + -0.27953359484672546, + -0.05319733917713165, + 0.9586610794067383, + -0.262160397722925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9354463219642639, + -0.2420240193605423, + 0.2576131820678711, + 0.11394087570278268 + ], + [ + 0.2191012054681778, + 0.9689366817474365, + 0.11470118165016174, + 0.01338428533390948 + ], + [ + -0.27737128734588623, + -0.05085345730185509, + 0.9594160318374634, + -0.2633270855208761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9368312358856201, + -0.2383032739162445, + 0.25604453682899475, + 0.11206106580793858 + ], + [ + 0.21647104620933533, + 0.9699880480766296, + 0.11074045300483704, + 0.011571113098608823 + ], + [ + -0.2747499644756317, + -0.04831889271736145, + 0.960300862789154, + -0.2656819373173149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9385542273521423, + -0.23396188020706177, + 0.2537277042865753, + 0.11125004142522812 + ], + [ + 0.21356543898582458, + 0.9712091088294983, + 0.10555864870548248, + 0.00991440682034743 + ], + [ + -0.2711193859577179, + -0.04488503932952881, + 0.9614986181259155, + -0.26927842795848844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9398833513259888, + -0.2296581268310547, + 0.25273796916007996, + 0.10924183012623535 + ], + [ + 0.21073001623153687, + 0.9724205136299133, + 0.09995590150356293, + 0.007688162318970029 + ], + [ + -0.2687232792377472, + -0.04068741202354431, + 0.9623576998710632, + -0.2749901747821193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9399502873420715, + -0.2307678759098053, + 0.2514748275279999, + 0.10823621757720646 + ], + [ + 0.21362799406051636, + 0.9723976254463196, + 0.09384015947580338, + 0.003863198976767679 + ], + [ + -0.2661888301372528, + -0.03448302298784256, + 0.9633039236068726, + -0.2825757517038207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9377308487892151, + -0.2427201122045517, + 0.24849115312099457, + 0.10696783005995186 + ], + [ + 0.22903086245059967, + 0.9698697328567505, + 0.0830516591668129, + -0.00187619477510452 + ], + [ + -0.26116234064102173, + -0.020967965945601463, + 0.9650671482086182, + -0.2943030832151539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9403764009475708, + -0.23075002431869507, + 0.24989326298236847, + 0.11640137065398065 + ], + [ + 0.21805864572525024, + 0.9728351831436157, + 0.07773130387067795, + -0.0006351789361552229 + ], + [ + -0.26104146242141724, + -0.01860530488193035, + 0.9651482701301575, + -0.2776774504834688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9412107467651367, + -0.22006924450397491, + 0.25630414485931396, + 0.0997941726426545 + ], + [ + 0.20896519720554352, + 0.9754047393798828, + 0.07013658434152603, + -0.00573283935848036 + ], + [ + -0.2654351592063904, + -0.012454666197299957, + 0.9640482664108276, + -0.29206581525994757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9433553218841553, + -0.21683743596076965, + 0.2511219382286072, + 0.08955783295003991 + ], + [ + 0.2066613733768463, + 0.9761471748352051, + 0.06654191017150879, + -0.01641251413445724 + ], + [ + -0.259560763835907, + -0.010875467211008072, + 0.9656655192375183, + -0.3138434475581897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9453468322753906, + -0.21196967363357544, + 0.2477663904428482, + 0.08601020766716254 + ], + [ + 0.20353031158447266, + 0.9772589206695557, + 0.059501711279153824, + -0.02182052794255708 + ], + [ + -0.2547444701194763, + -0.005821790546178818, + 0.9669908881187439, + -0.322017399557425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9462596774101257, + -0.21004147827625275, + 0.24591703712940216, + 0.08318322593052137 + ], + [ + 0.20378150045871735, + 0.977690577507019, + 0.05093326419591904, + -0.025088769668026978 + ], + [ + -0.2511288821697235, + 0.001917244866490364, + 0.967951774597168, + -0.32844204497033436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.948069155216217, + -0.20971746742725372, + 0.23913072049617767, + 0.08674470891097659 + ], + [ + 0.20583896338939667, + 0.9777109026908875, + 0.04137275367975235, + -0.027729985706116025 + ], + [ + -0.24247731268405914, + 0.009998185560107231, + 0.9701055288314819, + -0.33433958231839106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9483022689819336, + -0.2067573219537735, + 0.24077832698822021, + 0.07990449051323689 + ], + [ + 0.20344235002994537, + 0.9783166646957397, + 0.03882946819067001, + -0.03546475697504846 + ], + [ + -0.2435857355594635, + 0.012162433005869389, + 0.9698030948638916, + -0.3385589538950865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9496135711669922, + -0.19846345484256744, + 0.2425825297832489, + 0.07021524946352369 + ], + [ + 0.19880951941013336, + 0.9797608852386475, + 0.023309694603085518, + -0.030840106308460236 + ], + [ + -0.24229899048805237, + 0.02609250880777836, + 0.9698507189750671, + -0.34753507174870096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9511950016021729, + -0.19419731199741364, + 0.2398238480091095, + 0.07172602797417264 + ], + [ + 0.19596697390079498, + 0.9804685115814209, + 0.016685357317328453, + -0.032238972422323736 + ], + [ + -0.23837998509407043, + 0.03112652711570263, + 0.9706730246543884, + -0.3445030760730764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9529887437820435, + -0.18905577063560486, + 0.2367917150259018, + 0.07257645026241479 + ], + [ + 0.19241276383399963, + 0.9812721610069275, + 0.009071139618754387, + -0.02992368156188413 + ], + [ + -0.23407207429409027, + 0.036917053163051605, + 0.9715180993080139, + -0.3400269186663392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9534120559692383, + -0.18574461340904236, + 0.2377064973115921, + 0.0696798712015152 + ], + [ + 0.1888699233531952, + 0.9819535613059998, + 0.009767157956957817, + -0.03552493900060655 + ], + [ + -0.2352309376001358, + 0.03558347374200821, + 0.9712879061698914, + -0.3363575734198093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/move_left/transforms.json b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..c00eb2cf368fcf1ce2da1307c56c8e9c6572430a --- /dev/null +++ b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/move_left/transforms.json @@ -0,0 +1,5368 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 153, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 7.486010872526094e-05, + 0.0002196452987845987, + -0.0002654411073308438 + ], + [ + -7.484106026822701e-05, + 1.0, + -8.672619151184335e-05, + 0.0001142723995144479 + ], + [ + -0.00021965178893879056, + 8.67097478476353e-05, + 1.0, + 0.00021108951477799565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999338388442993, + -0.009409398771822453, + 0.006617182865738869, + 0.011163464414053841 + ], + [ + 0.00942306313663721, + 0.9999535083770752, + -0.0020369677804410458, + 0.0007894362439401448 + ], + [ + -0.006597708910703659, + 0.0020991871133446693, + 0.9999760389328003, + -6.07850361695072e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997265338897705, + -0.01911240443587303, + 0.013475535437464714, + 0.02179046735951775 + ], + [ + 0.019168775528669357, + 0.9998080134391785, + -0.004066530615091324, + 0.0007269486135460044 + ], + [ + -0.013395227491855621, + 0.004323728382587433, + 0.9999009370803833, + -0.0016437447433801074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993758797645569, + -0.028921371325850487, + 0.020282726734876633, + 0.03234334976265305 + ], + [ + 0.02905130200088024, + 0.9995590448379517, + -0.006140855140984058, + 0.0004049982532466713 + ], + [ + -0.020096182823181152, + 0.006726262159645557, + 0.9997754096984863, + -0.0011869453555463177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9989352822303772, + -0.037066735327243805, + 0.027465980499982834, + 0.04157367360435034 + ], + [ + 0.03730567544698715, + 0.999269962310791, + -0.008238716050982475, + 5.343590578137848e-05 + ], + [ + -0.027140546590089798, + 0.009254580363631248, + 0.9995887875556946, + -0.0020763947947048827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9983547329902649, + -0.04569840803742409, + 0.03463355824351311, + 0.05041748442147907 + ], + [ + 0.04611467197537422, + 0.9988720417022705, + -0.011316673830151558, + 0.000787422707377884 + ], + [ + -0.034077342599630356, + 0.012895170599222183, + 0.9993360042572021, + -0.0013434420352017409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9977129697799683, + -0.053892139345407486, + 0.04079800471663475, + 0.05924938517181497 + ], + [ + 0.05444388464093208, + 0.9984381198883057, + -0.012534970417618752, + -0.00022024750245404185 + ], + [ + -0.04005875065922737, + 0.014727504923939705, + 0.9990887641906738, + -0.0019253397409461047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9970232248306274, + -0.0614449717104435, + 0.04657505080103874, + 0.06785847999547658 + ], + [ + 0.06219964101910591, + 0.9979520440101624, + -0.014929651282727718, + 0.0004722634961485471 + ], + [ + -0.04556231573224068, + 0.01778215914964676, + 0.9988031983375549, + -0.0013124482338561824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.996251106262207, + -0.06872429698705673, + 0.05254223570227623, + 0.07499003527980101 + ], + [ + 0.06967084854841232, + 0.9974352121353149, + -0.016398794949054718, + 0.0008459004169133933 + ], + [ + -0.05128047987818718, + 0.019997980445623398, + 0.9984840750694275, + -0.00042725042072369867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9954705834388733, + -0.07528886198997498, + 0.058051031082868576, + 0.08164074526805627 + ], + [ + 0.07648171484470367, + 0.9968973994255066, + -0.01860480196774006, + 0.002016229405509014 + ], + [ + -0.05647018924355507, + 0.022960374131798744, + 0.9981402158737183, + 0.001640206200413798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9946188926696777, + -0.08198574930429459, + 0.06333675980567932, + 0.08756286062692341 + ], + [ + 0.08339744061231613, + 0.9963161945343018, + -0.0199715718626976, + 0.0023436824742116428 + ], + [ + -0.06146605685353279, + 0.025146227329969406, + 0.9977923631668091, + 0.004530288107497127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9937976002693176, + -0.08808811008930206, + 0.06787349283695221, + 0.0930275541779242 + ], + [ + 0.08970342576503754, + 0.9957444667816162, + -0.02112470753490925, + 0.0023925756349375375 + ], + [ + -0.06572382152080536, + 0.02708216942846775, + 0.9974702596664429, + 0.006067701110518292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.992946445941925, + -0.09379029273986816, + 0.07253063470125198, + 0.09711488634347916 + ], + [ + 0.09565320611000061, + 0.9951571226119995, + -0.022644715383648872, + 0.0031643858767653765 + ], + [ + -0.0700555220246315, + 0.029422776773571968, + 0.997109055519104, + 0.008148213657305428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9920786023139954, + -0.09927861392498016, + 0.07696626335382462, + 0.10026978187655147 + ], + [ + 0.10140794515609741, + 0.9945490956306458, + -0.024260051548480988, + 0.004072878573481974 + ], + [ + -0.07413821667432785, + 0.03187286853790283, + 0.9967384934425354, + 0.009765191783050173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9912728071212769, + -0.10420301556587219, + 0.08074606955051422, + 0.10289582445433265 + ], + [ + 0.10652104020118713, + 0.9939975738525391, + -0.02494071051478386, + 0.004095789005881862 + ], + [ + -0.07766249775886536, + 0.03332420065999031, + 0.9964225888252258, + 0.008889762616079105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9904168248176575, + -0.10920058190822601, + 0.08455628156661987, + 0.10451927800711833 + ], + [ + 0.11181765794754028, + 0.9933660626411438, + -0.02684522047638893, + 0.005791711008274241 + ], + [ + -0.08106382191181183, + 0.036042843014001846, + 0.9960570335388184, + 0.007969375528199108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9896203279495239, + -0.11374238133430481, + 0.08783086389303207, + 0.10620045214891434 + ], + [ + 0.11657829582691193, + 0.9927910566329956, + -0.0278471652418375, + 0.006549489223643353 + ], + [ + -0.08403029292821884, + 0.037797294557094574, + 0.9957460761070251, + 0.005830323519675355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9887679815292358, + -0.11818021535873413, + 0.09149499237537384, + 0.10699265654149809 + ], + [ + 0.12130987644195557, + 0.992178738117218, + -0.029416179284453392, + 0.00849857572466135 + ], + [ + -0.08730296790599823, + 0.04018501937389374, + 0.9953709840774536, + 0.002515491334672429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9880070090293884, + -0.12232591956853867, + 0.09422606974840164, + 0.10914197893519151 + ], + [ + 0.1257130205631256, + 0.9915862679481506, + -0.03086874634027481, + 0.010423056055840693 + ], + [ + -0.08965722471475601, + 0.04234398156404495, + 0.9950721263885498, + -0.0021083706793816465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9871285557746887, + -0.1264643669128418, + 0.097897969186306, + 0.1107356034219265 + ], + [ + 0.13012224435806274, + 0.9909846186637878, + -0.031902045011520386, + 0.012376192770898343 + ], + [ + -0.09298091381788254, + 0.04423011839389801, + 0.9946849942207336, + -0.007837994303554297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9863113164901733, + -0.13061530888080597, + 0.10064583271741867, + 0.11367726169134441 + ], + [ + 0.1345066875219345, + 0.9903672933578491, + -0.03287120908498764, + 0.01536626280530503 + ], + [ + -0.09538286179304123, + 0.045958779752254486, + 0.9943791627883911, + -0.016737211103502073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9854454398155212, + -0.1344515085220337, + 0.10401938110589981, + 0.11657447363985213 + ], + [ + 0.13864803314208984, + 0.9897513389587402, + -0.03419088199734688, + 0.020309987605402344 + ], + [ + -0.09835629910230637, + 0.048115331679582596, + 0.9939873814582825, + -0.02763789196645743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.984514594078064, + -0.13797539472579956, + 0.10813789069652557, + 0.11858725045856676 + ], + [ + 0.14246487617492676, + 0.9891838431358337, + -0.03491576761007309, + 0.02643744400457332 + ], + [ + -0.10215073823928833, + 0.04978092759847641, + 0.993522584438324, + -0.03951058105418557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9835415482521057, + -0.14122694730758667, + 0.112698495388031, + 0.12066159958117886 + ], + [ + 0.146053284406662, + 0.9886308312416077, + -0.03574281185865402, + 0.03476827268145587 + ], + [ + -0.10636936128139496, + 0.05161452293395996, + 0.9929861426353455, + -0.0525080985046531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9825727343559265, + -0.14466817677021027, + 0.11671313643455505, + 0.12371412703865453 + ], + [ + 0.14964686334133148, + 0.9881184101104736, + -0.03503997623920441, + 0.04262095901526903 + ], + [ + -0.11025723814964294, + 0.05189507454633713, + 0.992547333240509, + -0.06527204701774998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9815168976783752, + -0.14834892749786377, + 0.12090172618627548, + 0.1270106103467314 + ], + [ + 0.15355730056762695, + 0.9875227212905884, + -0.03491394221782684, + 0.0523896209503475 + ], + [ + -0.11421375721693039, + 0.05283396691083908, + 0.992050290107727, + -0.07770129207423643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9804078340530396, + -0.1519862711429596, + 0.1253024786710739, + 0.1304817253037503 + ], + [ + 0.1573057770729065, + 0.9869763255119324, + -0.033654287457466125, + 0.06189141979343013 + ], + [ + -0.11855559796094894, + 0.05270572751760483, + 0.9915476441383362, + -0.0901228081729067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9792719483375549, + -0.15514804422855377, + 0.13021358847618103, + 0.1342002577295429 + ], + [ + 0.1605307012796402, + 0.9865168929100037, + -0.03184787929058075, + 0.07218741497122928 + ], + [ + -0.12351676821708679, + 0.05209100991487503, + 0.9909743070602417, + -0.10045329393132736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9778348803520203, + -0.1601947396993637, + 0.13482047617435455, + 0.13973741170607115 + ], + [ + 0.16554240882396698, + 0.9857654571533203, + -0.02936270833015442, + 0.08302369474580414 + ], + [ + -0.12819762527942657, + 0.05103038251399994, + 0.9904348850250244, + -0.11089345150088009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9764490723609924, + -0.1634153127670288, + 0.1408640593290329, + 0.14401911697105357 + ], + [ + 0.16890498995780945, + 0.9852386116981506, + -0.02785685285925865, + 0.095761637566121 + ], + [ + -0.13423247635364532, + 0.05099343881011009, + 0.9896369576454163, + -0.12083133662021474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9747384190559387, + -0.1686803102493286, + 0.14639659225940704, + 0.14948188278235885 + ], + [ + 0.17388007044792175, + 0.9844890832901001, + -0.023386262357234955, + 0.10608374150960069 + ], + [ + -0.1401810497045517, + 0.04825093597173691, + 0.9889494776725769, + -0.13302688016311118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9727408289909363, + -0.17421966791152954, + 0.15304487943649292, + 0.1538438815427454 + ], + [ + 0.17926058173179626, + 0.983604907989502, + -0.019672542810440063, + 0.11765476831872212 + ], + [ + -0.14710834622383118, + 0.04657120257616043, + 0.9880234003067017, + -0.14400822773183647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9704703688621521, + -0.18006034195423126, + 0.1605164110660553, + 0.15737628654429786 + ], + [ + 0.18495769798755646, + 0.9826164841651917, + -0.015984144061803818, + 0.12936658263206482 + ], + [ + -0.15484794974327087, + 0.045200884342193604, + 0.986903727054596, + -0.15460138022899628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9679154753684998, + -0.1860344260931015, + 0.16891080141067505, + 0.1609361975208709 + ], + [ + 0.1904001086950302, + 0.9816568493843079, + -0.009882360696792603, + 0.13814418003159135 + ], + [ + -0.16397398710250854, + 0.041725918650627136, + 0.9855818152427673, + -0.16482567822462635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9535432457923889, + -0.2096485197544098, + 0.2163396179676056, + 0.09689309902881321 + ], + [ + 0.2042618691921234, + 0.9777764678001404, + 0.04722607880830765, + 0.0755951860625493 + ], + [ + -0.2214326560497284, + -0.0008421782404184341, + 0.9751753211021423, + -0.2005608403761136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9606420993804932, + -0.20141346752643585, + 0.1913096159696579, + 0.16153381294325778 + ], + [ + 0.1995498090982437, + 0.9794536232948303, + 0.02916313335299492, + 0.12230400275439024 + ], + [ + -0.19325275719165802, + 0.010160461999475956, + 0.9810963869094849, + -0.22677493590469422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9576839208602905, + -0.21403126418590546, + 0.19243745505809784, + 0.18505936233620895 + ], + [ + 0.21720202267169952, + 0.9761152863502502, + 0.0047199297696352005, + 0.16892244906017656 + ], + [ + -0.18885134160518646, + 0.03727760165929794, + 0.9812979102134705, + -0.1917859586053773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.952888548374176, + -0.22093382477760315, + 0.2078259438276291, + 0.1898585538722967 + ], + [ + 0.22392362356185913, + 0.9745620489120483, + 0.009332165122032166, + 0.17778938793038068 + ], + [ + -0.20460106432437897, + 0.03764461725950241, + 0.978121280670166, + -0.1984621827049475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9271285533905029, + -0.24985088407993317, + 0.27929773926734924, + 0.09814105778932572 + ], + [ + 0.23404096066951752, + 0.9681298732757568, + 0.08915950357913971, + 0.08029656000435352 + ], + [ + -0.2926730811595917, + -0.01729520782828331, + 0.9560561180114746, + -0.2423850752413273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9124606847763062, + -0.28992247581481934, + 0.28872203826904297, + 0.10816869649447894 + ], + [ + 0.2748124599456787, + 0.9570366740226746, + 0.09251425415277481, + 0.08519319554692821 + ], + [ + -0.3031395673751831, + -0.00507122278213501, + 0.9529327154159546, + -0.2180591436593156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9027099013328552, + -0.30045634508132935, + 0.3079622685909271, + 0.11300623103191978 + ], + [ + 0.2835652828216553, + 0.9537926316261292, + 0.09934937953948975, + 0.08701610957321368 + ], + [ + -0.32358232140541077, + -0.0023562535643577576, + 0.9461970925331116, + -0.22093777750667773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8812745213508606, + -0.31362080574035645, + 0.35354945063591003, + 0.10106052289667883 + ], + [ + 0.2914339303970337, + 0.9495478868484497, + 0.11586682498455048, + 0.08254625020842803 + ], + [ + -0.37205037474632263, + 0.0009258240461349487, + 0.9282121062278748, + -0.22213674103351017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8721312284469604, + -0.3263741135597229, + 0.36450937390327454, + 0.11334860685624575 + ], + [ + 0.3030738830566406, + 0.945228636264801, + 0.12119840085506439, + 0.08520187233623705 + ], + [ + -0.38410070538520813, + 0.004772353917360306, + 0.9232788681983948, + -0.22584269780077432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.864270031452179, + -0.33876946568489075, + 0.3718501627445221, + 0.1290974532695193 + ], + [ + 0.3148517310619354, + 0.9408286809921265, + 0.12533846497535706, + 0.08822090976724499 + ], + [ + -0.39230814576148987, + 0.008751384913921356, + 0.9197922348976135, + -0.22926162200930872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.855633020401001, + -0.3510538935661316, + 0.38033315539360046, + 0.1443210228493339 + ], + [ + 0.3258659243583679, + 0.9362813830375671, + 0.13110506534576416, + 0.09028183974717793 + ], + [ + -0.4021237790584564, + 0.01175978034734726, + 0.915509819984436, + -0.23216018512060768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8466073870658875, + -0.36290690302848816, + 0.3893001079559326, + 0.15905213532479187 + ], + [ + 0.3370571434497833, + 0.9316796064376831, + 0.1355198472738266, + 0.09305159149593428 + ], + [ + -0.411884069442749, + 0.016484275460243225, + 0.911087155342102, + -0.23531184776833183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8381093740463257, + -0.3741820156574249, + 0.3969389498233795, + 0.1730785482808163 + ], + [ + 0.34812650084495544, + 0.9270997643470764, + 0.1389029175043106, + 0.09637047032776631 + ], + [ + -0.41997697949409485, + 0.02176910638809204, + 0.9072736501693726, + -0.2386219467379545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8278724551200867, + -0.3860226273536682, + 0.4069567322731018, + 0.18309059954787554 + ], + [ + 0.35846996307373047, + 0.9221380949020386, + 0.14546693861484528, + 0.09734906742447301 + ], + [ + -0.4314238429069519, + 0.025453690439462662, + 0.901790201663971, + -0.24155978007536186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8132416605949402, + -0.4000590443611145, + 0.42260006070137024, + 0.18639761334971378 + ], + [ + 0.36699265241622925, + 0.916172444820404, + 0.1610727608203888, + 0.09271542963228728 + ], + [ + -0.4516131579875946, + 0.024100027978420258, + 0.8918883204460144, + -0.2457251112712057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.800495445728302, + -0.4116794764995575, + 0.4355767071247101, + 0.19164523305861572 + ], + [ + 0.3771609365940094, + 0.9108340740203857, + 0.1677226722240448, + 0.09374536399386431 + ], + [ + -0.46578606963157654, + 0.030021272599697113, + 0.8843879699707031, + -0.24730734129093196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7912006378173828, + -0.42177432775497437, + 0.4428408443927765, + 0.19699686922525106 + ], + [ + 0.3861995339393616, + 0.9060561656951904, + 0.17295131087303162, + 0.09555649090754359 + ], + [ + -0.4741850793361664, + 0.034185729920864105, + 0.8797612190246582, + -0.2504166209776151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7883719205856323, + -0.4314103424549103, + 0.43858277797698975, + 0.19895126686284417 + ], + [ + 0.39451298117637634, + 0.901553213596344, + 0.17765501141548157, + 0.09424675120727012 + ], + [ + -0.47204792499542236, + 0.03296840935945511, + 0.8809561729431152, + -0.26384618290160833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7732312679290771, + -0.4401988685131073, + 0.4564410448074341, + 0.19097129702568055 + ], + [ + 0.3983771502971649, + 0.8972340822219849, + 0.1904381364583969, + 0.08790982459720813 + ], + [ + -0.4933651089668274, + 0.034582942724227905, + 0.8691345453262329, + -0.26326864659786225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.762651801109314, + -0.4486672878265381, + 0.4658969044685364, + 0.19347870263614153 + ], + [ + 0.4064124822616577, + 0.8927561044692993, + 0.19446197152137756, + 0.09004810256393332 + ], + [ + -0.5031810402870178, + 0.04103954881429672, + 0.8632060289382935, + -0.2587144131331067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7619649171829224, + -0.45308035612106323, + 0.46273931860923767, + 0.2072324164603886 + ], + [ + 0.41071194410324097, + 0.8905273675918579, + 0.19564446806907654, + 0.09579084884179266 + ], + [ + -0.5007246732711792, + 0.0409783273935318, + 0.8646361231803894, + -0.2598666986352519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7553388476371765, + -0.45733121037483215, + 0.4693734049797058, + 0.20747329039793266 + ], + [ + 0.41277989745140076, + 0.8883169293403625, + 0.20126056671142578, + 0.09553485824481438 + ], + [ + -0.5089950561523438, + 0.04172797501087189, + 0.8597574234008789, + -0.2596371895388553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7476083040237427, + -0.46362730860710144, + 0.47553306818008423, + 0.20929466831056695 + ], + [ + 0.41872766613960266, + 0.8848179578781128, + 0.20436331629753113, + 0.0961072353940261 + ], + [ + -0.5155085921287537, + 0.046335093677043915, + 0.8556307554244995, + -0.2577872596288982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7409449815750122, + -0.46880772709846497, + 0.48085328936576843, + 0.21006831377744675 + ], + [ + 0.42371925711631775, + 0.8818568587303162, + 0.20685862004756927, + 0.09582354985177517 + ], + [ + -0.5210207104682922, + 0.050475940108299255, + 0.852050244808197, + -0.2567274637520313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7370342016220093, + -0.4708939492702484, + 0.48480871319770813, + 0.21156233878512132 + ], + [ + 0.42591890692710876, + 0.8805760145187378, + 0.20779554545879364, + 0.09732050319251262 + ], + [ + -0.5247606039047241, + 0.05333675444126129, + 0.8495773077011108, + -0.2555309567012285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.733278751373291, + -0.47555649280548096, + 0.4859509766101837, + 0.21436980743157236 + ], + [ + 0.43025994300842285, + 0.8779549598693848, + 0.2099321484565735, + 0.0966234796925595 + ], + [ + -0.5264776945114136, + 0.05514641851186752, + 0.8483985662460327, + -0.25588954867501007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7299193739891052, + -0.4792203903198242, + 0.48740702867507935, + 0.21701015061453768 + ], + [ + 0.43289369344711304, + 0.8759338855743408, + 0.2129388153553009, + 0.09462167832412217 + ], + [ + -0.5289809107780457, + 0.05556723475456238, + 0.8468125462532043, + -0.2544098425852625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7269030809402466, + -0.4841855764389038, + 0.4870075583457947, + 0.2208421493047162 + ], + [ + 0.4368501901626587, + 0.873192548751831, + 0.2160942107439041, + 0.09148235266145907 + ], + [ + -0.5298810601234436, + 0.055669769644737244, + 0.8462428450584412, + -0.25402200892567633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7242805361747742, + -0.48809078335762024, + 0.4870165288448334, + 0.22353350167211733 + ], + [ + 0.4403545558452606, + 0.8709574937820435, + 0.21799282729625702, + 0.08968499236200986 + ], + [ + -0.5305709838867188, + 0.056571975350379944, + 0.8457505702972412, + -0.2529999814535442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7222667932510376, + -0.49074244499206543, + 0.48734232783317566, + 0.22689087932047092 + ], + [ + 0.4425734877586365, + 0.8694324493408203, + 0.21958135068416595, + 0.08851088022715167 + ], + [ + -0.5314691066741943, + 0.057088449597358704, + 0.8451517820358276, + -0.2503759297885393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7200033068656921, + -0.4935426712036133, + 0.4878636300563812, + 0.22978544925388536 + ], + [ + 0.4453998804092407, + 0.8677505254745483, + 0.2205176055431366, + 0.08778469107652966 + ], + [ + -0.5321787595748901, + 0.05852096527814865, + 0.8446070551872253, + -0.24797893072429456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7186486721038818, + -0.49534931778907776, + 0.4880298376083374, + 0.23259597154040085 + ], + [ + 0.4471587836742401, + 0.8666703701019287, + 0.22120466828346252, + 0.0871480190636296 + ], + [ + -0.5325345993041992, + 0.059258364140987396, + 0.8443313241004944, + -0.2458263808175137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7161622643470764, + -0.49725329875946045, + 0.4897455871105194, + 0.23474475608060236 + ], + [ + 0.4491681456565857, + 0.8654537796974182, + 0.22189579904079437, + 0.0862186787944091 + ], + [ + -0.5341905951499939, + 0.06106473505496979, + 0.8431556820869446, + -0.2423015830548186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7124788761138916, + -0.5017019510269165, + 0.49058035016059875, + 0.236960421894726 + ], + [ + 0.4538414478302002, + 0.8626941442489624, + 0.22312942147254944, + 0.08432996304411637 + ], + [ + -0.5351652503013611, + 0.06367069482803345, + 0.8423444628715515, + -0.2393424816429615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7072316408157349, + -0.5058014392852783, + 0.4939517378807068, + 0.23698135959474664 + ], + [ + 0.46034589409828186, + 0.8597296476364136, + 0.22123877704143524, + 0.08579497431453906 + ], + [ + -0.5365678668022156, + 0.07092158496379852, + 0.8408716320991516, + -0.2361880423207032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7088268995285034, + -0.5011103749275208, + 0.49644020199775696, + 0.23474081417447643 + ], + [ + 0.44815048575401306, + 0.8634193539619446, + 0.23166388273239136, + 0.07880600826128534 + ], + [ + -0.544725239276886, + 0.05827031284570694, + 0.83658766746521, + -0.2258333698307213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7064495086669922, + -0.5092297196388245, + 0.491542786359787, + 0.2391317141683478 + ], + [ + 0.45558616518974304, + 0.8586693406105042, + 0.23479411005973816, + 0.07119697822551978 + ], + [ + -0.5416368842124939, + 0.05806984752416611, + 0.8386044502258301, + -0.23140578952274823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7066060304641724, + -0.5129421949386597, + 0.48744046688079834, + 0.24634130134394294 + ], + [ + 0.45840588212013245, + 0.8565908074378967, + 0.23688878118991852, + 0.06870847197347565 + ], + [ + -0.5390472412109375, + 0.05605851113796234, + 0.8404079675674438, + -0.23182013348529212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7055343389511108, + -0.5136846899986267, + 0.48821038007736206, + 0.25018642199666874 + ], + [ + 0.4590679705142975, + 0.8561062812805176, + 0.2373577058315277, + 0.06926601301682622 + ], + [ + -0.539887011051178, + 0.056657709181308746, + 0.8398285508155823, + -0.22665481379157618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6304056644439697, + -0.5233215093612671, + 0.5733440518379211, + 0.12924113728498157 + ], + [ + 0.4432392716407776, + 0.8490173816680908, + 0.2875908315181732, + 0.011580826302892283 + ], + [ + -0.6372814774513245, + 0.07282967120409012, + 0.7671819925308228, + -0.1793140503528871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.623478889465332, + -0.5025610327720642, + 0.5989211797714233, + 0.11893592618013683 + ], + [ + 0.4283827543258667, + 0.8604052066802979, + 0.27602726221084595, + 0.019734627518214677 + ], + [ + -0.6540354490280151, + 0.08447032421827316, + 0.7517329454421997, + -0.1371606182110937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.692449152469635, + -0.515053927898407, + 0.5052065253257751, + 0.23317739700800494 + ], + [ + 0.45391494035720825, + 0.8553050756454468, + 0.24982890486717224, + 0.0541743755732712 + ], + [ + -0.5607810616493225, + 0.056326963007450104, + 0.8260459303855896, + -0.2084879845772919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7024346590042114, + -0.5159513354301453, + 0.4902855157852173, + 0.2558035016059875 + ], + [ + 0.4622131288051605, + 0.8545053601264954, + 0.2370224893093109, + 0.07087785899639129 + ], + [ + -0.5412436723709106, + 0.060123562812805176, + 0.8387135863304138, + -0.21480665504932403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7010699510574341, + -0.5140037536621094, + 0.4942682385444641, + 0.2543559813970014 + ], + [ + 0.4596215784549713, + 0.8556593060493469, + 0.23789751529693604, + 0.07315043130595433 + ], + [ + -0.5452054142951965, + 0.06039350479841232, + 0.8361241817474365, + -0.20714508102912652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6960209608078003, + -0.5207414031028748, + 0.4943513870239258, + 0.25981792446814084 + ], + [ + 0.46947816014289856, + 0.8509830832481384, + 0.23541045188903809, + 0.07454885162020986 + ], + [ + -0.5432726144790649, + 0.06823652237653732, + 0.8367787599563599, + -0.2061746420044648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6972241997718811, + -0.5184755325317383, + 0.4950369894504547, + 0.25747828581615495 + ], + [ + 0.4704066216945648, + 0.852001428604126, + 0.2298070639371872, + 0.07772516669019272 + ], + [ + -0.5409215092658997, + 0.07264159619808197, + 0.8379302620887756, + -0.20853781139380054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7007420659065247, + -0.5122458934783936, + 0.49655282497406006, + 0.2580688768311551 + ], + [ + 0.46397605538368225, + 0.8559435606002808, + 0.22822552919387817, + 0.07932078054076747 + ], + [ + -0.541928768157959, + 0.07046139240264893, + 0.8374654650688171, + -0.20386591475260885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7012858390808105, + -0.5165933966636658, + 0.49125295877456665, + 0.26012385424814727 + ], + [ + 0.4691143035888672, + 0.8532971143722534, + 0.22763106226921082, + 0.0797898364694495 + ], + [ + -0.5367774367332458, + 0.07081928849220276, + 0.8407465219497681, + -0.20826434575413402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.7049028873443604, + -0.5171411633491516, + 0.48546576499938965, + 0.26356594593901383 + ], + [ + 0.46874839067459106, + 0.8533053994178772, + 0.22835247218608856, + 0.07826318372237055 + ], + [ + -0.5323410034179688, + 0.06659497320652008, + 0.8439065217971802, + -0.2109436400626835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.7034510374069214, + -0.5215265154838562, + 0.4828735291957855, + 0.2649629363103917 + ], + [ + 0.46564480662345886, + 0.8514518141746521, + 0.24125659465789795, + 0.06698745369519057 + ], + [ + -0.5369652509689331, + 0.05513530224561691, + 0.8418007493019104, + -0.20401084948527184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.7005684971809387, + -0.5174944996833801, + 0.49132809042930603, + 0.2543466124095415 + ], + [ + 0.4678799510002136, + 0.8529921770095825, + 0.2312850058078766, + 0.07514680286771373 + ], + [ + -0.5387877225875854, + 0.06785152107477188, + 0.839704692363739, + -0.2015837002741663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.70619797706604, + -0.5167732834815979, + 0.48397305607795715, + 0.2568703803576921 + ], + [ + 0.4635133445262909, + 0.854164183139801, + 0.2357095181941986, + 0.07041637452417299 + ], + [ + -0.535200834274292, + 0.05787036567926407, + 0.8427402973175049, + -0.20318416074702614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.7053415775299072, + -0.5109115839004517, + 0.4913884997367859, + 0.2459785354764838 + ], + [ + 0.4630224406719208, + 0.856951117515564, + 0.22637349367141724, + 0.07787939102241867 + ], + [ + -0.5367527604103088, + 0.06785324215888977, + 0.8410068154335022, + -0.20241838999484715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.7119850516319275, + -0.5083200335502625, + 0.48444610834121704, + 0.24641940903506782 + ], + [ + 0.4578325152397156, + 0.8591428995132446, + 0.22861087322235107, + 0.07526871973746702 + ], + [ + -0.5324159264564514, + 0.059027642011642456, + 0.8444223403930664, + -0.20415163749926968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.7145720720291138, + -0.50968337059021, + 0.47917598485946655, + 0.2456465488985965 + ], + [ + 0.45987576246261597, + 0.8584074378013611, + 0.22726856172084808, + 0.07472316450194308 + ], + [ + -0.5271632075309753, + 0.05796162784099579, + 0.8477849960327148, + -0.20805624331298628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.7195661664009094, + -0.5060887336730957, + 0.47549837827682495, + 0.24140450777976136 + ], + [ + 0.45179399847984314, + 0.8611865043640137, + 0.2328948676586151, + 0.0698712378152107 + ], + [ + -0.5273582339286804, + 0.04724404960870743, + 0.8483285307884216, + -0.2066334224453098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.7255055904388428, + -0.5013484358787537, + 0.47147780656814575, + 0.23484334977049576 + ], + [ + 0.45057833194732666, + 0.8638554811477661, + 0.2252395898103714, + 0.07384776245606572 + ], + [ + -0.5202121734619141, + 0.04902510344982147, + 0.852628767490387, + -0.2148453640310388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.7274364233016968, + -0.49972307682037354, + 0.4702266752719879, + 0.2275831911908953 + ], + [ + 0.4442753195762634, + 0.8652628064155579, + 0.2322491705417633, + 0.06629556837050539 + ], + [ + -0.5229299068450928, + 0.03996359556913376, + 0.8514382839202881, + -0.21191329673716897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.7286536693572998, + -0.4982719421386719, + 0.4698818027973175, + 0.21734801562208877 + ], + [ + 0.4420715570449829, + 0.8661899566650391, + 0.2329971194267273, + 0.06373895155756097 + ], + [ + -0.5231028199195862, + 0.037947170436382294, + 0.8514243364334106, + -0.21131164745280617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.7307535409927368, + -0.49414342641830444, + 0.4709794819355011, + 0.20453041595847984 + ], + [ + 0.43856102228164673, + 0.8685547113418579, + 0.23081810772418976, + 0.06476526985827245 + ], + [ + -0.5231286883354187, + 0.03788207471370697, + 0.8514114022254944, + -0.21307696562848594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.7341200113296509, + -0.4901063144207001, + 0.4699612259864807, + 0.19377331906243375 + ], + [ + 0.43532487750053406, + 0.8708741664886475, + 0.22818945348262787, + 0.06550515392108967 + ], + [ + -0.5211141705513, + 0.03706739842891693, + 0.8526816368103027, + -0.21192968244615354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.735008955001831, + -0.48444947600364685, + 0.47441601753234863, + 0.17954419553279877 + ], + [ + 0.4309946596622467, + 0.873934805393219, + 0.22468113899230957, + 0.06751729361712933 + ], + [ + -0.5234553217887878, + 0.039328090846538544, + 0.8511450290679932, + -0.20526199415326118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.7425163984298706, + -0.48451104760169983, + 0.46251314878463745, + 0.16413053838830244 + ], + [ + 0.4290448725223541, + 0.8742762804031372, + 0.2270716428756714, + 0.057249721884727475 + ], + [ + -0.5143829584121704, + 0.029834486544132233, + 0.8570414781570435, + -0.22002949118614196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.7706372141838074, + -0.47004398703575134, + 0.43032193183898926, + 0.18190005582414176 + ], + [ + 0.4160093367099762, + 0.8825839161872864, + 0.2190476357936859, + 0.06542793330001204 + ], + [ + -0.4827572703361511, + 0.010211654007434845, + 0.8756946921348572, + -0.2500650172562976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.7728095054626465, + -0.46671777963638306, + 0.43004655838012695, + 0.18114808295902451 + ], + [ + 0.41932570934295654, + 0.8841539621353149, + 0.20600436627864838, + 0.07890750608946148 + ], + [ + -0.47637325525283813, + 0.02112741768360138, + 0.8789892792701721, + -0.2339692607522011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.7804538607597351, + -0.4630095958709717, + 0.4201355278491974, + 0.17455558961159306 + ], + [ + 0.41482144594192505, + 0.8862516283988953, + 0.20610970258712769, + 0.07578533648660309 + ], + [ + -0.4677765667438507, + 0.01342211663722992, + 0.8837448358535767, + -0.2373943398853666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.783412516117096, + -0.45389920473098755, + 0.4245472848415375, + 0.15383680478522652 + ], + [ + 0.40902382135391235, + 0.8908549547195435, + 0.1976788341999054, + 0.081984439178517 + ], + [ + -0.46793630719184875, + 0.01878587156534195, + 0.8835625052452087, + -0.23136017628406225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.7882930040359497, + -0.44812509417533875, + 0.4216373562812805, + 0.13933470837379758 + ], + [ + 0.4036045968532562, + 0.8938250541687012, + 0.1953972578048706, + 0.08149851695879509 + ], + [ + -0.4644324779510498, + 0.01614445447921753, + 0.8854613900184631, + -0.22907100994335977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8005181550979614, + -0.44388347864151, + 0.40266385674476624, + 0.14948439864735855 + ], + [ + 0.39876091480255127, + 0.896073579788208, + 0.19504337012767792, + 0.07975574363219111 + ], + [ + -0.4473929703235626, + 0.004430860280990601, + 0.8943265080451965, + -0.23627700354707867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.7917172312736511, + -0.43485942482948303, + 0.4290468096733093, + 0.11187400108105258 + ], + [ + 0.39788469672203064, + 0.9000052213668823, + 0.1779842972755432, + 0.0923120668648105 + ], + [ + -0.46354252099990845, + 0.02979787439107895, + 0.8855735063552856, + -0.20955567693239763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8151552081108093, + -0.42993101477622986, + 0.38817697763442993, + 0.13708061215124634 + ], + [ + 0.38576188683509827, + 0.9028477072715759, + 0.18987837433815002, + 0.07880423837586453 + ], + [ + -0.43209928274154663, + -0.005036473274230957, + 0.901811957359314, + -0.23505800052693016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.820561408996582, + -0.42322832345962524, + 0.3841313123703003, + 0.12867834379798487 + ], + [ + 0.3796986937522888, + 0.9059905409812927, + 0.18710988759994507, + 0.0781358945134439 + ], + [ + -0.4272094964981079, + -0.007681019604206085, + 0.9041200280189514, + -0.23212710140567078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.827160656452179, + -0.4162408709526062, + 0.37755632400512695, + 0.1231620759556168 + ], + [ + 0.37398338317871094, + 0.9091972708702087, + 0.18302103877067566, + 0.07893192964164834 + ], + [ + -0.41945403814315796, + -0.010188020765781403, + 0.9077193737030029, + -0.2307357456339033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8328419327735901, + -0.4097776412963867, + 0.37209758162498474, + 0.1174156578355714 + ], + [ + 0.36858171224594116, + 0.9121019840240479, + 0.17949247360229492, + 0.08025220252181355 + ], + [ + -0.41294291615486145, + -0.012340493500232697, + 0.9106733202934265, + -0.22825679035955354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.838611900806427, + -0.40415653586387634, + 0.36522266268730164, + 0.11290750283943979 + ], + [ + 0.3633940517902374, + 0.9145456552505493, + 0.17762595415115356, + 0.08033714702254847 + ], + [ + -0.4058015048503876, + -0.016239523887634277, + 0.9138169884681702, + -0.2278582804297146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8444271087646484, + -0.39733707904815674, + 0.3592577576637268, + 0.10787363177851628 + ], + [ + 0.3558822274208069, + 0.9173950552940369, + 0.17814090847969055, + 0.07878776063260279 + ], + [ + -0.4003632664680481, + -0.022573575377464294, + 0.9160784482955933, + -0.23003391964655173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.849764883518219, + -0.392733097076416, + 0.3516537547111511, + 0.10485054121205682 + ], + [ + 0.3529582619667053, + 0.9193497896194458, + 0.1738288402557373, + 0.08190659629671197 + ], + [ + -0.3915611505508423, + -0.023594550788402557, + 0.9198495149612427, + -0.2274175701957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.8546483516693115, + -0.38429921865463257, + 0.3491278886795044, + 0.09744505035249809 + ], + [ + 0.3426940441131592, + 0.9226746559143066, + 0.17672666907310486, + 0.07769874946067207 + ], + [ + -0.3900473713874817, + -0.03139510005712509, + 0.920259416103363, + -0.23263266294410354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8597441911697388, + -0.3775408864021301, + 0.3439517021179199, + 0.09272967561295159 + ], + [ + 0.3364899158477783, + 0.9253537654876709, + 0.1746281534433365, + 0.07712403300561403 + ], + [ + -0.38420623540878296, + -0.03439928591251373, + 0.9226062297821045, + -0.23453006963980827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8646875619888306, + -0.37034493684768677, + 0.33935239911079407, + 0.08708058964265021 + ], + [ + 0.3301492929458618, + 0.9281793236732483, + 0.1717109978199005, + 0.07706587730269683 + ], + [ + -0.3785721957683563, + -0.036439456045627594, + 0.9248542189598083, + -0.23665976416515677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8691304326057434, + -0.36383354663848877, + 0.3350185751914978, + 0.08046138733625412 + ], + [ + 0.3241749405860901, + 0.9306519627571106, + 0.16969838738441467, + 0.07658856511116027 + ], + [ + -0.3735276460647583, + -0.03888542205095291, + 0.9268036484718323, + -0.23938330709934236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.873528003692627, + -0.35741961002349854, + 0.3304542601108551, + 0.07420329514302705 + ], + [ + 0.3183661103248596, + 0.9330348968505859, + 0.16759741306304932, + 0.07692052953337368 + ], + [ + -0.3682279884815216, + -0.04119560122489929, + 0.92882239818573, + -0.24135295115411282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8780645132064819, + -0.3508320152759552, + 0.3254529535770416, + 0.06836842753385243 + ], + [ + 0.3122831881046295, + 0.9354058504104614, + 0.16581663489341736, + 0.07726456656267769 + ], + [ + -0.3626043498516083, + -0.0439642108976841, + 0.9309055805206299, + -0.24306708833104684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8825093507766724, + -0.344427227973938, + 0.3202299177646637, + 0.0627276768025599 + ], + [ + 0.30631494522094727, + 0.9376392960548401, + 0.16432791948318481, + 0.07756290529903612 + ], + [ + -0.3568591773509979, + -0.046929728239774704, + 0.932978630065918, + -0.2447409979018726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.886790931224823, + -0.33798882365226746, + 0.31522274017333984, + 0.05714699335788426 + ], + [ + 0.300291508436203, + 0.9398306608200073, + 0.1629212647676468, + 0.07795266340437688 + ], + [ + -0.35132157802581787, + -0.04981839656829834, + 0.9349284768104553, + -0.24558488146254892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8911631107330322, + -0.33143916726112366, + 0.3098006248474121, + 0.052098414458726594 + ], + [ + 0.2943502962589264, + 0.9420216679573059, + 0.1610996127128601, + 0.07866289892086857 + ], + [ + -0.34523361921310425, + -0.05237612873315811, + 0.9370541572570801, + -0.2461923807467285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8949630260467529, + -0.3251459300518036, + 0.3054853081703186, + 0.04687236759223436 + ], + [ + 0.2886522710323334, + 0.9441028237342834, + 0.15921582281589508, + 0.07902508346658003 + ], + [ + -0.3401779532432556, + -0.05431325361132622, + 0.9387912750244141, + -0.2459442913532257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8987240195274353, + -0.3191351294517517, + 0.3007456064224243, + 0.04249886670394948 + ], + [ + 0.28336966037750244, + 0.946054995059967, + 0.1571037322282791, + 0.07957981942515624 + ], + [ + -0.334659218788147, + -0.05597071722149849, + 0.9406755566596985, + -0.2449434881931857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9024629592895508, + -0.3131062984466553, + 0.2958463132381439, + 0.03923414169173492 + ], + [ + 0.27785009145736694, + 0.9479281902313232, + 0.15566477179527283, + 0.07983814603403995 + ], + [ + -0.32918068766593933, + -0.05828075855970383, + 0.942466676235199, + -0.24408610514120052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9055334329605103, + -0.3067973554134369, + 0.2930607199668884, + 0.03500509497366454 + ], + [ + 0.2721077501773834, + 0.9499197602272034, + 0.15365487337112427, + 0.08018872802586932 + ], + [ + -0.32552510499954224, + -0.05939554423093796, + 0.9436660408973694, + -0.24333866587594935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.909050464630127, + -0.3007713258266449, + 0.2883813977241516, + 0.03323617954003183 + ], + [ + 0.26709476113319397, + 0.9518061280250549, + 0.15074962377548218, + 0.08140964351202312 + ], + [ + -0.31982433795928955, + -0.06001388281583786, + 0.9455742835998535, + -0.24196954275432386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.911984920501709, + -0.2952769994735718, + 0.2847718894481659, + 0.03122175367254959 + ], + [ + 0.26238763332366943, + 0.9534888863563538, + 0.14836351573467255, + 0.08169832237456974 + ], + [ + -0.31533512473106384, + -0.06058468297123909, + 0.9470444917678833, + -0.24012753181159496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9149344563484192, + -0.2893524765968323, + 0.2813718020915985, + 0.02942950404004048 + ], + [ + 0.25733649730682373, + 0.9552890062332153, + 0.14560532569885254, + 0.08197084618242163 + ], + [ + -0.31092265248298645, + -0.060812100768089294, + 0.9484877586364746, + -0.23851594489655997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9177725315093994, + -0.2845602333545685, + 0.2769821286201477, + 0.028998766447368415 + ], + [ + 0.25344064831733704, + 0.9567061066627502, + 0.14311274886131287, + 0.08228511835791563 + ], + [ + -0.3057146668434143, + -0.06114642694592476, + 0.9501577019691467, + -0.23649010819039845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.919809877872467, + -0.27856481075286865, + 0.2763177156448364, + 0.025220610122931628 + ], + [ + 0.24788494408130646, + 0.95846027135849, + 0.1410922110080719, + 0.0816217820111074 + ], + [ + -0.30414289236068726, + -0.061283014714717865, + 0.9506531953811646, + -0.23609977301798368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9224017858505249, + -0.2735200822353363, + 0.2726934850215912, + 0.024172832856052803 + ], + [ + 0.2437637746334076, + 0.9599246382713318, + 0.13828910887241364, + 0.08101403879884042 + ], + [ + -0.29959002137184143, + -0.061085328459739685, + 0.9521104693412781, + -0.23601695901077044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9238014817237854, + -0.2670380175113678, + 0.2743748724460602, + 0.018768968158646634 + ], + [ + 0.23810602724552155, + 0.9618843793869019, + 0.1344766616821289, + 0.0808861905610875 + ], + [ + -0.29982730746269226, + -0.058899424970149994, + 0.9521735310554504, + -0.23591707666453562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9269278645515442, + -0.26325544714927673, + 0.2673971951007843, + 0.020050520214595288 + ], + [ + 0.23559096455574036, + 0.9629353880882263, + 0.13134820759296417, + 0.08020672611892224 + ], + [ + -0.2920643389225006, + -0.058753952383995056, + 0.9545922875404358, + -0.2376762380921527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9285373687744141, + -0.25822579860687256, + 0.26671677827835083, + 0.01618574936138957 + ], + [ + 0.23132503032684326, + 0.9643733501434326, + 0.12834639847278595, + 0.08002718734113794 + ], + [ + -0.2903568744659424, + -0.05747615918517113, + 0.9551907777786255, + -0.23855931194205032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9306685328483582, + -0.2542046904563904, + 0.26312747597694397, + 0.014816366881132123 + ], + [ + 0.22844937443733215, + 0.9655272364616394, + 0.124771848320961, + 0.08056212104856968 + ], + [ + -0.2857743203639984, + -0.0560099333524704, + 0.9566587209701538, + -0.23958408646285534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9325607419013977, + -0.2496175616979599, + 0.2608093321323395, + 0.013071780847875705 + ], + [ + 0.22491614520549774, + 0.9668216705322266, + 0.12111407518386841, + 0.08127752634647645 + ], + [ + -0.282388299703598, + -0.05428600683808327, + 0.9577629566192627, + -0.2400387089111303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9340623021125793, + -0.2461741864681244, + 0.2587004005908966, + 0.01083768139544286 + ], + [ + 0.22223544120788574, + 0.9677646160125732, + 0.11850358545780182, + 0.08035741981707122 + ], + [ + -0.27953359484672546, + -0.05319733917713165, + 0.9586610794067383, + -0.2420581644891124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9354463219642639, + -0.2420240193605423, + 0.2576131820678711, + 0.00858826621582634 + ], + [ + 0.2191012054681778, + 0.9689366817474365, + 0.11470118165016174, + 0.08047482794836948 + ], + [ + -0.27737128734588623, + -0.05085345730185509, + 0.9594160318374634, + -0.24305970072746277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9368312358856201, + -0.2383032739162445, + 0.25604453682899475, + 0.006144336963954722 + ], + [ + 0.21647104620933533, + 0.9699880480766296, + 0.11074045300483704, + 0.07948679024059521 + ], + [ + -0.2747499644756317, + -0.04831889271736145, + 0.960300862789154, + -0.24527334729699712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9385542273521423, + -0.23396188020706177, + 0.2537277042865753, + 0.004797921133668795 + ], + [ + 0.21356543898582458, + 0.9712091088294983, + 0.10555864870548248, + 0.07870047684562834 + ], + [ + -0.2711193859577179, + -0.04488503932952881, + 0.9614986181259155, + -0.24873873069882393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9398833513259888, + -0.2296581268310547, + 0.25273796916007996, + 0.0022903396895057326 + ], + [ + 0.21073001623153687, + 0.9724205136299133, + 0.09995590150356293, + 0.07734275385737419 + ], + [ + -0.2687232792377472, + -0.04068741202354431, + 0.9623576998710632, + -0.25413689481976787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9399502873420715, + -0.2307678759098053, + 0.2514748275279999, + 0.00040691306716517106 + ], + [ + 0.21362799406051636, + 0.9723976254463196, + 0.09384015947580338, + 0.07374987555177588 + ], + [ + -0.2661888301372528, + -0.03448302298784256, + 0.9633039236068726, + -0.2612344273611119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9377308487892151, + -0.2427201122045517, + 0.24849115312099457, + -0.0025345288217067663 + ], + [ + 0.22903086245059967, + 0.9698697328567505, + 0.0830516591668129, + 0.06684635833493974 + ], + [ + -0.26116234064102173, + -0.020967965945601463, + 0.9650671482086182, + -0.2720218945098551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9403764009475708, + -0.23075002431869507, + 0.24989326298236847, + 0.006993507240947924 + ], + [ + 0.21805864572525024, + 0.9728351831436157, + 0.07773130387067795, + 0.06987683969108682 + ], + [ + -0.26104146242141724, + -0.01860530488193035, + 0.9651482701301575, + -0.25502880945017464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9412107467651367, + -0.22006924450397491, + 0.25630414485931396, + -0.009457826535952715 + ], + [ + 0.20896519720554352, + 0.9754047393798828, + 0.07013658434152603, + 0.06637298599081604 + ], + [ + -0.2654351592063904, + -0.012454666197299957, + 0.9640482664108276, + -0.26826567677290813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9433553218841553, + -0.21683743596076965, + 0.2511219382286072, + -0.02035516516158456 + ], + [ + 0.2066613733768463, + 0.9761471748352051, + 0.06654191017150879, + 0.05648614074054517 + ], + [ + -0.259560763835907, + -0.010875467211008072, + 0.9656655192375183, + -0.29028378787793613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9453468322753906, + -0.21196967363357544, + 0.2477663904428482, + -0.02439169585704802 + ], + [ + 0.20353031158447266, + 0.9772589206695557, + 0.059501711279153824, + 0.05198910910832255 + ], + [ + -0.2547444701194763, + -0.005821790546178818, + 0.9669908881187439, + -0.2982714860454986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9462596774101257, + -0.21004147827625275, + 0.24591703712940216, + -0.027882542970933413 + ], + [ + 0.20378150045871735, + 0.977690577507019, + 0.05093326419591904, + 0.04924723378529674 + ], + [ + -0.2511288821697235, + 0.001917244866490364, + 0.967951774597168, + -0.3041362985576454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.948069155216217, + -0.20971746742725372, + 0.23913072049617767, + -0.025225444726253807 + ], + [ + 0.20583896338939667, + 0.9777109026908875, + 0.04137275367975235, + 0.04691815579212026 + ], + [ + -0.24247731268405914, + 0.009998185560107231, + 0.9701055288314819, + -0.30992254400135655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9483022689819336, + -0.2067573219537735, + 0.24077832698822021, + -0.03256183807787143 + ], + [ + 0.20344235002994537, + 0.9783166646957397, + 0.03882946819067001, + 0.03998353155819993 + ], + [ + -0.2435857355594635, + 0.012162433005869389, + 0.9698030948638916, + -0.31365715853477777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9496135711669922, + -0.19846345484256744, + 0.2425825297832489, + -0.04232651163872919 + ], + [ + 0.19880951941013336, + 0.9797608852386475, + 0.023309694603085518, + 0.04571367889446648 + ], + [ + -0.24229899048805237, + 0.02609250880777836, + 0.9698507189750671, + -0.32122564188351754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9511950016021729, + -0.19419731199741364, + 0.2398238480091095, + -0.041306108236312866 + ], + [ + 0.19596697390079498, + 0.9804685115814209, + 0.016685357317328453, + 0.04517894248036962 + ], + [ + -0.23837998509407043, + 0.03112652711570263, + 0.9706730246543884, + -0.31790703868395404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9529887437820435, + -0.18905577063560486, + 0.2367917150259018, + -0.04087665610407529 + ], + [ + 0.19241276383399963, + 0.9812721610069275, + 0.009071139618754387, + 0.04844327170990015 + ], + [ + -0.23407207429409027, + 0.036917053163051605, + 0.9715180993080139, + -0.31310628824132053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9534120559692383, + -0.18574461340904236, + 0.2377064973115921, + -0.044235795736312866 + ], + [ + 0.1888699233531952, + 0.9819535613059998, + 0.009767157956957817, + 0.04378342479467392 + ], + [ + -0.2352309376001358, + 0.03558347374200821, + 0.9712879061698914, + -0.3092761322855949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/orbit_left/transforms.json b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..405e92b86879109bb0fdc4175aa42ac631ce3f89 --- /dev/null +++ b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/orbit_left/transforms.json @@ -0,0 +1,5368 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 153, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 7.486010872526094e-05, + 0.0002196452987845987, + -0.0002654411073308438 + ], + [ + -7.484106026822701e-05, + 1.0, + -8.672619151184335e-05, + 0.0001142723995144479 + ], + [ + -0.00021965178893879056, + 8.67097478476353e-05, + 1.0, + 0.00021108951477799565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999209584787314, + -0.009409398771822453, + 0.008339422638951662, + 0.010120154792918938 + ], + [ + 0.009426557558738962, + 0.9999535083770752, + -0.002020734818670518, + 0.0007791338104974092 + ], + [ + -0.008320021396695467, + 0.0020991871133446693, + 0.9999631920458684, + 0.00017027548413593997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9996741829668885, + -0.01911240443587303, + 0.01691923544563888, + 0.019707356231350878 + ], + [ + 0.01918266986630611, + 0.9998080134391785, + -0.004000475385788515, + 0.0006850679517588034 + ], + [ + -0.016839528747005717, + 0.004323728382587433, + 0.9998488617612995, + -0.0011674524346565825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9992577364272828, + -0.028921371325850487, + 0.025446301287359113, + 0.029224360175114834 + ], + [ + 0.029082644413063775, + 0.9995590448379517, + -0.005990663047792723, + 0.0003098046096761652 + ], + [ + -0.025261824265122933, + 0.006726262159645557, + 0.9996582249132137, + -0.0004515865881482762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9987223510690771, + -0.037066735327243805, + 0.034347396474316276, + 0.03742330341876224 + ], + [ + 0.03736154993620717, + 0.999269962310791, + -0.007981506692909231, + -0.00010986880983102337 + ], + [ + -0.03402647254928842, + 0.009254580363631248, + 0.9993780829306419, + -0.0010666422241872285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9980194581385774, + -0.04569840803742409, + 0.04322982092780812, + 0.04524058851729228 + ], + [ + 0.04621041794938368, + 0.9988720417022705, + -0.010919127754435357, + 0.0005338209153297442 + ], + [ + -0.04268207633824028, + 0.012895170599222183, + 0.9990054829893878, + -4.529467941381273e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9972380879928865, + -0.0538921393454075, + 0.05110619446128535, + 0.05304942479627231 + ], + [ + 0.054570513903016545, + 0.9984381198883059, + -0.011971677849256441, + -0.0005784255759994087 + ], + [ + -0.050381197340766744, + 0.014727504923939708, + 0.9986214483932022, + -0.00033039697918143835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9963892409932023, + -0.0614449717104435, + 0.05859203565139037, + 0.060639303081086296 + ], + [ + 0.0623751161286622, + 0.9979520440101624, + -0.014178671244704188, + -6.094542439459235e-06 + ], + [ + -0.05760083400851284, + 0.01778215914964676, + 0.9981812949288007, + 0.0005881234774799634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9954325822880433, + -0.06872429698705673, + 0.06626407307600922, + 0.06675670285283189 + ], + [ + 0.06989018530575464, + 0.9974352121353149, + -0.015437279914681525, + 0.00023411973135101303 + ], + [ + -0.06503320394170055, + 0.019997980445623398, + 0.9976827242008677, + 0.0017920567723377404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9944511559632311, + -0.07528886198997499, + 0.07347450649925319, + 0.07239670040522896 + ], + [ + 0.07676091283217866, + 0.9968973994255068, + -0.017417049779341574, + 0.0012594776583911952 + ], + [ + -0.07193523564747327, + 0.022960374131798748, + 0.9971449717518404, + 0.004185035817017166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9933805316612898, + -0.0819857493042946, + 0.08045748016481596, + 0.07731244779673799 + ], + [ + 0.08372903706517151, + 0.996316194534302, + -0.01853227280963742, + 0.001427523481384528 + ], + [ + -0.07864171070494702, + 0.025146227329969413, + 0.9965857501873719, + 0.007409296710502536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9923333883375157, + -0.08808811008930206, + 0.08668868277651429, + 0.08177272667883728 + ], + [ + 0.09008753161056421, + 0.9957444667816162, + -0.019421496099287613, + 0.0013094794958439999 + ], + [ + -0.08460897533523552, + 0.02708216942846775, + 0.9960461138557095, + 0.009282752848752757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9912353857872459, + -0.09379029273986819, + 0.09303626949785196, + 0.08486009279587939 + ], + [ + 0.09610077228715491, + 0.9951571226119997, + -0.020663023489826574, + 0.0019041371277389064 + ], + [ + -0.0906477137047276, + 0.029422776773571975, + 0.9954482592101156, + 0.011708883521406342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9901067384506285, + -0.09927861392498019, + 0.0991584859636329, + 0.08701847011363184 + ], + [ + 0.10192568107873005, + 0.994549095630646, + -0.021983561552988348, + 0.002624733804135983 + ], + [ + -0.0964354778474057, + 0.03187286853790284, + 0.9948287782800052, + 0.013676960319371222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.989037787933723, + -0.10420301556587219, + 0.10462294167686412, + 0.08864883083013134 + ], + [ + 0.10709141342259264, + 0.9939975738525391, + -0.022365156330249897, + 0.0024593175856918352 + ], + [ + -0.10166443147602329, + 0.03332420065999031, + 0.9942604198357529, + 0.013152998416187875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9879019978842056, + -0.10920058190822601, + 0.11011309736202528, + 0.08928086988758943 + ], + [ + 0.11247382411023682, + 0.9933660626411438, + -0.02394772183984437, + 0.003948931169460159 + ], + [ + -0.10676750441094382, + 0.036042843014001846, + 0.9936305436564234, + 0.012589207683645662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9868244543688363, + -0.11374238133430484, + 0.11506585246183339, + 0.08997121095043914 + ], + [ + 0.1173013421919997, + 0.9927910566329958, + -0.02462435359290856, + 0.004500676300620541 + ], + [ + -0.11143551550910959, + 0.03779729455709458, + 0.9930525988563541, + 0.010806622009337902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.985665553271932, + -0.11818021535873413, + 0.12040295685864738, + 0.08977819143202966 + ], + [ + 0.12211906726129755, + 0.992178738117218, + -0.025852101216116145, + 0.006231687154959173 + ], + [ + -0.11640603881034206, + 0.04018501937389374, + 0.9923884513017064, + 0.007859510432483535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.984611449955234, + -0.12232591956853867, + 0.12480662934508098, + 0.09094023040440918 + ], + [ + 0.12660946715533447, + 0.9915862679481506, + -0.026957111610247726, + 0.007934147632545465 + ], + [ + -0.12045898145993839, + 0.04234398156404495, + 0.9918147954354263, + 0.003593074290972085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9833969030215994, + -0.1264643669128418, + 0.13014349435969758, + 0.0915557256452309 + ], + [ + 0.131096380931746, + 0.9909846186637878, + -0.027627483766984824, + 0.009657076968523231 + ], + [ + -0.12547631137965157, + 0.04423011839389801, + 0.991110177197705, + -0.0017554681502980167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9822598977843295, + -0.130615308880806, + 0.1345551555484971, + 0.09351731460299116 + ], + [ + 0.13555899161967105, + 0.9903672933578493, + -0.028219233970649637, + 0.012408067678912001 + ], + [ + -0.1295731673412096, + 0.04595877975225449, + 0.9905042170615627, + -0.010285729082910103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9810393841181756, + -0.13445150852203372, + 0.13958679489081954, + 0.09544140972464422 + ], + [ + 0.13979375300316782, + 0.9897513389587405, + -0.0291547616559603, + 0.017106800369145664 + ], + [ + -0.13423630852683732, + 0.04811533167958261, + 0.9897805259472848, + -0.020800436727535544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9797113109135585, + -0.13797539472579956, + 0.14535658438827456, + 0.09648955910415737 + ], + [ + 0.14368532479482854, + 0.9891838431358337, + -0.02949371475318891, + 0.02299041141534943 + ], + [ + -0.13971497885413195, + 0.04978092759847641, + 0.9889396461845524, + -0.032262602341721985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9783066001479322, + -0.14122694730758667, + 0.15156227798455973, + 0.09760636607937254 + ], + [ + 0.14735425780425312, + 0.9886308312416077, + -0.0299304726406741, + 0.031074056571547555 + ], + [ + -0.14561215329270777, + 0.05161452293395996, + 0.9879944439614504, + -0.04483205085871651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9769102124810802, + -0.1446681767702103, + 0.1572182281615087, + 0.09970238602881837 + ], + [ + 0.1509670548792196, + 0.9881184101104739, + -0.02882589085939671, + 0.03867979109279651 + ], + [ + -0.15118004481560654, + 0.05189507454633714, + 0.9871430804786026, + -0.05716712393442473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9754028172752585, + -0.14834892749786377, + 0.16303984750511732, + 0.10204943435639496 + ], + [ + 0.154917867023063, + 0.9875227212905884, + -0.028271582832074246, + 0.04818279733575294 + ], + [ + -0.1568114959742388, + 0.05283396691083908, + 0.9862143353099034, + -0.0691580990193228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9738155985140519, + -0.1519862711429596, + 0.1690662956487972, + 0.1045778812421856 + ], + [ + 0.158654659408905, + 0.9869763255119324, + -0.02657851787863787, + 0.05742183243250854 + ], + [ + -0.1628248692414081, + 0.05270572751760483, + 0.9852462749793481, + -0.08112286480614667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9721599996112537, + -0.15514804422855377, + 0.17559630571433496, + 0.10736188198592678 + ], + [ + 0.16183766502592986, + 0.9865168929100037, + -0.024350844905164863, + 0.06746587472669081 + ], + [ + -0.16945073391816937, + 0.05209100991487503, + 0.9841610224241323, + -0.09097070815281319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9701986332031354, + -0.16019473969936374, + 0.18180271219015856, + 0.11197598171966511 + ], + [ + 0.16676544271988722, + 0.9857654571533205, + -0.021348181987306643, + 0.07799625839781438 + ], + [ + -0.17579497627414323, + 0.05103038251399995, + 0.9831032595402129, + -0.10092610088848561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9681982413053346, + -0.1634153127670288, + 0.18944033271337146, + 0.11534748800884367 + ], + [ + 0.1700851680623556, + 0.9852386116981506, + -0.019389055909722355, + 0.09046254989912117 + ], + [ + -0.18347546256241679, + 0.05099343881011009, + 0.981700779404404, + -0.11033033448645017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9658764059536341, + -0.1686803102493286, + 0.19654443831085297, + 0.11991240606712149 + ], + [ + 0.1748558545037715, + 0.9844890832901001, + -0.014374502139954412, + 0.10047604394705309 + ], + [ + -0.19107116323798212, + 0.04825093597173691, + 0.9803895178264694, + -0.12198193475210531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9631869036636233, + -0.17421966791152957, + 0.2047399426555233, + 0.12339966019183943 + ], + [ + 0.18005500334365532, + 0.9836049079895022, + -0.010077741531061531, + 0.11171167672830783 + ], + [ + -0.19962746870160394, + 0.04657120257616044, + 0.978764516531999, + -0.13237717293290047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.960154235969091, + -0.18006034195423126, + 0.213733708646015, + 0.12607950481611724 + ], + [ + 0.18555737346020099, + 0.9826164841651917, + -0.005770967059007419, + 0.12306775074151186 + ], + [ + -0.20897913168654506, + 0.045200884342193604, + 0.9768749032161103, + -0.14234438390353657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9567570532045802, + -0.1860344260931015, + 0.22362282404601164, + 0.12881158427666764 + ], + [ + 0.19065403337379278, + 0.9816568493843079, + 0.0009497380299527458, + 0.131505991926731 + ], + [ + -0.2196975612407231, + 0.041725918650627136, + 0.9746753123827445, + -0.15188075996763753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9392470183636948, + -0.2096485197544098, + 0.27177672894043553, + 0.0646670861519994 + ], + [ + 0.20114773253561335, + 0.9777764678001404, + 0.059099944342190174, + 0.0686986695908371 + ], + [ + -0.27812709553481274, + -0.0008421782404184341, + 0.9605439327700076, + -0.18526173147178368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9473714494519235, + -0.2014134675264359, + 0.24883719381953562, + 0.1279039837737715 + ], + [ + 0.1974303664516055, + 0.9794536232948305, + 0.04113228732874999, + 0.11523524606962582 + ], + [ + -0.2520090995134059, + 0.010160461999475958, + 0.9676715157177388, + -0.2120099401965591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9439190753563624, + -0.21403126418590546, + 0.25141090979105596, + 0.15058905478514656 + ], + [ + 0.2164921529007201, + 0.9761152863502502, + 0.018169868522336725, + 0.16079047771402832 + ], + [ + -0.24929493794689386, + 0.03727760165929794, + 0.967709900605268, + -0.17676303895396459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9377190099652547, + -0.22093382477760315, + 0.26808817001179236, + 0.15474376423334382 + ], + [ + 0.2228747660783006, + 0.9745620489120483, + 0.023573653524238805, + 0.16920992767105586 + ], + [ + -0.2664767670363551, + 0.03764461725950241, + 0.9631058964892523, + -0.18243942518282746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9068765538550222, + -0.24985088407993317, + 0.33933684995864805, + 0.06370884982635198 + ], + [ + 0.22770855047273122, + 0.9681298732757568, + 0.10427561743378405, + 0.07176352863548519 + ], + [ + -0.35457550746440797, + -0.01729520782828331, + 0.9348673931253445, + -0.22262035486145207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8910233826818486, + -0.2899224758148194, + 0.34931683062639945, + 0.07351048188407863 + ], + [ + 0.2679829868037748, + 0.9570366740226748, + 0.1107514972655781, + 0.07480351710968985 + ], + [ + -0.3664183970761495, + -0.005071222782135011, + 0.9304364114234693, + -0.19737510070782874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.879368259606231, + -0.30045634508132935, + 0.3693743207603254, + 0.07803939821668428 + ], + [ + 0.2760533629583062, + 0.9537926316261292, + 0.11863435268090167, + 0.07605549919809271 + ], + [ + -0.3879509802952917, + -0.0023562535643577576, + 0.9216770006526963, + -0.19892937766630509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8541322502881404, + -0.31362080574035645, + 0.41484948480727296, + 0.06655679148307461 + ], + [ + 0.2825322159785849, + 0.9495478868484497, + 0.13614111742193755, + 0.07112634967694631 + ], + [ + -0.43661613279120454, + 0.0009258240461349487, + 0.8996474576651233, + -0.1976670924965811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8435049398007309, + -0.3263741135597229, + 0.42659041225457306, + 0.07850775742482177 + ], + [ + 0.29352147635735504, + 0.945228636264801, + 0.1427864625160726, + 0.07304282554537826 + ], + [ + -0.44982726415659935, + 0.004772353917360306, + 0.8931028231735202, + -0.20029385691112608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8343861236902937, + -0.33876946568489075, + 0.43478158584807125, + 0.09385101692185405 + ], + [ + 0.30471433221116234, + 0.9408286809921265, + 0.14829200619110083, + 0.07528310183395738 + ], + [ + -0.45929179602598513, + 0.008751384913921356, + 0.8882423558421372, + -0.20276933177323733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8243815531139954, + -0.3510538935661316, + 0.4440227804713956, + 0.10873565196020214 + ], + [ + 0.31500444941646805, + 0.9362813830375671, + 0.1554005652019274, + 0.07659366606723614 + ], + [ + -0.4702842230237861, + 0.01175978034734726, + 0.8824366910703014, + -0.2046427717607066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8139227237968234, + -0.36290690302848816, + 0.45368319516617567, + 0.12317283678606405 + ], + [ + 0.325552116288748, + 0.9316796064376831, + 0.16121093801466024, + 0.0785706605204897 + ], + [ + -0.48119194938667453, + 0.016484275460243225, + 0.8764602667180841, + -0.20675473627527696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8040641710094976, + -0.374182015657425, + 0.4620266893265162, + 0.13688914872532132 + ], + [ + 0.3360408467282452, + 0.9270997643470766, + 0.16601996991906173, + 0.08107059302672877 + ], + [ + -0.4904665185046287, + 0.021769106388092044, + 0.8711881162083133, + -0.20908058246725905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7922537395415901, + -0.3860226273536682, + 0.4725680861752381, + 0.1467227421477071 + ], + [ + 0.34553320673823, + 0.9221380949020386, + 0.17397743444841463, + 0.08127779110609101 + ], + [ + -0.502932264733749, + 0.025453690439462662, + 0.8639509460238641, + -0.21087184783114446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.7755659916066238, + -0.4000590443611145, + 0.48831363128142574, + 0.1501580819513913 + ], + [ + 0.3524379032834316, + 0.916172444820404, + 0.19082862870905912, + 0.07604269235309984 + ], + [ + -0.5237222238250577, + 0.024100027978420258, + 0.851548150656953, + -0.21347822872311553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7609290637710923, + -0.4116794764995575, + 0.5015047221410853, + 0.15544583641448645 + ], + [ + 0.3616802383378584, + 0.9108340740203857, + 0.1989187574521686, + 0.07627772525551398 + ], + [ + -0.538678342348945, + 0.030021272599697113, + 0.8419764768542681, + -0.2137454076214479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7501789976065556, + -0.42177432775497437, + 0.5092523287086314, + 0.16062571990797245 + ], + [ + 0.3698924681323911, + 0.9060561656951904, + 0.20552809532180302, + 0.0773187711085084 + ], + [ + -0.5480976616580555, + 0.034185729920864105, + 0.8357154092451393, + -0.21578281896997684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7468565063681926, + -0.4314103424549103, + 0.5060538481242782, + 0.1619547496106625 + ], + [ + 0.3774066754254809, + 0.901553213596344, + 0.2115797644908239, + 0.0752550466756846 + ], + [ + -0.5475121704176142, + 0.03296840935945511, + 0.8361479805534767, + -0.22861992782063456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.729306520612974, + -0.4401988685131073, + 0.523771916085149, + 0.15428016538982747 + ], + [ + 0.3797470152263112, + 0.8972340822219849, + 0.22530699528275797, + 0.06848479475631696 + ], + [ + -0.5691258871995717, + 0.034582942724227905, + 0.8215228013540389, + -0.2263312618454361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7170059123835245, + -0.4486672878265381, + 0.5334793500555713, + 0.15678018504789426 + ], + [ + 0.3869934602548962, + 0.8927561044692993, + 0.23070029437780398, + 0.06985234400014481 + ], + [ + -0.5797746303806499, + 0.04103954881429672, + 0.8137427023738673, + -0.22059354787617558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7156953448408016, + -0.45308035612106334, + 0.5315057717256942, + 0.169842006238902 + ], + [ + 0.39076659285209175, + 0.8905273675918581, + 0.23294318797909344, + 0.07498576607901741 + ], + [ + -0.5788623988839033, + 0.040978327393531806, + 0.8143949576767502, + -0.22114785455620878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7075549680092148, + -0.45733121037483215, + 0.538715263657509, + 0.16985304305207566 + ], + [ + 0.39189226407044236, + 0.8883169293403625, + 0.23940240770455046, + 0.07429489975685108 + ], + [ + -0.5880360582566551, + 0.04172797501087189, + 0.8077576297816205, + -0.21978620406791186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.6983382488006848, + -0.46362730860710144, + 0.5453196910437162, + 0.17152007441071762 + ], + [ + 0.39710066483477563, + 0.8848179578781128, + 0.24373814930499185, + 0.07417202914758175 + ], + [ + -0.5955122896643947, + 0.046335093677043915, + 0.8020088597051402, + -0.21688239366271478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.6902452646261692, + -0.46880772709846497, + 0.5511631575824207, + 0.17208400280147443 + ], + [ + 0.40140324268946714, + 0.8818568587303162, + 0.24739428913693534, + 0.07323124313165322 + ], + [ + -0.6020273817511428, + 0.050475940108299255, + 0.7968784298978461, + -0.21480961883931352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.6850091763643508, + -0.4708939492702484, + 0.5558968708759244, + 0.17320006586165299 + ], + [ + 0.4030717871287622, + 0.8805760145187378, + 0.24923691221672314, + 0.07421071891972827 + ], + [ + -0.6068736224201089, + 0.05333675444126129, + 0.7930067462397871, + -0.21268321906033025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.6801987506879099, + -0.47555649280548096, + 0.5578312813446112, + 0.17559273550651522 + ], + [ + 0.40674380711688574, + 0.8779549598693848, + 0.25249673440515186, + 0.0728758986450186 + ], + [ + -0.6098272235516795, + 0.05514641851186752, + 0.7906134627247549, + -0.21221279390451883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.6757452950197762, + -0.4792203903198242, + 0.5601037407348325, + 0.1778060297398894 + ], + [ + 0.4086178501566233, + 0.8759338855743408, + 0.2564592393433727, + 0.0703469222030864 + ], + [ + -0.6135142936916715, + 0.05556723475456238, + 0.7877261604741939, + -0.20985720537650238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.6718218226213142, + -0.4841855764389038, + 0.5605531996306243, + 0.18117141209169424 + ], + [ + 0.41177929833410476, + 0.873192548751831, + 0.2607155653689557, + 0.06659399212751112 + ], + [ + -0.615705575114264, + 0.055669769644737244, + 0.7860073380467656, + -0.20867724569447152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.6682467875878101, + -0.48809078335762024, + 0.5614388883291404, + 0.18338244144228008 + ], + [ + 0.41461168275390037, + 0.8709574937820435, + 0.26368572227231335, + 0.0641879962748173 + ], + [ + -0.6176919775178978, + 0.056571975350379944, + 0.7843826980566683, + -0.2068740091519513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.6652416122987326, + -0.49074244499206543, + 0.562694821725932, + 0.18622937983020077 + ], + [ + 0.4161907557934482, + 0.8694324493408203, + 0.266218925749476, + 0.06247901263190558 + ], + [ + -0.619870047651757, + 0.057088449597358704, + 0.7826251146312708, + -0.20345532667425847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.6619643644339647, + -0.4935426712036134, + 0.5641089111588815, + 0.18863737026892555 + ], + [ + 0.41843785532881583, + 0.8677505254745486, + 0.26817686151281844, + 0.06116404749851829 + ], + [ + -0.6218625145386916, + 0.058520965278148665, + 0.7809368238380883, + -0.20027391601462888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.6596270588571022, + -0.49534931778907776, + 0.5652620450164878, + 0.19089937709091617 + ], + [ + 0.4196464700503153, + 0.8666703701019287, + 0.26977643199829815, + 0.060001981510516424 + ], + [ + -0.623529456671054, + 0.059258364140987396, + 0.7795508328370115, + -0.19735582575886704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.6559875138107979, + -0.49725329875946056, + 0.5678199632747053, + 0.19260352562219502 + ], + [ + 0.42109919181655503, + 0.8654537796974184, + 0.27141341042028977, + 0.05852666801300876 + ], + [ + -0.6263831548140827, + 0.0610647350549698, + 0.7771198360274706, + -0.19298852223585092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.6512535417522818, + -0.5017019510269165, + 0.5693540666644252, + 0.19445108410392276 + ], + [ + 0.4251312723144847, + 0.8626941442489624, + 0.27390180684974397, + 0.05590974669385854 + ], + [ + -0.6285954755237494, + 0.06367069482803345, + 0.7751217758594792, + -0.18922620589509898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.6446666961109869, + -0.5058014392852783, + 0.5732100522946468, + 0.19426176587980554 + ], + [ + 0.43133969669038574, + 0.8597296476364136, + 0.2735160045390077, + 0.05645961022112137 + ], + [ + -0.6311504871000202, + 0.07092158496379852, + 0.7724113152894503, + -0.1852465570816923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.6449674290554454, + -0.5011103749275208, + 0.5769796037230206, + 0.19131647145353323 + ], + [ + 0.4175225373863833, + 0.8634193539619446, + 0.2831641630196894, + 0.05007972996485873 + ], + [ + -0.6400718359291853, + 0.05827031284570694, + 0.7661021841180089, + -0.1736208992142262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.642201600856504, + -0.5092297196388245, + 0.5729418146509481, + 0.19517506583703167 + ], + [ + 0.4240394248524982, + 0.8586693406105042, + 0.28788468907151493, + 0.04155964855616939 + ], + [ + -0.6385670227705904, + 0.05806984752416611, + 0.7673722015475212, + -0.1786308523396682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.641869601634501, + -0.5129421949386597, + 0.569994478516128, + 0.2016797958474721 + ], + [ + 0.4260860985868807, + 0.8565908074378967, + 0.29103759895757947, + 0.03847190984126777 + ], + [ + -0.637537464583518, + 0.05605851113796234, + 0.7683771609440144, + -0.17845467665348852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.639728217727582, + -0.5136846899986267, + 0.5717306062277537, + 0.20498893134881832 + ], + [ + 0.42618319545309896, + 0.8561062812805176, + 0.29231826146018935, + 0.03856134348383094 + ], + [ + -0.6396215950643078, + 0.056657709181308746, + 0.7665991094399776, + -0.17248390687701667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.55353102997358, + -0.5233215093612672, + 0.6478719799446152, + 0.0905395145151774 + ], + [ + 0.40367602329212154, + 0.849017381668091, + 0.34090351496724114, + -0.01752092046280878 + ], + [ + -0.7284566558999829, + 0.07282967120409013, + 0.6812098000184089, + -0.11815084273448714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.5422926357110007, + -0.5025610327720642, + 0.6733135988834128, + 0.08066401342661407 + ], + [ + 0.38982210171737697, + 0.8604052066802979, + 0.3282400991653488, + -0.008808895464142895 + ], + [ + -0.7442832088919871, + 0.08447032421827316, + 0.6625007885353266, + -0.07412042499442191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.621599926460189, + -0.515053927898407, + 0.5901974190153211, + 0.18740784851782538 + ], + [ + 0.41795046149443454, + 0.8553050756454468, + 0.3062199642792869, + 0.02280383747318389 + ], + [ + -0.6625186388447845, + 0.056326963007450104, + 0.7469245821328883, + -0.15065432738260934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6324301316445019, + -0.5159513354301454, + 0.5777771765544721, + 0.20837653762741537 + ], + [ + 0.4273211884133254, + 0.8545053601264956, + 0.29532564875279915, + 0.03821190785811074 + ], + [ + -0.6460873485101621, + 0.06012356281280519, + 0.7608917997139165, + -0.1575375172252887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6295546774906408, + -0.5140037536621095, + 0.5826328826621235, + 0.20648352196612618 + ], + [ + 0.4241273957394855, + 0.8556593060493471, + 0.2965858650528329, + 0.040278270660184017 + ], + [ + -0.6509814683173689, + 0.06039350479841234, + 0.7566873323817308, + -0.14884835879240793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6235356055143351, + -0.5207414031028749, + 0.5831224746073199, + 0.21173668757452924 + ], + [ + 0.43371682440777193, + 0.8509830832481386, + 0.29617147049538756, + 0.040402988437123664 + ], + [ + -0.650456084015629, + 0.06823652237653734, + 0.7564725438005503, + -0.14726689562597595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.623629449276976, + -0.5184755325317383, + 0.5850380463407533, + 0.20869344426744998 + ], + [ + 0.4348860306326743, + 0.852001428604126, + 0.2914923956642447, + 0.042965663220348976 + ], + [ + -0.649584863726313, + 0.07264159619808197, + 0.756810880027719, + -0.14904851473642136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6258971947599531, + -0.5122458934783937, + 0.58809595519123, + 0.20839963548609092 + ], + [ + 0.42823094118076255, + 0.855943560600281, + 0.2897911888941172, + 0.044630444888425796 + ], + [ + -0.6518212743381057, + 0.07046139240264894, + 0.7550921938812382, + -0.14354772885466494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6261588374287388, + -0.5165933966636658, + 0.5840003492378517, + 0.20969149108414273 + ], + [ + 0.4329021716351881, + 0.8532971143722534, + 0.29065415898454855, + 0.0442202076802759 + ], + [ + -0.6484758312477437, + 0.07081928849220276, + 0.757933919971981, + -0.14756858219757613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6295477145658576, + -0.5171411633491516, + 0.5798575382434588, + 0.2120946761405875 + ], + [ + 0.4319370987213163, + 0.8533053994178772, + 0.29206206200348805, + 0.0422990356983786 + ], + [ + -0.6458328639035835, + 0.06659497320652008, + 0.7605689142700744, + -0.14982056641397487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6274803308370558, + -0.5215265154838562, + 0.578168350603426, + 0.2129416457944791 + ], + [ + 0.4265230481270905, + 0.8514518141746521, + 0.3051359038489232, + 0.031093970223761758 + ], + [ + -0.6514189493755427, + 0.05513530224561691, + 0.7567123196220948, + -0.14178052191930046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.622412228408477, + -0.5174944996833801, + 0.5871988842077795, + 0.20211075867202677 + ], + [ + 0.4296463006458943, + 0.8529921770095825, + 0.2963249209918221, + 0.03843692304948819 + ], + [ + -0.6542225500668005, + 0.06785152107477188, + 0.7532523052556105, + -0.1384831239972194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6280421356169891, + -0.516773283481598, + 0.5818148998704454, + 0.2033725511282598 + ], + [ + 0.4241699479111408, + 0.8541641831398012, + 0.300804675512781, + 0.033741592454158975 + ], + [ + -0.6524132660703865, + 0.05787036567926408, + 0.7556507605938514, + -0.13959310810670558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.6250976974248819, + -0.5109115839004517, + 0.5901036072928704, + 0.1920712354141514 + ], + [ + 0.4245435271925532, + 0.856951117515564, + 0.2922285624672773, + 0.04063726520543666 + ], + [ + -0.6549929046812852, + 0.06785324215888977, + 0.7525824102587437, + -0.13797317358716774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.6316858242791025, + -0.5083200335502625, + 0.585306556463448, + 0.19114597080804419 + ], + [ + 0.4185737974147274, + 0.8591428995132446, + 0.29439687410708865, + 0.03810896133986337 + ], + [ + -0.6525098063003576, + 0.059027642011642456, + 0.7554778357974871, + -0.13928467643496367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.6340298657831819, + -0.50968337059021, + 0.5815745866911493, + 0.18939594825153133 + ], + [ + 0.4202886140731892, + 0.8584074378013611, + 0.2940989577126604, + 0.036921930233576664 + ], + [ + -0.6491252686469839, + 0.05796162784099579, + 0.7584700603692394, + -0.14286032567964368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.6385243128473451, + -0.5060887336730957, + 0.5797938232472106, + 0.18397690816480688 + ], + [ + 0.4109353628898631, + 0.8611865043640137, + 0.2991487321897002, + 0.03250424162591824 + ], + [ + -0.6507063992762301, + 0.04724404960870743, + 0.7578582881931044, + -0.14066766183559876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.6440137047912906, + -0.5013484358787537, + 0.5778373749467234, + 0.1761308500551228 + ], + [ + 0.41040033967427747, + 0.8638554811477661, + 0.2921048908074245, + 0.03602078169120712 + ], + [ + -0.6456142908973678, + 0.04902510344982147, + 0.7620883859233352, + -0.14872365400676263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.6451199629273339, + -0.49972307682037354, + 0.5780113403004723, + 0.1680092193741837 + ], + [ + 0.4025767139482098, + 0.8652628064155579, + 0.29875111077381666, + 0.0287905868394671 + ], + [ + -0.6494245187880114, + 0.03996359556913376, + 0.7593751597169229, + -0.1448227777565611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.645379875836076, + -0.4982719421386719, + 0.5789731378343261, + 0.1569952615818253 + ], + [ + 0.3997673825497961, + 0.8661899566650391, + 0.2998348863268136, + 0.026049094730886194 + ], + [ + -0.6509000215533572, + 0.037947170436382294, + 0.7582144306334032, + -0.14346753600274142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.6462796314881514, + -0.49414342641830444, + 0.5815024058429988, + 0.14334048905011304 + ], + [ + 0.39613231308282953, + 0.8685547113418579, + 0.2978119535037938, + 0.026961438920014236 + ], + [ + -0.6522284512979557, + 0.03788207471370697, + 0.7570753249952006, + -0.14449317414661733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.648763698093488, + -0.4901063144207001, + 0.5821523932798218, + 0.13157333431634205 + ], + [ + 0.392848689393266, + 0.8708741664886475, + 0.2953778645964328, + 0.02755728324976417 + ], + [ + -0.651748026584409, + 0.03706739842891693, + 0.7575291825046708, + -0.1427795241968136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.6479114627133241, + -0.48444947600364685, + 0.5878090320068401, + 0.11668914141870702 + ], + [ + 0.38863846662095985, + 0.873934805393219, + 0.2918872267482195, + 0.029520833534473073 + ], + [ + -0.655111375324734, + 0.039328090846538544, + 0.7545080651234247, + -0.13517653294451942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.6562622803295228, + -0.48451104760169983, + 0.578419254652403, + 0.09960464870641793 + ], + [ + 0.3858184956559098, + 0.8742762804031372, + 0.2945931466375113, + 0.01910032081780491 + ], + [ + -0.6484318362584298, + 0.029834486544132233, + 0.7606878971779342, + -0.14998941299062998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.6883475110851692, + -0.47004398703575145, + 0.5524820222319203, + 0.11315194256530454 + ], + [ + 0.37379083129738494, + 0.8825839161872866, + 0.285177224572173, + 0.028027835757579 + ], + [ + -0.6216576155340244, + 0.010211654007434847, + 0.7832225641183516, + -0.1820950612719739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.6895825952413885, + -0.46671777963638306, + 0.5537602535828693, + 0.11146274161803629 + ], + [ + 0.3787594964185656, + 0.8841539621353149, + 0.2735198225258926, + 0.040495709655687454 + ], + [ + -0.6172658611395626, + 0.02112741768360138, + 0.7864709073218898, + -0.16587990593281757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.6978430829950745, + -0.4630095958709717, + 0.5464770096278794, + 0.10314847494394463 + ], + [ + 0.37383101857307943, + 0.8862516283988953, + 0.27351126314380114, + 0.03744984777485939 + ], + [ + -0.610954483538406, + 0.01342211663722992, + 0.791551937864376, + -0.16939390851854985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.6990595807986243, + -0.45389920473098766, + 0.5525316913706332, + 0.08149816675964405 + ], + [ + 0.3690924695479172, + 0.8908549547195437, + 0.2648549732374508, + 0.04367849852318123 + ], + [ + -0.6124430455094851, + 0.018785871565341953, + 0.7902914679221843, + -0.16266026854379878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.7034173700108987, + -0.44812509417533875, + 0.5517136249820552, + 0.06569175599389554 + ], + [ + 0.3636932133566591, + 0.8938250541687012, + 0.26230517630624484, + 0.0433297554247158 + ], + [ + -0.6106810235538574, + 0.01614445447921753, + 0.7917121239821924, + -0.16001087260164837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.7178192199026736, + -0.44388347864151, + 0.5363795910624586, + 0.0733755614147164 + ], + [ + 0.35853361440543075, + 0.896073579788208, + 0.26173618539725796, + 0.04171720168546886 + ], + [ + -0.5968159384380283, + 0.004430860280990601, + 0.8023659442633334, + -0.1681463980574554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.7035756020363669, + -0.43485942482948303, + 0.5620308811850331, + 0.03657533666438262 + ], + [ + 0.3602303022881376, + 0.9000052213668823, + 0.2454073578270387, + 0.05360100783648983 + ], + [ + -0.6125484248863916, + 0.02979787439107895, + 0.7898712117190666, + -0.13922120126125384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.7329512601684678, + -0.42993101477622997, + 0.5272018868450993, + 0.057551153943453226 + ], + [ + 0.3457590826393299, + 0.9028477072715761, + 0.25557129562664677, + 0.041311974412267485 + ], + [ + -0.58586101839688, + -0.005036473274230958, + 0.8103958685142509, + -0.16707888442514118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.7380878432206224, + -0.42322832345962524, + 0.5254562082302531, + 0.047695834931361536 + ], + [ + 0.3398520230367499, + 0.9059905409812927, + 0.25235255202332896, + 0.04088315924169093 + ], + [ + -0.5828610436356975, + -0.007681019604206085, + 0.8125355270848543, + -0.1639764734175466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.744865033484415, + -0.4162408709526062, + 0.5214591175451105, + 0.04052116636064601 + ], + [ + 0.3345389162281655, + 0.9091972708702087, + 0.24787897259625744, + 0.04186024758849349 + ], + [ + -0.5772865865516856, + -0.010188020765781403, + 0.8164780147057707, + -0.16270949427338718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.7505511793465662, + -0.4097776412963867, + 0.5184160707565786, + 0.033229013197227125 + ], + [ + 0.3294478979747305, + 0.9121019840240479, + 0.24399612538327697, + 0.04335005811014865 + ], + [ + -0.5728324544935376, + -0.012340493500232697, + 0.8195796040505423, + -0.16024587235125398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.756599073516607, + -0.40415653586387634, + 0.5140188279318014, + 0.027116508554045515 + ], + [ + 0.3242741937442874, + 0.9145456552505493, + 0.24176944334660205, + 0.043630335326061184 + ], + [ + -0.567806408268737, + -0.016239523887634277, + 0.8230019638377734, + -0.15994150963294163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.7625389238221225, + -0.39733707904815674, + 0.510546440702892, + 0.020480231478618383 + ], + [ + 0.3163813545266474, + 0.9173950552940369, + 0.24143152564619277, + 0.04260917531587 + ], + [ + -0.5643024634082613, + -0.022573575377464294, + 0.8252594733536811, + -0.1620523924349962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.7683327588681074, + -0.3927330970764161, + 0.5053963712902041, + 0.015854363671479133 + ], + [ + 0.3139054942589223, + 0.919349789619446, + 0.23719051639826114, + 0.04562583180294285 + ], + [ + -0.5577886117998416, + -0.023594550788402564, + 0.8296475934645617, + -0.159731038478938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.7727356003282415, + -0.38429921865463257, + 0.5051670809249469, + 0.007010582082335237 + ], + [ + 0.30286864892710263, + 0.9226746559143066, + 0.23862544903965727, + 0.04235070771988646 + ], + [ + -0.5578084301440417, + -0.03139510005712509, + 0.829375729156229, + -0.16449616715341442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.7778580220743606, + -0.3775408864021301, + 0.5023940138322573, + 0.0007541840345134387 + ], + [ + 0.29677045672488495, + 0.9253537654876709, + 0.23589775636401814, + 0.04213088778411196 + ], + [ + -0.5539532067871452, + -0.03439928591251373, + 0.8318368417243716, + -0.16640436578790482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.7827311110805845, + -0.3703449368476868, + 0.5001766071968915, + -0.006416279667181529 + ], + [ + 0.29070698402475015, + 0.9281793236732485, + 0.2323201925020554, + 0.04243503115833511 + ], + [ + -0.5502922053160701, + -0.0364394560456276, + 0.8341766734361543, + -0.16853405805876598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.7870714533347114, + -0.36383354663848877, + 0.4981402231805553, + -0.014502850850136612 + ], + [ + 0.2848394969619858, + 0.9306519627571106, + 0.22968107400329874, + 0.0423114484762745 + ], + [ + -0.547160839310075, + -0.03888542205095291, + 0.8361237474924831, + -0.17120577766332853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.7914220590077667, + -0.35741961002349854, + 0.4958853857259213, + -0.022240038203930473 + ], + [ + 0.27916165351605227, + 0.9330348968505859, + 0.2269683772576934, + 0.042986557817010135 + ], + [ + -0.5438013472740497, + -0.04119560122489929, + 0.8382022390661855, + -0.1731621325745087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.7960056546750955, + -0.3508320152759552, + 0.4932462996007455, + -0.029593440478709515 + ], + [ + 0.27316182706788134, + 0.9354058504104614, + 0.2244962409776724, + 0.04372648407504604 + ], + [ + -0.5401459040467331, + -0.0439642108976841, + 0.8404222252637633, + -0.17491074263301887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.800555236375456, + -0.34442722797393804, + 0.4903888946047464, + -0.03675905699394266 + ], + [ + 0.26722526196903446, + 0.9376392960548403, + 0.2223132253217629, + 0.04442626611409071 + ], + [ + -0.536378633735763, + -0.04692972823977472, + 0.8426716785860697, + -0.17664506609916245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8049135400518913, + -0.33798882365226746, + 0.4877271006065892, + -0.04385039789589937 + ], + [ + 0.26122642232024296, + 0.9398306608200073, + 0.22017966489697888, + 0.04523824780470828 + ], + [ + -0.5327991633141383, + -0.04981839656829834, + 0.8447740286664966, + -0.17753810646972873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8094565270390444, + -0.33143916726112366, + 0.48469397347306714, + -0.050443160557578304 + ], + [ + 0.2554007092804042, + 0.9420216679573059, + 0.21763653145328726, + 0.04636136919778799 + ], + [ + -0.5287254885102786, + -0.05237612873315811, + 0.8471753674814456, + -0.1782692007156412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8132251174851903, + -0.3251459300518036, + 0.48264376074893367, + -0.057123432730456225 + ], + [ + 0.24983531053921842, + 0.9441028237342834, + 0.21506308240801914, + 0.04711587521826046 + ], + [ + -0.5255922660025664, + -0.05431325361132622, + 0.8490011000305142, + -0.178037495551242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8170528839256169, + -0.31913512945175176, + 0.480184722712806, + -0.06296762500182107 + ], + [ + 0.24473321106884435, + 0.9460549950599673, + 0.2123337055261091, + 0.04801528258198905 + ], + [ + -0.5220443144837792, + -0.0559707172214985, + 0.8510799194741278, + -0.17711741591556324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8209032395564976, + -0.3131062984466553, + 0.4775796323461701, + -0.06771457926498248 + ], + [ + 0.23926911736533985, + 0.9479281902313232, + 0.21019629867377013, + 0.048676988117500125 + ], + [ + -0.5185249847487702, + -0.05828075855970383, + 0.8530739716679508, + -0.17634886725738486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8236670104285785, + -0.3067973554134369, + 0.47691512843314776, + -0.07329167377565632 + ], + [ + 0.2337153866085894, + 0.9499197602272034, + 0.20743569094948716, + 0.049454725955008966 + ], + [ + -0.5166718528605752, + -0.05939554423093796, + 0.8541208270435154, + -0.17548294276361376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8272732890524734, + -0.3007713258266449, + 0.474505514212309, + -0.07652680035330162 + ], + [ + 0.22907444439343774, + 0.9518061280250549, + 0.20393616505927822, + 0.05099451068365557 + ], + [ + -0.5129754067936515, + -0.06001388281583786, + 0.8563028465334925, + -0.1742477109414935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8300926214458527, + -0.2952769994735718, + 0.4730304050095925, + -0.07991081819663842 + ], + [ + 0.22463415561921532, + 0.9534888863563538, + 0.20099377863901904, + 0.05158583128602719 + ], + [ + -0.5103780282541229, + -0.06058468297123909, + 0.8578133704673049, + -0.17240468483663468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.832889112604562, + -0.28935247659683233, + 0.4717741795929876, + -0.083076480390089 + ], + [ + 0.21994887125520374, + 0.9552890062332156, + 0.1975992858073522, + 0.052204543504718315 + ], + [ + -0.507856526873172, + -0.06081210076808931, + 0.8592925417007987, + -0.17079146264169914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.8357983184247364, + -0.2845602333545685, + 0.46953880573015755, + -0.08490170150393331 + ], + [ + 0.21634607952842572, + 0.9567061066627502, + 0.19469924236841143, + 0.052728581235851876 + ], + [ + -0.5046142779964036, + -0.06114642694592476, + 0.8611768381561583, + -0.16887167360782607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.8371216919560708, + -0.27856481075286865, + 0.4707748551776621, + -0.08986825609793694 + ], + [ + 0.21103103307837762, + 0.95846027135849, + 0.19188501918391496, + 0.05251757181562414 + ], + [ + -0.5046714122921852, + -0.061283014714717865, + 0.8611336496020547, + -0.16814490492727785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.8396364399618478, + -0.2735200822353363, + 0.469252000530262, + -0.09226932746632607 + ], + [ + 0.20729805588967537, + 0.9599246382713318, + 0.18860586279491431, + 0.05215687221215508 + ], + [ + -0.5020340223034827, + -0.061085328459739685, + 0.8626878735583546, + -0.16810272055899556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.8398183905168751, + -0.26703801751136785, + 0.4726476692151343, + -0.09871696852808406 + ], + [ + 0.20230290594955538, + 0.9618843793869021, + 0.18398909476428266, + 0.0524627247880052 + ], + [ + -0.5037645048770395, + -0.05889942497015001, + 0.8618307091122503, + -0.167442302416427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.8436112606627455, + -0.26325544714927673, + 0.46799205860021414, + -0.0989719945256827 + ], + [ + 0.2002342936424803, + 0.9629353880882263, + 0.18072543226586985, + 0.051817000459559844 + ], + [ + -0.4982230642839617, + -0.058753952383995056, + 0.8650559471603088, + -0.16966627564026449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.8445254081453385, + -0.25822579860687256, + 0.46914424223541823, + -0.1039874539473141 + ], + [ + 0.19644316776775048, + 0.9643733501434326, + 0.17718394254001, + 0.05192028583358894 + ], + [ + -0.4981836392820554, + -0.05747615918517113, + 0.8651644919058188, + -0.17024797628377414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.8466066555323158, + -0.2542046904563904, + 0.4675865240321833, + -0.10667041494207782 + ], + [ + 0.19414886164621012, + 0.9655272364616394, + 0.1733878609814368, + 0.05253533391364718 + ], + [ + -0.49554351922826945, + -0.0560099333524704, + 0.8667753406382864, + -0.17134829636183935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.8481723648966718, + -0.24961756169795996, + 0.4672201670396833, + -0.10966300139823898 + ], + [ + 0.19124712076972578, + 0.9668216705322268, + 0.1693529757017402, + 0.053424828188679795 + ], + [ + -0.49399204561228843, + -0.05428600683808328, + 0.8677700684820534, + -0.1717307794619074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.8493134959107486, + -0.2461741864681244, + 0.4669741611241511, + -0.1130886598371863 + ], + [ + 0.18894812040835113, + 0.9677646160125732, + 0.16652416908475903, + 0.052595994234290185 + ], + [ + -0.4929150006821982, + -0.05319733917713165, + 0.8684497094937014, + -0.17361596861918968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.8501065092683875, + -0.24202401936054235, + 0.4677000061483011, + -0.11648586535319427 + ], + [ + 0.1864949413224067, + 0.9689366817474367, + 0.16242332397381903, + 0.05283721551874856 + ], + [ + -0.492482027842167, + -0.0508534573018551, + 0.8688356607800616, + -0.1743947756787669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.8510129544458651, + -0.23830327391624456, + 0.4679620932685394, + -0.12009587797255422 + ], + [ + 0.184583576948037, + 0.9699880480766299, + 0.15827844104535785, + 0.05190081686970654 + ], + [ + -0.49163591971032444, + -0.048318892717361464, + 0.8694592644302194, + -0.176451590707282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.8524257503472257, + -0.23396188020706177, + 0.4675811434907121, + -0.12268386802786627 + ], + [ + 0.18270685267895467, + 0.9712091088294983, + 0.1528758680429523, + 0.05117180527428127 + ], + [ + -0.48988622634228657, + -0.04488503932952881, + 0.8706301162607741, + -0.17990106870255218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.8531450505420393, + -0.2296581268310547, + 0.46840230346418527, + -0.12633910706850096 + ], + [ + 0.18101729125171684, + 0.9724205136299133, + 0.14707502253688381, + 0.049851822916925505 + ], + [ + -0.48926098792331724, + -0.04068741202354431, + 0.8711878264769953, + -0.18512164082008714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.8527036650810679, + -0.2307678759098053, + 0.46866042196028707, + -0.12919735941398547 + ], + [ + 0.18503828685798432, + 0.9723976254463196, + 0.1421398176916888, + 0.04544531280154866 + ], + [ + -0.4885255999028967, + -0.03448302298784256, + 0.8718679262168952, + -0.1920637053425188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.8504583797237124, + -0.2427201122045517, + 0.4666985561452501, + -0.13283187488988762 + ], + [ + 0.20233842470986996, + 0.9698697328567505, + 0.13569036786431915, + 0.035729377967247816 + ], + [ + -0.4855715661581771, + -0.020967965945601463, + 0.8739454347150668, + -0.20304189379705934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.8518806010985317, + -0.23075002431869512, + 0.47016365216282535, + -0.12457582258037284 + ], + [ + 0.19274702723654105, + 0.972835183143616, + 0.12821978033221704, + 0.039997764010702416 + ], + [ + -0.48697846002266343, + -0.018605304881930355, + 0.873215785423227, + -0.18557494131717434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.8503156392937122, + -0.22006924450397491, + 0.47805104128197023, + -0.14187285372278363 + ], + [ + 0.18555858714005297, + 0.9754047393798828, + 0.11896892386180125, + 0.037398733426510324 + ], + [ + -0.4924746370551945, + -0.012454666197299957, + 0.8702376776318056, + -0.19770147383699013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.8528421085719916, + -0.21683743596076965, + 0.4750177144416092, + -0.15418613040513787 + ], + [ + 0.18400251707716997, + 0.9761471748352051, + 0.11523811333297336, + 0.027539865755555143 + ], + [ + -0.4886751438950389, + -0.010875467211008072, + 0.8723980106043964, + -0.22005778516542002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.8547817558666614, + -0.21196967363357544, + 0.4737266800209809, + -0.1595628385802295 + ], + [ + 0.18250985728282335, + 0.9772589206695557, + 0.10795922088188557, + 0.02308734843127698 + ], + [ + -0.48583770376168106, + -0.005821790546178818, + 0.8740296610325686, + -0.22824441431336367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.855308855847976, + -0.21004147827625275, + 0.473634170379255, + -0.16418568262472227 + ], + [ + 0.18469895991482133, + 0.977690577507019, + 0.10003695085937361, + 0.019827393881360976 + ], + [ + -0.4840795972660634, + 0.001917244866490364, + 0.875021883678544, + -0.23414638999454035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.85794351899076, + -0.20971746742725372, + 0.46898991756663994, + -0.16296372540572457 + ], + [ + 0.188913078134494, + 0.9777109026908875, + 0.09161458675351536, + 0.016665744170092985 + ], + [ + -0.4777497336551405, + 0.009998185560107231, + 0.8784390566387257, + -0.24071111468341921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.8569445986538543, + -0.20675732195377355, + 0.4721200598804446, + -0.17121849904312647 + ], + [ + 0.18707714549781104, + 0.97831666469574, + 0.08887440024027123, + 0.00981155272465628 + ], + [ + -0.4802583605197367, + 0.012162433005869392, + 0.8770427358609854, + -0.24381353109920412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.856940571562701, + -0.19846345484256744, + 0.47567328610124865, + -0.18206392794254253 + ], + [ + 0.1863819873935956, + 0.9797608852386475, + 0.07300905180723061, + 0.01554070891028117 + ], + [ + -0.4805357182552882, + 0.02609250880777836, + 0.8765869274457944, + -0.2511088335320294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.858353779597478, + -0.19419731199741364, + 0.47488545797652965, + -0.18232197902939967 + ], + [ + 0.18520020969831003, + 0.9804685115814209, + 0.06619923214315851, + 0.015026230734091407 + ], + [ + -0.4784659577780417, + 0.03112652711570263, + 0.8775542520737334, + -0.24790622006936602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.8600477280851283, + -0.18905577063560486, + 0.4738942577155735, + -0.18321827661540258 + ], + [ + 0.18360926729573054, + 0.9812721610069275, + 0.05824598031921533, + 0.018392563194047577 + ], + [ + -0.4760309941849598, + 0.036917053163051605, + 0.8786533137834699, + -0.24328986883107673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.8594023593071947, + -0.18574461340904236, + 0.4763680427451691, + -0.18755613557296602 + ], + [ + 0.17990641028030271, + 0.9819535613059998, + 0.05831748333093059, + 0.014120091756020664 + ], + [ + -0.4786034461646815, + 0.03558347374200821, + 0.8773098266834934, + -0.23882114655921072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/orbit_right/transforms.json b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..b5f3fac297d72991f980e230c9bc0aac65d34c64 --- /dev/null +++ b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/orbit_right/transforms.json @@ -0,0 +1,5368 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 153, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 7.486010872526094e-05, + 0.0002196452987845987, + -0.0002654411073308438 + ], + [ + -7.484106026822701e-05, + 1.0, + -8.672619151184335e-05, + 0.0001142723995144479 + ], + [ + -0.00021965178893879056, + 8.67097478476353e-05, + 1.0, + 0.00021108951477799565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999437528677666, + -0.009409398771822453, + 0.0048949234623992, + 0.013525443231542351 + ], + [ + 0.009419540760657099, + 0.9999535083770752, + -0.002053194699468494, + 0.0008112241815890567 + ], + [ + -0.004875376852355211, + 0.0020991871133446693, + 0.9999859193524433, + 0.0001478068957131411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997670219129602, + -0.01911240443587303, + 0.010031675526637394, + 0.026516521148850964 + ], + [ + 0.019154653731568827, + 0.9998080134391785, + -0.004132537590353505, + 0.0008156270090776131 + ], + [ + -0.009950767286998072, + 0.004323728382587433, + 0.9999411474302812, + -0.0012586876975085063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999467340972557, + -0.028921371325850487, + 0.0151186106580811, + 0.039434525079028816 + ], + [ + 0.02901918395401184, + 0.9995590448379517, + -0.0062908832807580225, + 0.0006066084350519326 + ], + [ + -0.014930004837423516, + 0.006726262159645557, + 0.9998659016875181, + -0.0006569000690101746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9991007994899891, + -0.037066735327243805, + 0.020583260868323072, + 0.05103085478013504 + ], + [ + 0.03724803026485087, + 0.999269962310791, + -0.008495534363029187, + 0.00039831115312128013 + ], + [ + -0.020253332420102462, + 0.009254580363631248, + 0.9997520472607961, + -0.0014363522427139398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9986159668406794, + -0.04569840803742409, + 0.026034727029971675, + 0.06224014237690559 + ], + [ + 0.04601550599805972, + 0.9988720417022705, + -0.01171338062716874, + 0.0013190416630851607 + ], + [ + -0.025470081582405504, + 0.012895170599222183, + 0.9995924117497037, + -0.0006255489735761666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9980813013519031, + -0.0538921393454075, + 0.030485457971211594, + 0.07343577622718164 + ], + [ + 0.054311441073734194, + 0.9984381198883059, + -0.013096924320618064, + 0.0005340308109298943 + ], + [ + -0.0297320259251513, + 0.014727504923939708, + 0.999449382845781, + -0.0011489207365725858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9975122827128027, + -0.0614449717104435, + 0.03455129586393281, + 0.08440693719911119 + ], + [ + 0.062015124653371834, + 0.9979520440101624, + -0.015678461166716905, + 0.0014766575872972778 + ], + [ + -0.03351717457902197, + 0.01778215914964676, + 0.9992799170565038, + -0.0004980181719061764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9968804864856594, + -0.06872429698705673, + 0.038810422896175825, + 0.09389867759021234 + ], + [ + 0.0694382843973669, + 0.9974352121353149, + -0.01735719658203311, + 0.002132239993749162 + ], + [ + -0.03751801993358774, + 0.019997980445623398, + 0.9990958582458693, + 0.00039496573713022117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9962508144088763, + -0.07528886198997499, + 0.04261360688284858, + 0.10290749925390902 + ], + [ + 0.07618413945940249, + 0.9968973994255068, + -0.019788083703979706, + 0.0036036134430646877 + ], + [ + -0.04099157390835496, + 0.022960374131798748, + 0.9988956220177121, + 0.0024542457629253226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9955622033883205, + -0.0819857493042946, + 0.046197250813559826, + 0.11118433096011858 + ], + [ + 0.08304110459418804, + 0.996316194534302, + -0.021404946417331115, + 0.004267634789710034 + ], + [ + -0.0442721693067627, + 0.025146227329969413, + 0.9987029844573415, + 0.005316061691943509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9949050979990345, + -0.08808811008930206, + 0.049033940352307015, + 0.1190010320103596 + ], + [ + 0.08928712172750738, + 0.9957444667816162, + -0.022820336457561895, + 0.004669828245689403 + ], + [ + -0.04681507676537734, + 0.02708216942846775, + 0.9985363730089111, + 0.006820695690969377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9942333527139312, + -0.09379029273986819, + 0.051994017252786254, + 0.12543800610797898 + ], + [ + 0.095164780094835, + 0.9951571226119997, + -0.024616734215375125, + 0.005813116832957584 + ], + [ + -0.049433404977701045, + 0.029422776773571975, + 0.9983439203183712, + 0.008845982998052594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9935531132021299, + -0.09927861392498019, + 0.054735455696438194, + 0.13093945530742357 + ], + [ + 0.10083937098020747, + 0.994549095630646, + -0.026524379393929483, + 0.00711423377656268 + ], + [ + -0.051803788221807215, + 0.03187286853790284, + 0.9981485195138122, + 0.010394737006367368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9929314869245128, + -0.10420301556587219, + 0.05682225056990128, + 0.1359099352939884 + ], + [ + 0.10588873420982624, + 0.9939975738525391, + -0.027501763833724335, + 0.007537941726675766 + ], + [ + -0.05361541001768762, + 0.03332420065999031, + 0.9980054242778172, + 0.009450268559040947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9922706137170434, + -0.10920058190822601, + 0.05894303001938339, + 0.13987404163484798 + ], + [ + 0.11108686085882216, + 0.9933660626411438, + -0.029724801695414815, + 0.009660879746219896 + ], + [ + -0.055306034647769044, + 0.036042843014001846, + 0.9978187209191057, + 0.008448248279781991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9916646977572363, + -0.11374238133430484, + 0.060529177800205516, + 0.14389386111758423 + ], + [ + 0.11576672154188694, + 0.9927910566329958, + -0.031048830144731764, + 0.010852820133378545 + ], + [ + -0.05656125892349587, + 0.03779729455709458, + 0.9976833977776363, + 0.006227960919787018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9910227700912225, + -0.11818021535873413, + 0.06250859211251514, + 0.14702166171788283 + ], + [ + 0.12039669048055084, + 0.992178738117218, + -0.03295503978738414, + 0.013254768845717056 + ], + [ + -0.05812505491281403, + 0.04018501937389374, + 0.9975002166114535, + 0.002805215650946823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.990453012660964, + -0.12232591956853867, + 0.06355495120168984, + 0.15150431660662642 + ], + [ + 0.12469575348909037, + 0.9915862679481506, + -0.03475071368350695, + 0.015640261197069558 + ], + [ + -0.058769300052831784, + 0.04234398156404495, + 0.9973731117441871, + -0.001902846119157848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9898031665453804, + -0.1264643669128418, + 0.06554761241543298, + 0.15542764319498972 + ], + [ + 0.1290087696259141, + 0.9909846186637878, + -0.03614244474719852, + 0.018076605726360898 + ], + [ + -0.06038594996467937, + 0.04423011839389801, + 0.9971946776378084, + -0.00777177598207405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.989192478487775, + -0.130615308880806, + 0.06661709377610713, + 0.16069524963135873 + ], + [ + 0.1332947914670296, + 0.9903672933578493, + -0.03748418256536221, + 0.021569355158998906 + ], + [ + -0.06107938464073688, + 0.04595877975225449, + 0.9970742793209948, + -0.016782282032494482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9885624332236181, + -0.13445150852203372, + 0.0683158994514492, + 0.1659163176510577 + ], + [ + 0.1373209476327671, + 0.9897513389587405, + -0.03918227720750023, + 0.027022323821865996 + ], + [ + -0.06234762969218898, + 0.04811533167958261, + 0.9968940009565519, + -0.027834465039154144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9879044754647273, + -0.13797539472579956, + 0.07076395066522821, + 0.1702506748519622 + ], + [ + 0.14103990025753554, + 0.9891838431358337, + -0.04028769423387586, + 0.0336640655031041 + ], + [ + -0.06443984663937677, + 0.04978092759847641, + 0.9966791887447695, + -0.039915868704977556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9872332272420979, + -0.14122694730758667, + 0.07365787826178045, + 0.1746440442340711 + ], + [ + 0.14452313968097588, + 0.9886308312416077, + -0.04149906724601847, + 0.04251394534650861 + ], + [ + -0.0669596657465325, + 0.05161452293395996, + 0.9964197527389484, + -0.05316362427773442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9865565471963926, + -0.1446681767702103, + 0.07600864227181942, + 0.18001034503401006 + ], + [ + 0.14807100264769132, + 0.9881184101104739, + -0.0411941964073891, + 0.050910777915719935 + ], + [ + -0.06914605884182201, + 0.05189507454633714, + 0.9962558355331611, + -0.06617870491132952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9858114415779342, + -0.14834892749786377, + 0.0785394771884712, + 0.1856136666620218 + ], + [ + 0.15191206951351563, + 0.9875227212905884, + -0.04149157812047008, + 0.0612563348033299 + ], + [ + -0.07140428894079634, + 0.05283396691083908, + 0.9960471815939708, + -0.07888201203920998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9850343074455284, + -0.1519862711429596, + 0.08128742454399432, + 0.1913864826229303 + ], + [ + 0.1556414895236335, + 0.9869763255119324, + -0.04066257866448478, + 0.07135021409420737 + ], + [ + -0.07404861733277503, + 0.05270572751760483, + 0.995860915326667, + -0.09162017550418732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9842664983200583, + -0.15514804422855377, + 0.0845493211649009, + 0.19740483231802017 + ], + [ + 0.15887663527456783, + 0.9865168929100037, + -0.03927605164056615, + 0.08222649151617148 + ], + [ + -0.07731573242346779, + 0.05209100991487503, + 0.9956448899101237, + -0.10232793557532091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.983197352480262, + -0.16019473969936374, + 0.08752473995810146, + 0.20521682540411418 + ], + [ + 0.16393443652831866, + 0.9857654571533205, + -0.03730895709968071, + 0.093781452988895 + ], + [ + -0.08030217430492477, + 0.05103038251399995, + 0.9954634364976542, + -0.11315030661030791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9822643067190876, + -0.1634153127670288, + 0.09193642298330865, + 0.21178149956794515 + ], + [ + 0.16730350525634227, + 0.9852386116981506, + -0.03625516532593867, + 0.10714358961233171 + ], + [ + -0.08465466861104612, + 0.05099343881011009, + 0.9951046441093827, + -0.12358712026534908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9809985714522326, + -0.1686803102493286, + 0.0958579710692705, + 0.21949695876901573 + ], + [ + 0.1724401498462949, + 0.9844890832901001, + -0.03233559782968325, + 0.11824057307693078 + ], + [ + -0.0889167521256141, + 0.04825093597173691, + 0.9948696433586488, + -0.1363035895255268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9795222806372609, + -0.17421966791152957, + 0.10091361277292543, + 0.22609281055028319 + ], + [ + 0.17795523754932235, + 0.9836049079895022, + -0.029211274060110228, + 0.13063638238934364 + ], + [ + -0.09416994041178904, + 0.04657120257616044, + 0.9944662525220088, + -0.14790753730900774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9778392151410719, + -0.18006034195423126, + 0.10681163042132188, + 0.23183791078209337 + ], + [ + 0.18379631206506045, + 0.9826164841651917, + -0.02614877774442951, + 0.14322378222677493 + ], + [ + -0.10024649966595703, + 0.045200884342193604, + 0.993935356710219, + -0.1592191622145414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9759478291806749, + -0.1860344260931015, + 0.11365324900130869, + 0.23758781650652694 + ], + [ + 0.18953125040986607, + 0.9816568493843079, + -0.02068254244751997, + 0.1529035281445666 + ], + [ + -0.10772082757731033, + 0.041725918650627136, + 0.9933051929238975, + -0.17030847700969415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9645704034404113, + -0.2096485197544098, + 0.16016082138106003, + 0.17507544377776393 + ], + [ + 0.2066757268556607, + 0.9777764678001404, + 0.03519030625261662, + 0.09234963414077771 + ], + [ + -0.16397907028833175, + -0.0008421782404184341, + 0.9864634775597514, + -0.2109008579477362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.970422822988385, + -0.2014134675264359, + 0.13308702749657117, + 0.24240577955854653 + ], + [ + 0.20094430524138462, + 0.9794536232948305, + 0.017088032337496648, + 0.1390201827333353 + ], + [ + -0.13379434498946072, + 0.010160461999475958, + 0.9909570231941772, + -0.23504431247013935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9677680010443575, + -0.21403126418590546, + 0.13272438561992053, + 0.26799966221482474 + ], + [ + 0.21707709752230947, + 0.9761152863502502, + -0.008748149575624928, + 0.18741911881508241 + ], + [ + -0.127681913437708, + 0.03727760165929794, + 0.9911143964226777, + -0.1999159292226624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9641895329130398, + -0.22093382477760315, + 0.1467199821817851, + 0.2748115412680183 + ], + [ + 0.22406339193735192, + 0.9745620489120483, + -0.004947210170053098, + 0.1974252019048524 + ], + [ + -0.14189471857386446, + 0.03764461725950241, + 0.989165670685835, + -0.20821997949242776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9434104461250007, + -0.24985088407993317, + 0.21806263277793872, + 0.18368811326425766 + ], + [ + 0.239371171542095, + 0.9681298732757568, + 0.07366159504215349, + 0.10205065761316576 + ], + [ + -0.2295173837892612, + -0.01729520782828331, + 0.9731508638238743, + -0.2604950385579211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9297824154018517, + -0.2899224758148194, + 0.22682499124694164, + 0.19469898085734746 + ], + [ + 0.2804024163189985, + 0.9570366740226748, + 0.07385973385618559, + 0.11130274395378453 + ], + [ + -0.23849345404720382, + -0.005071222782135011, + 0.9711309025023726, + -0.23763659335352097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9217685587924057, + -0.30045634508132935, + 0.2450890631215819, + 0.20100703751540022 + ], + [ + 0.2897318029688605, + 0.9537926316261292, + 0.07959303477704775, + 0.11468291800026484 + ], + [ + -0.2576783985402081, + -0.0023562535643577576, + 0.9662278714516477, + -0.24300793947588686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9040239206948891, + -0.31362080574035645, + 0.2904870854936292, + 0.18960568403120145 + ], + [ + 0.2988829398527362, + 0.9495478868484497, + 0.09501497347076003, + 0.111818122237594 + ], + [ + -0.30563006453914005, + 0.0009258240461349487, + 0.9521499142186948, + -0.2496150218596996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8961956660546889, + -0.3263741135597229, + 0.3005216987848864, + 0.20325006286601505 + ], + [ + 0.31104100320377914, + 0.945228636264801, + 0.09897638752168013, + 0.1163919611551911 + ], + [ + -0.3163650335989433, + 0.004772353917360306, + 0.9486255245643892, + -0.2552323867429968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.889415471563039, + -0.33876946568489075, + 0.3068800249996324, + 0.22041220643238926 + ], + [ + 0.3232629162431225, + 0.9408286809921265, + 0.10169774007847027, + 0.12138907352395749 + ], + [ + -0.32317361742616635, + 0.008751384913921356, + 0.9462992389347309, + -0.2602177955349868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8819727507057716, + -0.3510538935661316, + 0.3144602386704673, + 0.23694593271189163 + ], + [ + 0.3348567752432731, + 0.9362813830375671, + 0.10605696059630763, + 0.12542226507316842 + ], + [ + -0.3316549549933127, + 0.01175978034734726, + 0.9433274908538246, + -0.2648980463711379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8742088205955114, + -0.36290690302848816, + 0.3225795713960126, + 0.252913826225156 + ], + [ + 0.34653840029927835, + 0.9316796064376831, + 0.10901506351723253, + 0.13022403368587826 + ], + [ + -0.3401031407362215, + 0.016484275460243225, + 0.9402436625425565, + -0.26987519508547525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8668963510898442, + -0.374182015657425, + 0.3293608495530777, + 0.2681820266539858 + ], + [ + 0.35802803929324734, + 0.9270997643470766, + 0.11091440015433095, + 0.13560587397520732 + ], + [ + -0.34685254110341707, + 0.021769106388092044, + 0.9376670274285767, + -0.27487150189744747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8580690141883829, + -0.3860226273536682, + 0.3386800123696962, + 0.2792313005706075 + ], + [ + 0.36905891784635664, + 0.9221380949020386, + 0.11600370603619968, + 0.13865418737466867 + ], + [ + -0.35708980756444203, + 0.025453690439462662, + 0.9337231759891886, + -0.279925179826078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8453620644251978, + -0.4000590443611145, + 0.3539997031959002, + 0.2830943535510359 + ], + [ + 0.37904046960737003, + 0.916172444820404, + 0.1302166026496844, + 0.1360330215265797 + ], + [ + -0.37641911635135844, + 0.024100027978420258, + 0.9261359886435702, + -0.2873010200743259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8343635539273832, + -0.4116794764995575, + 0.36654806819709873, + 0.28902465058216376 + ], + [ + 0.3899568397285224, + 0.9108340740203857, + 0.13533266427359003, + 0.13921463630159897 + ], + [ + -0.38957812965882654, + 0.030021272599697113, + 0.9205040059572058, + -0.2914712100219866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8263580845366543, + -0.42177432775497437, + 0.37314712764009367, + 0.29534795251613055 + ], + [ + 0.39964417941308183, + 0.9060561656951904, + 0.13909265188687925, + 0.14307916228826112 + ], + [ + -0.3967579484622098, + 0.034185729920864105, + 0.917286445063295, + -0.2965250093881674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.823808192508061, + -0.4314103424549103, + 0.36772979245975396, + 0.2988801318639822 + ], + [ + 0.408577194119072, + 0.901553213596344, + 0.14236035910144706, + 0.14377453518225752 + ], + [ + -0.39294371418230156, + 0.03296840935945511, + 0.9189713051144098, + -0.3106057785138848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8109576688320753, + -0.4401988685131073, + 0.3854512685808112, + 0.2912091506169115 + ], + [ + 0.4138138299517356, + 0.8972340822219849, + 0.15404269485215125, + 0.13903209566144764 + ], + [ + -0.41364943653831937, + 0.034582942724227905, + 0.9097791667634614, + -0.31369966832259605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8019469179385214, + -0.4486672878265381, + 0.3944348312935253, + 0.2944329084448416 + ], + [ + 0.42244721675082175, + 0.8927561044692993, + 0.1566043203923429, + 0.1432066387444276 + ], + [ + -0.4223973492785258, + 0.04103954881429672, + 0.905481246090839, + -0.3114138153382977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8016479169606404, + -0.45308035612106334, + 0.38997285705185397, + 0.3099656344285452 + ], + [ + 0.42710702163194064, + 0.8905273675918581, + 0.15665455942228004, + 0.1505147654473074 + ], + [ + -0.4182585864427171, + 0.040978327393531806, + 0.9074032062968937, + -0.3132299916213033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7963495493831665, + -0.45733121037483215, + 0.39582264115298943, + 0.311330468842682 + ], + [ + 0.42996610374399186, + 0.8883169293403625, + 0.16131400771230003, + 0.15160991869466472 + ], + [ + -0.42538985869762996, + 0.04172797501087189, + 0.9040477102441309, + -0.3151226355381611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7899286996511594, + -0.46362730860710144, + 0.40132595810070637, + 0.31409553456934713 + ], + [ + 0.4364622351008009, + 0.8848179578781128, + 0.16308875120515356, + 0.1540270673536674 + ], + [ + -0.4307128006387773, + 0.046335093677043915, + 0.9012988303291923, + -0.3151944032309634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7845089933095599, + -0.46880772709846497, + 0.4059125411113774, + 0.31591200725503654 + ], + [ + 0.4419546234686309, + 0.8818568587303162, + 0.16433078936672077, + 0.15548120327044934 + ], + [ + -0.4349963249247397, + 0.050475940108299255, + 0.899016350083002, + -0.3159471809108438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7817101547807285, + -0.4708939492702484, + 0.4088864593816966, + 0.31877891217427157 + ], + [ + 0.4445191291616513, + 0.8805760145187378, + 0.1642822199748588, + 0.15833813520071582 + ], + [ + -0.4374151233078082, + 0.05333675444126129, + 0.897676613860879, + -0.31633382732062604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7787930464280268, + -0.47555649280548096, + 0.40905680500306724, + 0.3229269969175656 + ], + [ + 0.4493368120217591, + 0.8779549598693848, + 0.16520155833201594, + 0.15932601164663696 + ], + [ + -0.4376961585429305, + 0.05514641851186752, + 0.8974301994156088, + -0.3179954885823086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7763051842065114, + -0.4792203903198242, + 0.40950966423347246, + 0.3269510576696446 + ], + [ + 0.45255054381081833, + 0.8759338855743408, + 0.16714632573806287, + 0.1588004477574694 + ], + [ + -0.43880328050698797, + 0.05556723475456238, + 0.8968634084829817, + -0.3179443113278462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.773967803688997, + -0.4841855764389038, + 0.4080910312898157, + 0.3321755968121302 + ], + [ + 0.4571033488159042, + 0.873192548751831, + 0.16908969532016924, + 0.15734365125008992 + ], + [ + -0.43821283573335795, + 0.055669769644737244, + 0.8971456968010705, + -0.3187527971410863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7720628868727725, + -0.48809078335762024, + 0.4070458121186966, + 0.3363083756404906 + ], + [ + 0.4610806702761048, + 0.8709574937820435, + 0.1698164394398564, + 0.15716527298962954 + ], + [ + -0.43740543696751255, + 0.056571975350379944, + 0.8974831919383722, + -0.31889974961691525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7707962058861826, + -0.49074244499206543, + 0.4062573988525763, + 0.34118981811342547 + ], + [ + 0.46375038463567053, + 0.8694324493408203, + 0.17036091801054093, + 0.15743198884020942 + ], + [ + -0.43681668294784265, + 0.057088449597358704, + 0.8977372285506741, + -0.31748062379961367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.769302384494397, + -0.4935426712036134, + 0.40569634536258364, + 0.34556416467198714 + ], + [ + 0.46695535429616497, + 0.8677505254745486, + 0.17018156456322595, + 0.1582402342238207 + ], + [ + -0.436035075378302, + 0.058520965278148665, + 0.8980249010214272, + -0.31626380938474846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.768672414327573, + -0.49534931778907776, + 0.40468723202556417, + 0.3499782928814146 + ], + [ + 0.46907242687891404, + 0.8666703701019287, + 0.16986330218545853, + 0.15898433165505782 + ], + [ + -0.43487212001599124, + 0.059258364140987396, + 0.8985403293932751, + -0.31523682932383823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7670925524882141, + -0.49725329875946056, + 0.4053494108618833, + 0.3535709546246526 + ], + [ + 0.4714390866183434, + 0.8654537796974184, + 0.16951388236068035, + 0.15948345559530205 + ], + [ + -0.4351025243503047, + 0.0610647350549698, + 0.898307792177157, + -0.3130552877990737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7642268004266473, + -0.5017019510269165, + 0.4052809227953611, + 0.35701697698407375 + ], + [ + 0.47651461419034197, + 0.8626941442489624, + 0.1693889635080058, + 0.15946248722555564 + ], + [ + -0.43461624487222755, + 0.06367069482803345, + 0.8983622648762832, + -0.3113345513778402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7601063778705129, + -0.5058014392852783, + 0.4079254925189846, + 0.3580388871965264 + ], + [ + 0.48304461451111846, + 0.8597296476364136, + 0.16593022350295752, + 0.16306418076667498 + ], + [ + -0.43463340624791774, + 0.07092158496379852, + 0.8978106590629807, + -0.3095022260087229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7626868941572619, + -0.5011103749275208, + 0.40889747998185844, + 0.35787693445678836 + ], + [ + 0.47245634058951363, + 0.8634193539619446, + 0.17689550215019748, + 0.15538633225658016 + ], + [ + -0.4416941615819616, + 0.05827031284570694, + 0.8952713439424661, + -0.3016206804356619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7604408701924944, + -0.5092297196388245, + 0.4030073225873939, + 0.3635827119849726 + ], + [ + 0.4805185041681635, + 0.8586693406105042, + 0.17829468635669138, + 0.1501649950896299 + ], + [ + -0.43684302191416374, + 0.05806984752416611, + 0.8976614687524951, + -0.3077494823593097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7607888057767466, + -0.5129421949386597, + 0.397606192162669, + 0.3725311111482327 + ], + [ + 0.483879054328942, + 0.8565908074378967, + 0.17920186438123534, + 0.14931054484468234 + ], + [ + -0.4325059716148337, + 0.05605851113796234, + 0.8998866954930899, + -0.3087917049259987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7605042707771363, + -0.5136846899986267, + 0.3971918085562684, + 0.37798382766979544 + ], + [ + 0.48490199382581384, + 0.8561062812805176, + 0.17875161105140386, + 0.15112342810393237 + ], + [ + -0.43186038853330305, + 0.056657709181308746, + 0.9001591994101046, + -0.3048625769792987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6973275352030083, + -0.5233215093612672, + 0.4897642414352698, + 0.24725994113620914 + ], + [ + 0.47580471526297535, + 0.849017381668091, + 0.22973770093626422, + 0.0926694722710624 + ], + [ + -0.5360449808381343, + 0.07282967120409013, + 0.8410420142206637, + -0.27658061368514114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.6945505767527536, + -0.5025610327720642, + 0.5148125887350997, + 0.23778569237611147 + ], + [ + 0.4599938439016408, + 0.8604052066802979, + 0.21933649322450646, + 0.0991469932274707 + ], + [ + -0.5531774100789213, + 0.08447032421827316, + 0.8287698973942403, + -0.23894260194398198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7517596888048188, + -0.515053927898407, + 0.4117970765750299, + 0.3642687318312208 + ], + [ + 0.4823155661679375, + 0.8553050756454468, + 0.18927479868889163, + 0.13873985532287497 + ], + [ + -0.4496988580325602, + 0.056326963007450104, + 0.8914023868575555, + -0.29388539865332197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7604203345966788, + -0.5159513354301454, + 0.39440493390805187, + 0.3901800053178001 + ], + [ + 0.4891964744134499, + 0.8545053601264956, + 0.1746638093586914, + 0.1578414684893108 + ], + [ + -0.42713916693629717, + 0.06012356281280519, + 0.9021847509494608, + -0.2976216876761094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7602724413743404, + -0.5140037536621095, + 0.3972228377072759, + 0.39032128060786586 + ], + [ + 0.4870434983899013, + 0.8556593060493471, + 0.17503100823003223, + 0.16080233631025814 + ], + [ + -0.4298540018045056, + 0.06039350479841234, + 0.9008763112726794, + -0.2918146080407071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7559631172034769, + -0.5207414031028749, + 0.3966714473771653, + 0.39662078592865924 + ], + [ + 0.49677889156805477, + 0.8509830832481386, + 0.1704070321382813, + 0.16511050620244627 + ], + [ + -0.42629866901886815, + 0.06823652237653734, + 0.9020051394253604, + -0.2915764396544769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7579303261267892, + -0.5184755325317383, + 0.3958848650921737, + 0.3962715656750666 + ], + [ + 0.4972314529965809, + 0.852001428604126, + 0.16387360531956605, + 0.1695217845139583 + ], + [ + -0.4222588833739308, + 0.07264159619808197, + 0.9035599806999335, + -0.2945756501546522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7623037890698902, + -0.5122458934783937, + 0.3955971234606647, + 0.39931057481355864 + ], + [ + 0.49092611802029884, + 0.855943560600281, + 0.16233366499511803, + 0.17103659184088782 + ], + [ + -0.4217635519836059, + 0.07046139240264894, + 0.903963882662524, + -0.2911913986317473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7627855141503934, + -0.5165933966636658, + 0.38895958273625625, + 0.4031388151420381 + ], + [ + 0.49621064642594076, + 0.8532971143722534, + 0.16018465817620342, + 0.1736237998382124 + ], + [ + -0.4146484288727508, + 0.07081928849220276, + 0.9072218092560963, + -0.2956368205164981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.7662207128131023, + -0.5171411633491516, + 0.381406487659872, + 0.4089403071903654 + ], + [ + 0.4962250862190187, + 0.8533053994178772, + 0.16009550000060882, + 0.17319802110830967 + ], + [ + -0.40824817124339274, + 0.06659497320652008, + 0.910438681146781, + -0.29847792423281205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.7650701417299992, + -0.5215265154838562, + 0.3777272633264721, + 0.41177745684154576 + ], + [ + 0.49526661601522937, + 0.8514518141746521, + 0.1724552390104372, + 0.1627120329763962 + ], + [ + -0.4115565446193972, + 0.05513530224561691, + 0.9097150063917432, + -0.29355785325151385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.7640860976279029, + -0.5174944996833801, + 0.38519079311301063, + 0.4025175933485978 + ], + [ + 0.49633705638226705, + 0.8529921770095825, + 0.16141229482693728, + 0.1722801380468713 + ], + [ + -0.41209470293937145, + 0.06785152107477188, + 0.9086111028366921, + -0.2926104398569402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.7692447196001934, + -0.516773283481598, + 0.3757766134139071, + 0.4077947395044831 + ], + [ + 0.4929398776013917, + 0.8541641831398012, + 0.16557135800498352, + 0.1679141832951916 + ], + [ + -0.4065377857857202, + 0.05787036567926408, + 0.911799413500107, + -0.2945169811793411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.7701381688587643, + -0.5109115839004517, + 0.38191176930387566, + 0.3986475733983102 + ], + [ + 0.4913609603637094, + 0.856951117515564, + 0.15556074644086404, + 0.17624458405009558 + ], + [ + -0.4067574961299609, + 0.06785324215888977, + 0.91101280383745, + -0.29517419955922414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.776327446774581, + -0.5083200335502625, + 0.3727283743139617, + 0.40209268572365026 + ], + [ + 0.486830404400821, + 0.8591428995132446, + 0.15770130220497017, + 0.17375543994219067 + ], + [ + -0.40038967305355566, + 0.059027642011642456, + 0.9144418611434255, + -0.29702870546662735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.7787299030739586, + -0.50968337059021, + 0.3657903889503438, + 0.403542629802537 + ], + [ + 0.4889184502818479, + 0.8584074378013611, + 0.15522714009229066, + 0.1747398947356869 + ], + [ + -0.3931138565214931, + 0.05796162784099579, + 0.9176611262788326, + -0.3008433422954162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.78373276901675, + -0.5060887336730957, + 0.36005155511694353, + 0.4020707384116605 + ], + [ + 0.4820571705078842, + 0.8611865043640137, + 0.16117915748030517, + 0.16943881166532143 + ], + [ + -0.39164247412330155, + 0.04724404960870743, + 0.9189037901241882, + -0.30050505069587746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.7895992068168269, + -0.5013484358787537, + 0.35381178109068334, + 0.3984955838979249 + ], + [ + 0.47995105510934044, + 0.8638554811477661, + 0.15297284313828569, + 0.17412134518679176 + ], + [ + -0.38233490546873294, + 0.04902510344982147, + 0.9227223529482529, + -0.30816672793769356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.791919298813134, + -0.49972307682037354, + 0.3509140924081377, + 0.3934430409677123 + ], + [ + 0.47508222201160966, + 0.8652628064155579, + 0.16005348834199046, + 0.16647228646784157 + ], + [ + -0.3836153224999727, + 0.03996359556913376, + 0.9226278356636464, + -0.30687967173304703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.793670102805101, + -0.4982719421386719, + 0.3490169714802635, + 0.3852877499508041 + ], + [ + 0.47329905693519886, + 0.8661899566650391, + 0.16032130835787128, + 0.16455332525780414 + ], + [ + -0.3821986005895773, + 0.037947170436382294, + 0.9233007043137493, + -0.30735944989045366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.7965181252478275, + -0.49414342641830444, + 0.3483981719661322, + 0.37477947369099995 + ], + [ + 0.4697613482468071, + 0.8685547113418579, + 0.1579146757316772, + 0.16585931899329404 + ], + [ + -0.38063537443077805, + 0.03788207471370697, + 0.9239489770171617, + -0.31017471473879854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.800275318547954, + -0.4901063144207001, + 0.34547816065322207, + 0.36657857892635837 + ], + [ + 0.4664150858448033, + 0.8708741664886475, + 0.15503271702431112, + 0.16691273977320684 + ], + [ + -0.37685050444582335, + 0.03706739842891693, + 0.9255320900983363, + -0.30959770273732784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.8024719062371389, + -0.48444947600364685, + 0.34834976865826967, + 0.35448203626292646 + ], + [ + 0.4618375476189352, + 0.873934805393219, + 0.15147306851577683, + 0.16895786635705884 + ], + [ + -0.3778160304497706, + 0.039328090846538544, + 0.9250450700108274, + -0.30452679111852793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.8085166047768417, + -0.48451104760169983, + 0.3339908898998215, + 0.34235503003010037 + ], + [ + 0.46056802370289834, + 0.8742762804031372, + 0.15335621662777815, + 0.15936766929658608 + ], + [ + -0.3663030543567236, + 0.029834486544132233, + 0.9300172017524201, + -0.31815628387052164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.8314667494947189, + -0.47004398703575145, + 0.2961785363447284, + 0.3677202586951126 + ], + [ + 0.44664310419044945, + 0.8825839161872866, + 0.1468181611919895, + 0.16545021089255108 + ], + [ + -0.3304134372927925, + 0.010211654007434847, + 0.9437810849725354, + -0.34156660397323835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.8340708026515489, + -0.46671777963638306, + 0.2941096228827157, + 0.3693804546246068 + ], + [ + 0.4479734013371069, + 0.8841539621353149, + 0.13263363501127676, + 0.18044161766292371 + ], + [ + -0.32194066246134184, + 0.02112741768360138, + 0.9465240838172237, + -0.32486488174358147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.8404278307101233, + -0.4630095958709717, + 0.2816081531202106, + 0.3662752640999002 + ], + [ + 0.44378011356025193, + 0.8862516283988953, + 0.13272999782397948, + 0.1773051814873181 + ], + [ + -0.31103094431825035, + 0.01342211663722992, + 0.9503050052320186, + -0.32710284204844353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.844582608583864, + -0.45389920473098766, + 0.283999621043614, + 0.3482903764212097 + ], + [ + 0.4368512881976794, + 0.8908549547195437, + 0.12465295794973758, + 0.182972123348186 + ], + [ + -0.3095823381355428, + 0.018785871565341953, + 0.950687048496015, + -0.3220166214335278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8493736761065044, + -0.44812509417533875, + 0.27883378339292486, + 0.3368305651928927 + ], + [ + 0.43133300272907876, + 0.8938250541687012, + 0.12259118938757022, + 0.18215233689854882 + ], + [ + -0.3041648390838121, + 0.01614445447921753, + 0.9524826247519165, + -0.31975562281542086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8585734807870622, + -0.44388347864151, + 0.2565522875735109, + 0.3514454711245581 + ], + [ + 0.4267125307468671, + 0.896073579788208, + 0.12234622801105839, + 0.18023175112924783 + ], + [ + -0.2841972006976587, + 0.004430860280990601, + 0.9587556122406115, + -0.3235538951522177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8550072055643986, + -0.43485942482948303, + 0.28259514790494744, + 0.31428434024746377 + ], + [ + 0.42304966589037, + 0.9000052213668823, + 0.10497438807774766, + 0.19316619386872283 + ], + [ + -0.2999862216819588, + 0.02979787439107895, + 0.9534780389365706, + -0.3018170455100694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8712738750936899, + -0.42993101477622997, + 0.23673025546981322, + 0.34625747009678176 + ], + [ + 0.41342016191368597, + 0.9028477072715761, + 0.11810927185930623, + 0.17793858509004518 + ], + [ + -0.26451020343368686, + -0.005036473274230958, + 0.9643697158566656, + -0.3201169695548744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.8762706822427897, + -0.42322832345962524, + 0.23027718627675864, + 0.3411113169585958 + ], + [ + 0.4071607131774656, + 0.9059905409812927, + 0.11576425061164644, + 0.1766554171506698 + ], + [ + -0.2576236358400406, + -0.007681019604206085, + 0.9662148007662243, + -0.31673759399581947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.8819618307551268, + -0.4162408709526062, + 0.2211037278512714, + 0.3391133073136549 + ], + [ + 0.4009968104635106, + 0.9091972708702087, + 0.11207956782832025, + 0.17686243633275076 + ], + [ + -0.24767902592301447, + -0.010188020765781403, + 0.9687885484604989, + -0.3141258827386569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8869260905217511, + -0.4097776412963867, + 0.2131769339985305, + 0.33670826125660114 + ], + [ + 0.3952324430857961, + 0.9121019840240479, + 0.10890979117808122, + 0.17765753769192338 + ], + [ + -0.2390678741856936, + -0.012340493500232697, + 0.9709244562936232, + -0.3107181297564186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.8916908950890132, + -0.40415653586387634, + 0.2038255654473343, + 0.3355541794600924 + ], + [ + 0.3899760686724621, + 0.9145456552505493, + 0.10735400471060498, + 0.1772850269033086 + ], + [ + -0.22979561603684598, + -0.016239523887634277, + 0.9731034501028766, + -0.3091934709822399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8966403919327262, + -0.39733707904815674, + 0.19534401964974443, + 0.3339324177477922 + ], + [ + 0.38287666840110457, + 0.9173950552940369, + 0.10859005415798925, + 0.17471301362417574 + ], + [ + -0.22235448260526738, + -0.022573575377464294, + 0.9747045463287688, + -0.31066763686961596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9007857245842618, + -0.3927330970764161, + 0.1853261957964643, + 0.33418182325730045 + ], + [ + 0.3793794017898802, + 0.919349789619446, + 0.10424619845713658, + 0.1778462954287255 + ], + [ + -0.21132054587727042, + -0.023594550788402564, + 0.9771319725018036, + -0.30641239557537836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9054181151684799, + -0.38429921865463257, + 0.18036663879342227, + 0.3300779373560444 + ], + [ + 0.37003182795770606, + 0.9226746559143066, + 0.1083880516043407, + 0.17189317777022167 + ], + [ + -0.20807316810058962, + -0.03139510005712509, + 0.9776092785820778, + -0.31193876440348606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9097364184029043, + -0.3775408864021301, + 0.17274980946842936, + 0.32867569858965784 + ], + [ + 0.3637266040214801, + 0.9253537654876709, + 0.10688036755773182, + 0.17047404377241654 + ], + [ + -0.200206360130535, + -0.03439928591251373, + 0.9791496820828883, + -0.3129473630082308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9139931374753408, + -0.3703449368476868, + 0.16571413726179907, + 0.3263354286088088 + ], + [ + 0.3571250602993399, + 0.9281793236732485, + 0.10461794163120999, + 0.16948409031349032 + ], + [ + -0.19255718054976734, + -0.0364394560456276, + 0.9806089770929881, + -0.31421736655689425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9177892167656989, + -0.36383354663848877, + 0.1590223512384126, + 0.3229184121047023 + ], + [ + 0.3510525230428721, + 0.9306519627571106, + 0.10319428690629963, + 0.16816542132926185 + ], + [ + -0.18553999485789033, + -0.03888542205095291, + 0.9818670049978833, + -0.3162198806741382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9214751759419944, + -0.35741961002349854, + 0.15210092499163, + 0.31986329910388855 + ], + [ + 0.34512105725214226, + 0.9330348968505859, + 0.101672655664985, + 0.16766957698461082 + ], + [ + -0.17825530189440855, + -0.04119560122489929, + 0.9831215317645992, + -0.31737276259112823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.925189451121833, + -0.3508320152759552, + 0.1447114158504338, + 0.31727680933964986 + ], + [ + 0.33898031841699566, + 0.9354058504104614, + 0.10053999058126327, + 0.16709070827807343 + ], + [ + -0.1706365304080593, + -0.0439642108976841, + 0.9843527258386893, + -0.31815381820037647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9287467975866663, + -0.34442722797393804, + 0.13711068671821017, + 0.3148724773884451 + ], + [ + 0.3330075370799455, + 0.9376392960548403, + 0.09969198079751823, + 0.1664759578227464 + ], + [ + -0.16289701777775617, + -0.04692972823977472, + 0.9855263356290493, + -0.31883385988353874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9321643688606819, + -0.33798882365226746, + 0.1297425182873541, + 0.3125070899853071 + ], + [ + 0.3269953638657008, + 0.9398306608200073, + 0.09895635685855533, + 0.16591057744905996 + ], + [ + -0.15538215499281904, + -0.04981839656829834, + 0.9865974325161486, + -0.31871690135300823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9355635552441557, + -0.33143916726112366, + 0.12193830893585896, + 0.310706158609676 + ], + [ + 0.3209777022713623, + 0.9420216679573059, + 0.09781869334921603, + 0.16564863301097416 + ], + [ + -0.14728947592270544, + -0.05237612873315811, + 0.9877057030057941, + -0.3181772433969665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9386056615890117, + -0.3251459300518036, + 0.11532347346368417, + 0.3086136343276748 + ], + [ + 0.3151823696634652, + 0.9441028237342834, + 0.0965913332571246, + 0.16507698862130657 + ], + [ + -0.14028352049374448, + -0.05431325361132622, + 0.9886205701949645, + -0.3170551792723199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9415018633836353, + -0.31913512945175176, + 0.10829138609826959, + 0.30736703286554196 + ], + [ + 0.30974296924098343, + 0.9460549950599673, + 0.09507491839752015, + 0.16478261487279988 + ], + [ + -0.13279136937849673, + -0.0559707172214985, + 0.989562402193773, + -0.31501949107901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9443217608670992, + -0.3131062984466553, + 0.10109819928721164, + 0.3072341229241415 + ], + [ + 0.30420795586173177, + 0.9479281902313232, + 0.09428528035365971, + 0.1641161096046388 + ], + [ + -0.12535515852269627, + -0.05828075855970383, + 0.9903986294304904, + -0.3131144489974181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9469105905456275, + -0.3067973554134369, + 0.09610263945016714, + 0.306016532889493 + ], + [ + 0.2983333152713893, + 0.9499197602272034, + 0.09300366023160271, + 0.16343472821956678 + ], + [ + -0.1198230997140816, + -0.05939554423093796, + 0.9910169602498173, + -0.3118383100063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9495200361937981, + -0.3007713258266449, + 0.08915311920574337, + 0.3073503980347373 + ], + [ + 0.2929781888262147, + 0.9518061280250549, + 0.0907129613966949, + 0.16378427604574783 + ], + [ + -0.11214032775315051, + -0.06001388281583786, + 0.991878460219744, + -0.30930431737761166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9517677693418344, + -0.2952769994735718, + 0.08336448575056242, + 0.30831133027729346 + ], + [ + 0.288025780243281, + 0.9534888863563538, + 0.08888280394765916, + 0.1632814179694852 + ], + [ + -0.10573212439321408, + -0.06058468297123909, + 0.9925473430261863, + -0.30663944778100677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9540581912430005, + -0.28935247659683233, + 0.07776964798676668, + 0.3095170755672789 + ], + [ + 0.2826518963224996, + 0.9552890062332156, + 0.08678069614441213, + 0.16262627902281593 + ], + [ + -0.09940270541879073, + -0.06081210076808931, + 0.9931873067381222, + -0.30420673508992374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9560086125069225, + -0.2845602333545685, + 0.07122536051652205, + 0.3120351445325984 + ], + [ + 0.27845703850340514, + 0.9567061066627502, + 0.08470595500947067, + 0.16234172408627862 + ], + [ + -0.0922456629266405, + -0.06114642694592476, + 0.9938570590410345, + -0.3010933423522138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9579726111098025, + -0.27856481075286865, + 0.06848479958655344, + 0.31108216793038834 + ], + [ + 0.2727394304063084, + 0.95846027135849, + 0.08346951905325187, + 0.16057204680074494 + ], + [ + -0.08889165604262315, + -0.061283014714717865, + 0.9941542487702515, + -0.3007225436228767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9598186996505899, + -0.2735200822353363, + 0.06272842349771941, + 0.3129521761454549 + ], + [ + 0.2682452310424416, + 0.9599246382713318, + 0.08117358855711719, + 0.15924504658288396 + ], + [ + -0.08241714854618105, + -0.061085328459739685, + 0.9947240523684778, + -0.2997159945027822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9616634099946676, + -0.26703801751136785, + 0.06240379910134799, + 0.3102654559104121 + ], + [ + 0.2620216087443557, + 0.9618843793869021, + 0.07825042682845013, + 0.1578762602962853 + ], + [ + -0.08092111035118715, + -0.05889942497015001, + 0.9949787040145452, + -0.30018088483366395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9632555580854791, + -0.26325544714927673, + 0.053247120553932006, + 0.31455119766460105 + ], + [ + 0.2590047830235392, + 0.9629353880882263, + 0.0753125261103219, + 0.156919383762506 + ], + [ + -0.07109994683731699, + -0.058753952383995056, + 0.9957373203117629, + -0.2999626906850421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9647605615235949, + -0.25822579860687256, + 0.05056227797847997, + 0.313415920749035 + ], + [ + 0.25430135353894096, + 0.9643733501434326, + 0.07290328692804386, + 0.15590732131241378 + ], + [ + -0.06758639522022121, + -0.05747615918517113, + 0.996056532373591, + -0.3007714676843801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9661066634253382, + -0.2542046904563904, + 0.044921058906407414, + 0.31486038177078024 + ], + [ + 0.25081431174344104, + 0.9655272364616394, + 0.06963700050189751, + 0.15600766956938958 + ], + [ + -0.06107454451397811, + -0.0560099333524704, + 0.9965604701171755, + -0.3007850106068452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9674943538227146, + -0.24961756169795996, + 0.04056747939138266, + 0.315900688290556 + ], + [ + 0.24665760865266884, + 0.9668216705322268, + 0.06645235643294488, + 0.15606280159197447 + ], + [ + -0.05580917857626969, + -0.05428600683808328, + 0.9969645773387352, + -0.300595529335235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9685379820603505, + -0.2461741864681244, + 0.036502860164730457, + 0.3163412121150558 + ], + [ + 0.24356160013556044, + 0.9677646160125732, + 0.06410489867883368, + 0.15476748412881544 + ], + [ + -0.05110712437884367, + -0.05319733917713165, + 0.9972753670150242, + -0.30212996128315145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9696932906299718, + -0.24202401936054235, + 0.03345586583576852, + 0.3167659772281479 + ], + [ + 0.23974045081772213, + 0.9689366817474367, + 0.06071421210283012, + 0.15431391038837428 + ], + [ + -0.04711089305327375, + -0.0508534573018551, + 0.9975943649331537, + -0.30285925140563275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9707292943057806, + -0.23830327391624456, + 0.02993670903012354, + 0.31698777896818114 + ], + [ + 0.2363614507209204, + 0.9699880480766299, + 0.057065106604497325, + 0.15289654894467236 + ], + [ + -0.042637062397396557, + -0.048318892717361464, + 0.997921525453317, + -0.304637665869285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9719084576479733, + -0.23396188020706177, + 0.025607334016850038, + 0.3183999191856831 + ], + [ + 0.23241539026968758, + 0.9712091088294983, + 0.05230594049937564, + 0.1515392106947974 + ], + [ + -0.03710769243076378, + -0.04488503932952881, + 0.9983027262622289, + -0.30731657870736073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9730076422826213, + -0.2296581268310547, + 0.02265663731775051, + 0.3185701021185381 + ], + [ + 0.22842201422942993, + 0.9724205136299133, + 0.04713497005094924, + 0.1496043344826153 + ], + [ + -0.03285671882440103, + -0.04068741202354431, + 0.9986315533436273, + -0.31232621518257814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.972808581897863, + -0.2307678759098053, + 0.019738149369912316, + 0.3189445486639105 + ], + [ + 0.2298565482271516, + 0.9723976254463196, + 0.040110629686697215, + 0.14729714280401413 + ], + [ + -0.028449580559713004, + -0.03448302298784256, + 0.999000282228294, + -0.3189750663508256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9699693305175074, + -0.2427201122045517, + 0.01570018489577852, + 0.31744532249694035 + ], + [ + 0.2422818296454778, + 0.9698697328567505, + 0.025538775790269214, + 0.14570483093704267 + ], + [ + -0.021425897333865993, + -0.020967965945601463, + 0.9995505488188432, + -0.328446157673694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9729012676187089, + -0.23075002431869512, + 0.014749298593197284, + 0.3301741740313081 + ], + [ + 0.23039147627707243, + 0.972835183143616, + 0.02261628253796509, + 0.14544720777043996 + ], + [ + -0.01956735198415324, + -0.018605304881930355, + 0.9996354071233553, + -0.31181014248984407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9752974669655569, + -0.22006924450397491, + 0.019087572627734146, + 0.3164859244439478 + ], + [ + 0.21975935475727576, + 0.9754047393798828, + 0.017071031102821935, + 0.1391623743535763 + ], + [ + -0.022374887532863846, + -0.012454666197299957, + 0.9996720702913209, + -0.3269653349589374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9761356912475742, + -0.21683743596076965, + 0.01185763296241469, + 0.3084296406310607 + ], + [ + 0.21667266354463421, + 0.9761471748352051, + 0.013773377499769963, + 0.1288853591982368 + ], + [ + -0.01456140308484904, + -0.010875467211008072, + 0.9998348117101874, + -0.34734482124517013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9772550526448353, + -0.21196967363357544, + 0.006432698215659373, + 0.3072489488004332 + ], + [ + 0.2119221223252121, + 0.9772589206695557, + 0.0073522410187745945, + 0.12359051329427961 + ], + [ + -0.007844858119144189, + -0.005821790546178818, + 0.9999522893429568, + -0.3540371047438008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9776886554173472, + -0.21004147827625275, + 0.0027311739305254006, + 0.3062993675652906 + ], + [ + 0.21004573025847373, + 0.977690577507019, + -0.0013742383497770826, + 0.12114857638543311 + ], + [ + -0.002381600450634362, + 0.001917244866490364, + 0.9999953406816029, + -0.3590089277866636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9777437865625696, + -0.20971746742725372, + -0.00597598491470881, + 0.31164966875611194 + ], + [ + 0.20964009702496786, + 0.9777109026908875, + -0.011507098488710895, + 0.11971089496683571 + ], + [ + 0.008256002813005781, + 0.009998185560107231, + 0.9999159077909721, + -0.36209780862556773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9783730819873323, + -0.20675732195377355, + -0.006124422106530958, + 0.3067410507399756 + ], + [ + 0.20665948702338058, + 0.97831666469574, + -0.013724933839923613, + 0.11234975937844786 + ], + [ + 0.008829342740186262, + 0.012162433005869392, + 0.9998870416614087, + -0.3665846477670743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9800873907281467, + -0.19846345484256744, + -0.006397252243140351, + 0.2997904612438982 + ], + [ + 0.1982151344411294, + 0.9797608852386475, + -0.027916435106623193, + 0.11642094319557386 + ], + [ + 0.011808191315677452, + 0.02609250880777836, + 0.9995898081242307, + -0.37405656259473924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9808990479192761, + -0.19419731199741364, + -0.011156475156257336, + 0.3035741696961893 + ], + [ + 0.19372609903947108, + 0.9804685115814209, + -0.03393603629758268, + 0.11513146439850133 + ], + [ + 0.017528861946829583, + 0.03112652711570263, + 0.9993617348507984, + -0.3696771676619985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9818320683042686, + -0.18905577063560486, + -0.01623735599003389, + 0.30683958043100545 + ], + [ + 0.1882746448550124, + 0.9812721610069275, + -0.040713822774831605, + 0.11733747448298107 + ], + [ + 0.023630451834119156, + 0.036917053163051605, + 0.9990389156551958, + -0.36365735467118687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9824482966048971, + -0.18574461340904236, + -0.01715435308520953, + 0.3059662602574126 + ], + [ + 0.18496226327187335, + 0.9819535613059998, + -0.03944878309078993, + 0.11188635817774119 + ], + [ + 0.024172170624354613, + 0.03558347374200821, + 0.9990743199799691, + -0.3605856398556863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/pan_right/transforms.json b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..df8598f94b7ac3063ecfafcb44c3db009a0f859b --- /dev/null +++ b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/pan_right/transforms.json @@ -0,0 +1,5368 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 153, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 7.486010872526094e-05, + 0.0002196452987845987, + -0.0002654411073308438 + ], + [ + -7.484106026822701e-05, + 1.0, + -8.672619151184335e-05, + 0.0001142723995144479 + ], + [ + -0.00021965178893879056, + 8.67097478476353e-05, + 1.0, + 0.00021108951477799565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999209584787314, + -0.009409398771822453, + 0.008339422638951662, + 0.011821315623819828 + ], + [ + 0.009426557558738962, + 0.9999535083770752, + -0.002020734818670518, + 0.0007956356275826693 + ], + [ + -0.008320021396695467, + 0.0020991871133446693, + 0.9999631920458684, + -6.51256341370754e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9996741829668885, + -0.01911240443587303, + 0.01691923544563888, + 0.02310589700937271 + ], + [ + 0.01918266986630611, + 0.9998080134391785, + -0.004000475385788515, + 0.000752170686610043 + ], + [ + -0.016839528747005717, + 0.004323728382587433, + 0.9998488617612995, + -0.0016613700427114964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9992577364272828, + -0.028921371325850487, + 0.025446301287359113, + 0.0343158021569252 + ], + [ + 0.029082644413063775, + 0.9995590448379517, + -0.005990663047792723, + 0.00046233634930104017 + ], + [ + -0.025261824265122933, + 0.006726262159645557, + 0.9996582249132137, + -0.0012266088742762804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9987223510690771, + -0.037066735327243805, + 0.034347396474316276, + 0.044202450662851334 + ], + [ + 0.03736154993620717, + 0.999269962310791, + -0.007981506692909231, + 0.00015160873590502888 + ], + [ + -0.03402647254928842, + 0.009254580363631248, + 0.9993780829306419, + -0.002147817285731435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9980194581385774, + -0.04569840803742409, + 0.04322982092780812, + 0.05370154604315758 + ], + [ + 0.04621041794938368, + 0.9988720417022705, + -0.010919127754435357, + 0.0009391157072968781 + ], + [ + -0.04268207633824028, + 0.012895170599222183, + 0.9990054829893878, + -0.0014555385569110513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9972380879928865, + -0.0538921393454075, + 0.05110619446128535, + 0.06318772584199905 + ], + [ + 0.054570513903016545, + 0.9984381198883059, + -0.011971677849256441, + -5.33743150299415e-06 + ], + [ + -0.050381197340766744, + 0.014727504923939708, + 0.9986214483932022, + -0.00208346638828516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9963892409932023, + -0.0614449717104435, + 0.05859203565139037, + 0.07245003432035446 + ], + [ + 0.0623751161286622, + 0.9979520440101624, + -0.014178671244704188, + 0.0007587092113681138 + ], + [ + -0.05760083400851284, + 0.01778215914964676, + 0.9981812949288007, + -0.001522274687886238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9954325822880433, + -0.06872429698705673, + 0.06626407307600922, + 0.08023346215486526 + ], + [ + 0.06989018530575464, + 0.9974352121353149, + -0.015437279914681525, + 0.0012125890934839845 + ], + [ + -0.06503320394170055, + 0.019997980445623398, + 0.9976827242008677, + -0.0006971476832404733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9944511559632311, + -0.07528886198997499, + 0.07347450649925319, + 0.08753497898578644 + ], + [ + 0.07676091283217866, + 0.9968973994255068, + -0.017417049779341574, + 0.002469081664457917 + ], + [ + -0.07193523564747327, + 0.022960374131798748, + 0.9971449717518404, + 0.0013058432377874851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9933805316612898, + -0.0819857493042946, + 0.08045748016481596, + 0.09410640597343445 + ], + [ + 0.08372903706517151, + 0.996316194534302, + -0.01853227280963742, + 0.002892349846661091 + ], + [ + -0.07864171070494702, + 0.025146227329969413, + 0.9965857501873719, + 0.004125906154513359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9923333883375157, + -0.08808811008930206, + 0.08668868277651429, + 0.10021951049566269 + ], + [ + 0.09008753161056421, + 0.9957444667816162, + -0.019421496099287613, + 0.003041745163500309 + ], + [ + -0.08460897533523552, + 0.02708216942846775, + 0.9960461138557095, + 0.005592068191617727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9912353857872459, + -0.09379029273986819, + 0.09303626949785196, + 0.10495393723249435 + ], + [ + 0.09610077228715491, + 0.9951571226119997, + -0.020663023489826574, + 0.003919542767107487 + ], + [ + -0.0906477137047276, + 0.029422776773571975, + 0.9954482592101156, + 0.007595143746584654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9901067384506285, + -0.09927861392498019, + 0.0991584859636329, + 0.10875466465950012 + ], + [ + 0.10192568107873005, + 0.994549095630646, + -0.021983561552988348, + 0.004940183367580175 + ], + [ + -0.0964354778474057, + 0.03187286853790284, + 0.9948287782800052, + 0.009131114929914474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.989037787933723, + -0.10420301556587219, + 0.10462294167686412, + 0.11202596873044968 + ], + [ + 0.10709141342259264, + 0.9939975738525391, + -0.022365156330249897, + 0.005076903849840164 + ], + [ + -0.10166443147602329, + 0.03332420065999031, + 0.9942604198357529, + 0.008174450136721134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9879019978842056, + -0.10920058190822601, + 0.11011309736202528, + 0.11429312825202942 + ], + [ + 0.11247382411023682, + 0.9933660626411438, + -0.02394772183984437, + 0.006895174738019705 + ], + [ + -0.10676750441094382, + 0.036042843014001846, + 0.9936305436564234, + 0.007169403601437807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9868244543688363, + -0.11374238133430484, + 0.11506585246183339, + 0.11661750823259354 + ], + [ + 0.1173013421919997, + 0.9927910566329958, + -0.02462435359290856, + 0.00777662917971611 + ], + [ + -0.11143551550910959, + 0.03779729455709458, + 0.9930525988563541, + 0.004945794120430946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.985665553271932, + -0.11818021535873413, + 0.12040295685864738, + 0.11805124580860138 + ], + [ + 0.12211906726129755, + 0.992178738117218, + -0.025852101216116145, + 0.009855330921709538 + ], + [ + -0.11640603881034206, + 0.04018501937389374, + 0.9923884513017064, + 0.0015390765620395541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.984611449955234, + -0.12232591956853867, + 0.12480662934508098, + 0.12084206193685532 + ], + [ + 0.12660946715533447, + 0.9915862679481506, + -0.026957111610247726, + 0.01191176287829876 + ], + [ + -0.12045898145993839, + 0.04234398156404495, + 0.9918147954354263, + -0.003170100972056389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9833969030215994, + -0.1264643669128418, + 0.13014349435969758, + 0.12307471036911011 + ], + [ + 0.131096380931746, + 0.9909846186637878, + -0.027627483766984824, + 0.014002720825374126 + ], + [ + -0.12547631137965157, + 0.04423011839389801, + 0.991110177197705, + -0.009000255726277828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9822598977843295, + -0.130615308880806, + 0.1345551555484971, + 0.12665504217147827 + ], + [ + 0.13555899161967105, + 0.9903672933578493, + -0.028219233970649637, + 0.017136087641119957 + ], + [ + -0.1295731673412096, + 0.04595877975225449, + 0.9905042170615627, + -0.017992248758673668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9810393841181756, + -0.13445150852203372, + 0.13958679489081954, + 0.1301891803741455 + ], + [ + 0.13979375300316782, + 0.9897513389587405, + -0.0291547616559603, + 0.02222551964223385 + ], + [ + -0.13423630852683732, + 0.04811533167958261, + 0.9897805259472848, + -0.02899676188826561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9797113109135585, + -0.13797539472579956, + 0.14535658438827456, + 0.13283680379390717 + ], + [ + 0.14368532479482854, + 0.9891838431358337, + -0.02949371475318891, + 0.028499435633420944 + ], + [ + -0.13971497885413195, + 0.04978092759847641, + 0.9889396461845524, + -0.04098907858133316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9783066001479322, + -0.14122694730758667, + 0.15156227798455973, + 0.13554413616657257 + ], + [ + 0.14735425780425312, + 0.9886308312416077, + -0.0299304726406741, + 0.03697828948497772 + ], + [ + -0.14561215329270777, + 0.05161452293395996, + 0.9879944439614504, + -0.054117634892463684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9769102124810802, + -0.1446681767702103, + 0.1572182281615087, + 0.1392284333705902 + ], + [ + 0.1509670548792196, + 0.9881184101104739, + -0.02882589085939671, + 0.04498380422592163 + ], + [ + -0.15118004481560654, + 0.05189507454633714, + 0.9871430804786026, + -0.06701295077800751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9754028172752585, + -0.14834892749786377, + 0.16303984750511732, + 0.14315398037433624 + ], + [ + 0.154917867023063, + 0.9875227212905884, + -0.028271582832074246, + 0.054915234446525574 + ], + [ + -0.1568114959742388, + 0.05283396691083908, + 0.9862143353099034, + -0.07957980781793594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9738155985140519, + -0.1519862711429596, + 0.1690662956487972, + 0.14725185930728912 + ], + [ + 0.158654659408905, + 0.9869763255119324, + -0.02657851787863787, + 0.06458217650651932 + ], + [ + -0.1628248692414081, + 0.05270572751760483, + 0.9852462749793481, + -0.0921507328748703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9721599996112537, + -0.15514804422855377, + 0.17559630571433496, + 0.15159521996974945 + ], + [ + 0.16183766502592986, + 0.9865168929100037, + -0.024350844905164863, + 0.07503894716501236 + ], + [ + -0.16945073391816937, + 0.05209100991487503, + 0.9841610224241323, + -0.1026473417878151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9701986332031354, + -0.16019473969936374, + 0.18180271219015856, + 0.15775015950202942 + ], + [ + 0.16676544271988722, + 0.9857654571533205, + -0.021348181987306643, + 0.08607316017150879 + ], + [ + -0.17579497627414323, + 0.05103038251399995, + 0.9831032595402129, + -0.11325498670339584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9681982413053346, + -0.1634153127670288, + 0.18944033271337146, + 0.1626487374305725 + ], + [ + 0.1700851680623556, + 0.9852386116981506, + -0.019389055909722355, + 0.09898416697978973 + ], + [ + -0.18347546256241679, + 0.05099343881011009, + 0.981700779404404, + -0.12339235097169876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9658764059536341, + -0.1686803102493286, + 0.19654443831085297, + 0.16872014105319977 + ], + [ + 0.1748558545037715, + 0.9844890832901001, + -0.014374502139954412, + 0.10951558500528336 + ], + [ + -0.19107116323798212, + 0.04825093597173691, + 0.9803895178264694, + -0.13579361140727997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9631869036636233, + -0.17421966791152957, + 0.2047399426555233, + 0.17368267476558685 + ], + [ + 0.18005500334365532, + 0.9836049079895022, + -0.010077741531061531, + 0.12131074070930481 + ], + [ + -0.19962746870160394, + 0.04657120257616044, + 0.978764516531999, + -0.14700846374034882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.960154235969091, + -0.18006034195423126, + 0.213733708646015, + 0.17780724167823792 + ], + [ + 0.18555737346020099, + 0.9826164841651917, + -0.005770967059007419, + 0.13326042890548706 + ], + [ + -0.20897913168654506, + 0.045200884342193604, + 0.9768749032161103, + -0.15786133706569672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9567570532045802, + -0.1860344260931015, + 0.22362282404601164, + 0.1819501519203186 + ], + [ + 0.19065403337379278, + 0.9816568493843079, + 0.0009497380299527458, + 0.14227786660194397 + ], + [ + -0.2196975612407231, + 0.041725918650627136, + 0.9746753123827445, + -0.16838563978672028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9392470183636948, + -0.2096485197544098, + 0.27177672894043553, + 0.11822235584259033 + ], + [ + 0.20114773253561335, + 0.9777764678001404, + 0.059099944342190174, + 0.08016420155763626 + ], + [ + -0.27812709553481274, + -0.0008421782404184341, + 0.9605439327700076, + -0.20551393926143646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9473714494519235, + -0.2014134675264359, + 0.24883719381953562, + 0.18365386128425598 + ], + [ + 0.1974303664516055, + 0.9794536232948305, + 0.04113228732874999, + 0.1268988996744156 + ], + [ + -0.2520090995134059, + 0.010160461999475958, + 0.9676715157177388, + -0.23122483491897583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9439190753563624, + -0.21403126418590546, + 0.25141090979105596, + 0.20774134993553162 + ], + [ + 0.2164921529007201, + 0.9761152863502502, + 0.018169868522336725, + 0.1740667074918747 + ], + [ + -0.24929493794689386, + 0.03727760165929794, + 0.967709900605268, + -0.1962587535381317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9377190099652547, + -0.22093382477760315, + 0.26808817001179236, + 0.2130538672208786 + ], + [ + 0.2228747660783006, + 0.9745620489120483, + 0.023573653524238805, + 0.1832401603460312 + ], + [ + -0.2664767670363551, + 0.03764461725950241, + 0.9631058964892523, + -0.20344260334968567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9068765538550222, + -0.24985088407993317, + 0.33933684995864805, + 0.12131927162408829 + ], + [ + 0.22770855047273122, + 0.9681298732757568, + 0.10427561743378405, + 0.08614758402109146 + ], + [ + -0.35457550746440797, + -0.01729520782828331, + 0.9348673931253445, + -0.24970190227031708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8910233826818486, + -0.2899224758148194, + 0.34931683062639945, + 0.13158051669597626 + ], + [ + 0.2679829868037748, + 0.9570366740226748, + 0.1107514972655781, + 0.09224430471658707 + ], + [ + -0.3664183970761495, + -0.005071222782135011, + 0.9304364114234693, + -0.22583706676959991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.879368259606231, + -0.30045634508132935, + 0.3693743207603254, + 0.13676175475120544 + ], + [ + 0.2760533629583062, + 0.9537926316261292, + 0.11863435268090167, + 0.09447835385799408 + ], + [ + -0.3879509802952917, + -0.0023562535643577576, + 0.9216770006526963, + -0.22945310175418854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8541322502881404, + -0.31362080574035645, + 0.41484948480727296, + 0.12483174353837967 + ], + [ + 0.2825322159785849, + 0.9495478868484497, + 0.13614111742193755, + 0.09040729701519012 + ], + [ + -0.43661613279120454, + 0.0009258240461349487, + 0.8996474576651233, + -0.23217231035232544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8435049398007309, + -0.3263741135597229, + 0.42659041225457306, + 0.13744696974754333 + ], + [ + 0.29352147635735504, + 0.945228636264801, + 0.1427864625160726, + 0.09357628226280212 + ], + [ + -0.44982726415659935, + 0.004772353917360306, + 0.8931028231735202, + -0.2364560067653656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8343861236902937, + -0.33876946568489075, + 0.43478158584807125, + 0.15354719758033752 + ], + [ + 0.30471433221116234, + 0.9408286809921265, + 0.14829200619110083, + 0.09712789952754974 + ], + [ + -0.45929179602598513, + 0.008751384913921356, + 0.8882423558421372, + -0.2403598129749298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8243815531139954, + -0.3510538935661316, + 0.4440227804713956, + 0.16908934712409973 + ], + [ + 0.31500444941646805, + 0.9362813830375671, + 0.1554005652019274, + 0.09971480071544647 + ], + [ + -0.4702842230237861, + 0.01175978034734726, + 0.8824366910703014, + -0.24380061030387878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8139227237968234, + -0.36290690302848816, + 0.45368319516617567, + 0.1841161698102951 + ], + [ + 0.325552116288748, + 0.9316796064376831, + 0.16121093801466024, + 0.1030302569270134 + ], + [ + -0.48119194938667453, + 0.016484275460243225, + 0.8764602667180841, + -0.247505784034729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8040641710094976, + -0.374182015657425, + 0.4620266893265162, + 0.19844238460063934 + ], + [ + 0.3360408467282452, + 0.9270997643470766, + 0.16601996991906173, + 0.10690587759017944 + ], + [ + -0.4904665185046287, + 0.021769106388092044, + 0.8711881162083133, + -0.25133177638053894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7922537395415901, + -0.3860226273536682, + 0.4725680861752381, + 0.20868928730487823 + ], + [ + 0.34553320673823, + 0.9221380949020386, + 0.17397743444841463, + 0.10843333601951599 + ], + [ + -0.502932264733749, + 0.025453690439462662, + 0.8639509460238641, + -0.25489985942840576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.7755659916066238, + -0.4000590443611145, + 0.48831363128142574, + 0.21207892894744873 + ], + [ + 0.3524379032834316, + 0.916172444820404, + 0.19082862870905912, + 0.10430467128753662 + ], + [ + -0.5237222238250577, + 0.024100027978420258, + 0.851548150656953, + -0.2599865794181824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7609290637710923, + -0.4116794764995575, + 0.5015047221410853, + 0.21745067834854126 + ], + [ + 0.3616802383378584, + 0.9108340740203857, + 0.1989187574521686, + 0.10590384155511856 + ], + [ + -0.538678342348945, + 0.030021272599697113, + 0.8419764768542681, + -0.2623228132724762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7501789976065556, + -0.42177432775497437, + 0.5092523287086314, + 0.2230232059955597 + ], + [ + 0.3698924681323911, + 0.9060561656951904, + 0.20552809532180302, + 0.10826042294502258 + ], + [ + -0.5480976616580555, + 0.034185729920864105, + 0.8357154092451393, + -0.26601481437683105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7468565063681926, + -0.4314103424549103, + 0.5060538481242782, + 0.22540321946144104 + ], + [ + 0.3774066754254809, + 0.901553213596344, + 0.2115797644908239, + 0.10748369991779327 + ], + [ + -0.5475121704176142, + 0.03296840935945511, + 0.8361479805534767, + -0.2796846330165863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.729306520612974, + -0.4401988685131073, + 0.523771916085149, + 0.2174239456653595 + ], + [ + 0.3797470152263112, + 0.8972340822219849, + 0.22530699528275797, + 0.1015385165810585 + ], + [ + -0.5691258871995717, + 0.034582942724227905, + 0.8215228013540389, + -0.28014692664146423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7170059123835245, + -0.4486672878265381, + 0.5334793500555713, + 0.22007116675376892 + ], + [ + 0.3869934602548962, + 0.8927561044692993, + 0.23070029437780398, + 0.10421906411647797 + ], + [ + -0.5797746303806499, + 0.04103954881429672, + 0.8137427023738673, + -0.27625954151153564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7156953448408016, + -0.45308035612106334, + 0.5315057717256942, + 0.23430222272872925 + ], + [ + 0.39076659285209175, + 0.8905273675918581, + 0.23294318797909344, + 0.11038193106651306 + ], + [ + -0.5788623988839033, + 0.040978327393531806, + 0.8143949576767502, + -0.27765560150146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7075549680092148, + -0.45733121037483215, + 0.538715263657509, + 0.23480463027954102 + ], + [ + 0.39189226407044236, + 0.8883169293403625, + 0.23940240770455046, + 0.1104709729552269 + ], + [ + -0.5880360582566551, + 0.04172797501087189, + 0.8077576297816205, + -0.27805477380752563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.6983382488006848, + -0.46362730860710144, + 0.5453196910437162, + 0.23683813214302063 + ], + [ + 0.39710066483477563, + 0.8848179578781128, + 0.24373814930499185, + 0.11153404414653778 + ], + [ + -0.5955122896643947, + 0.046335093677043915, + 0.8020088597051402, + -0.2767796814441681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.6902452646261692, + -0.46880772709846497, + 0.5511631575824207, + 0.2378537505865097 + ], + [ + 0.40140324268946714, + 0.8818568587303162, + 0.24739428913693534, + 0.11171302199363708 + ], + [ + -0.6020273817511428, + 0.050475940108299255, + 0.7968784298978461, + -0.2762657403945923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.6850091763643508, + -0.4708939492702484, + 0.5558968708759244, + 0.2396860122680664 + ], + [ + 0.4030717871287622, + 0.8805760145187378, + 0.24923691221672314, + 0.11357267200946808 + ], + [ + -0.6068736224201089, + 0.05333675444126129, + 0.7930067462397871, + -0.27555471658706665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.6801987506879099, + -0.47555649280548096, + 0.5578312813446112, + 0.24283260107040405 + ], + [ + 0.40674380711688574, + 0.8779549598693848, + 0.25249673440515186, + 0.1133243590593338 + ], + [ + -0.6098272235516795, + 0.05514641851186752, + 0.7906134627247549, + -0.27632519602775574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.6757452950197762, + -0.4792203903198242, + 0.5601037407348325, + 0.2458227574825287 + ], + [ + 0.4086178501566233, + 0.8759338855743408, + 0.2564592393433727, + 0.1117095872759819 + ], + [ + -0.6135142936916715, + 0.05556723475456238, + 0.7877261604741939, + -0.27529066801071167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.6718218226213142, + -0.4841855764389038, + 0.5605531996306243, + 0.25001391768455505 + ], + [ + 0.41177929833410476, + 0.873192548751831, + 0.2607155653689557, + 0.10901384055614471 + ], + [ + -0.615705575114264, + 0.055669769644737244, + 0.7860073380467656, + -0.2752869725227356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.6682467875878101, + -0.48809078335762024, + 0.5614388883291404, + 0.2530765235424042 + ], + [ + 0.41461168275390037, + 0.8709574937820435, + 0.26368572227231335, + 0.10764682292938232 + ], + [ + -0.6176919775178978, + 0.056571975350379944, + 0.7843826980566683, + -0.2746416926383972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.6652416122987326, + -0.49074244499206543, + 0.562694821725932, + 0.2568269371986389 + ], + [ + 0.4161907557934482, + 0.8694324493408203, + 0.266218925749476, + 0.1068543866276741 + ], + [ + -0.619870047651757, + 0.057088449597358704, + 0.7826251146312708, + -0.27240392565727234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.6619643644339647, + -0.4935426712036134, + 0.5641089111588815, + 0.2601013779640198 + ], + [ + 0.41843785532881583, + 0.8677505254745486, + 0.26817686151281844, + 0.10653837025165558 + ], + [ + -0.6218625145386916, + 0.058520965278148665, + 0.7809368238380883, + -0.2703864574432373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.6596270588571022, + -0.49534931778907776, + 0.5652620450164878, + 0.2633276581764221 + ], + [ + 0.4196464700503153, + 0.8666703701019287, + 0.26977643199829815, + 0.1062699407339096 + ], + [ + -0.623529456671054, + 0.059258364140987396, + 0.7795508328370115, + -0.2685992419719696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.6559875138107979, + -0.49725329875946056, + 0.5678199632747053, + 0.2658412754535675 + ], + [ + 0.42109919181655503, + 0.8654537796974184, + 0.27141341042028977, + 0.10572203248739243 + ], + [ + -0.6263831548140827, + 0.0610647350549698, + 0.7771198360274706, + -0.26549670100212097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.6512535417522818, + -0.5017019510269165, + 0.5693540666644252, + 0.268365740776062 + ], + [ + 0.4251312723144847, + 0.8626941442489624, + 0.27390180684974397, + 0.10433481633663177 + ], + [ + -0.6285954755237494, + 0.06367069482803345, + 0.7751217758594792, + -0.2629320025444031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.6446666961109869, + -0.5058014392852783, + 0.5732100522946468, + 0.26862066984176636 + ], + [ + 0.43133969669038574, + 0.8597296476364136, + 0.2735160045390077, + 0.10638939589262009 + ], + [ + -0.6311504871000202, + 0.07092158496379852, + 0.7724113152894503, + -0.2601923942565918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.6449674290554454, + -0.5011103749275208, + 0.5769796037230206, + 0.2669178247451782 + ], + [ + 0.4175225373863833, + 0.8634193539619446, + 0.2831641630196894, + 0.0991496816277504 + ], + [ + -0.6400718359291853, + 0.05827031284570694, + 0.7661021841180089, + -0.25056102871894836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.642201600856504, + -0.5092297196388245, + 0.5729418146509481, + 0.2716655731201172 + ], + [ + 0.4240394248524982, + 0.8586693406105042, + 0.28788468907151493, + 0.09217792004346848 + ], + [ + -0.6385670227705904, + 0.05806984752416611, + 0.7673722015475212, + -0.2563495934009552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.641869601634501, + -0.5129421949386597, + 0.569994478516128, + 0.2793472409248352 + ], + [ + 0.4260860985868807, + 0.8565908074378967, + 0.29103759895757947, + 0.09012085199356079 + ], + [ + -0.637537464583518, + 0.05605851113796234, + 0.7683771609440144, + -0.25699931383132935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.639728217727582, + -0.5136846899986267, + 0.5717306062277537, + 0.28360646963119507 + ], + [ + 0.42618319545309896, + 0.8561062812805176, + 0.29231826146018935, + 0.09101133793592453 + ], + [ + -0.6396215950643078, + 0.056657709181308746, + 0.7665991094399776, + -0.25222840905189514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.55353102997358, + -0.5233215093612672, + 0.6478719799446152, + 0.15951719880104065 + ], + [ + 0.40367602329212154, + 0.849017381668091, + 0.34090351496724114, + 0.032867975533008575 + ], + [ + -0.7284566558999829, + 0.07282967120409013, + 0.6812098000184089, + -0.20992033183574677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.5422926357110007, + -0.5025610327720642, + 0.6733135988834128, + 0.14928950369358063 + ], + [ + 0.38982210171737697, + 0.8604052066802979, + 0.3282400991653488, + 0.04059010371565819 + ], + [ + -0.7442832088919871, + 0.08447032421827316, + 0.6625007885353266, + -0.16900181770324707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.621599926460189, + -0.515053927898407, + 0.5901974190153211, + 0.26734429597854614 + ], + [ + 0.41795046149443454, + 0.8553050756454468, + 0.3062199642792869, + 0.0765714943408966 + ], + [ + -0.6625186388447845, + 0.056326963007450104, + 0.7469245821328883, + -0.2361581027507782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6324301316445019, + -0.5159513354301454, + 0.5777771765544721, + 0.2909252345561981 + ], + [ + 0.4273211884133254, + 0.8545053601264956, + 0.29532564875279915, + 0.09398851543664932 + ], + [ + -0.6460873485101621, + 0.06012356281280519, + 0.7608917997139165, + -0.24186883866786957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6295546774906408, + -0.5140037536621095, + 0.5826328826621235, + 0.2898707091808319 + ], + [ + 0.4241273957394855, + 0.8556593060493471, + 0.2965858650528329, + 0.09643389284610748 + ], + [ + -0.6509814683173689, + 0.06039350479841234, + 0.7566873323817308, + -0.23476403951644897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6235356055143351, + -0.5207414031028749, + 0.5831224746073199, + 0.29553478956222534 + ], + [ + 0.43371682440777193, + 0.8509830832481386, + 0.29617147049538756, + 0.09864049404859543 + ], + [ + -0.650456084015629, + 0.06823652237653734, + 0.7564725438005503, + -0.2340531051158905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.623629449276976, + -0.5184755325317383, + 0.5850380463407533, + 0.29371559619903564 + ], + [ + 0.4348860306326743, + 0.852001428604126, + 0.2914923956642447, + 0.10217393189668655 + ], + [ + -0.649584863726313, + 0.07264159619808197, + 0.756810880027719, + -0.2366514950990677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6258971947599531, + -0.5122458934783937, + 0.58809595519123, + 0.29495003819465637 + ], + [ + 0.42823094118076255, + 0.855943560600281, + 0.2897911888941172, + 0.10374057292938232 + ], + [ + -0.6518212743381057, + 0.07046139240264894, + 0.7550921938812382, + -0.2323884814977646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6261588374287388, + -0.5165933966636658, + 0.5840003492378517, + 0.2974950075149536 + ], + [ + 0.4329021716351881, + 0.8532971143722534, + 0.29065415898454855, + 0.10478869080543518 + ], + [ + -0.6484758312477437, + 0.07081928849220276, + 0.757933919971981, + -0.2368689328432083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6295477145658576, + -0.5171411633491516, + 0.5798575382434588, + 0.3015936017036438 + ], + [ + 0.4319370987213163, + 0.8533053994178772, + 0.29206206200348805, + 0.10355092585086823 + ], + [ + -0.6458328639035835, + 0.06659497320652008, + 0.7605689142700744, + -0.2396620362997055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6274803308370558, + -0.5215265154838562, + 0.578168350603426, + 0.3033750653266907 + ], + [ + 0.4265230481270905, + 0.8514518141746521, + 0.3051359038489232, + 0.09241411089897156 + ], + [ + -0.6514189493755427, + 0.05513530224561691, + 0.7567123196220948, + -0.23333197832107544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.622412228408477, + -0.5174944996833801, + 0.5871988842077795, + 0.2930622398853302 + ], + [ + 0.4296463006458943, + 0.8529921770095825, + 0.2963249209918221, + 0.10100332647562027 + ], + [ + -0.6542225500668005, + 0.06785152107477188, + 0.7532523052556105, + -0.23135881125926971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6280421356169891, + -0.516773283481598, + 0.5818148998704454, + 0.2963617146015167 + ], + [ + 0.4241699479111408, + 0.8541641831398012, + 0.300804675512781, + 0.09633652865886688 + ], + [ + -0.6524132660703865, + 0.05787036567926408, + 0.7556507605938514, + -0.2331131547689438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.6250976974248819, + -0.5109115839004517, + 0.5901036072928704, + 0.2858860194683075 + ], + [ + 0.4245435271925532, + 0.856951117515564, + 0.2922285624672773, + 0.10407671332359314 + ], + [ + -0.6549929046812852, + 0.06785324215888977, + 0.7525824102587437, + -0.23278729617595673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.6316858242791025, + -0.5083200335502625, + 0.585306556463448, + 0.2871711850166321 + ], + [ + 0.4185737974147274, + 0.8591428995132446, + 0.29439687410708865, + 0.1014736071228981 + ], + [ + -0.6525098063003576, + 0.059027642011642456, + 0.7554778357974871, + -0.234625443816185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.6340298657831819, + -0.50968337059021, + 0.5815745866911493, + 0.28701651096343994 + ], + [ + 0.4202886140731892, + 0.8584074378013611, + 0.2940989577126604, + 0.10134755074977875 + ], + [ + -0.6491252686469839, + 0.05796162784099579, + 0.7584700603692394, + -0.23857621848583221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.6385243128473451, + -0.5060887336730957, + 0.5797938232472106, + 0.28353700041770935 + ], + [ + 0.4109353628898631, + 0.8611865043640137, + 0.2991487321897002, + 0.09632496535778046 + ], + [ + -0.6507063992762301, + 0.04724404960870743, + 0.7578582881931044, + -0.23751163482666016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.6440137047912906, + -0.5013484358787537, + 0.5778373749467234, + 0.27780091762542725 + ], + [ + 0.41040033967427747, + 0.8638554811477661, + 0.2921048908074245, + 0.10052674263715744 + ], + [ + -0.6456142908973678, + 0.04902510344982147, + 0.7620883859233352, + -0.2456474006175995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.6451199629273339, + -0.49972307682037354, + 0.5780113403004723, + 0.2711336612701416 + ], + [ + 0.4025767139482098, + 0.8652628064155579, + 0.29875111077381666, + 0.09289363026618958 + ], + [ + -0.6494245187880114, + 0.03996359556913376, + 0.7593751597169229, + -0.2432202845811844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.645379875836076, + -0.4982719421386719, + 0.5789731378343261, + 0.26145073771476746 + ], + [ + 0.3997673825497961, + 0.8661899566650391, + 0.2998348863268136, + 0.09049591422080994 + ], + [ + -0.6509000215533572, + 0.037947170436382294, + 0.7582144306334032, + -0.24297313392162323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.6462796314881514, + -0.49414342641830444, + 0.5815024058429988, + 0.24924099445343018 + ], + [ + 0.39613231308282953, + 0.8685547113418579, + 0.2978119535037938, + 0.091598279774189 + ], + [ + -0.6522284512979557, + 0.03788207471370697, + 0.7570753249952006, + -0.24508418142795563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.648763698093488, + -0.4901063144207001, + 0.5821523932798218, + 0.23917284607887268 + ], + [ + 0.392848689393266, + 0.8708741664886475, + 0.2953778645964328, + 0.09242656081914902 + ], + [ + -0.651748026584409, + 0.03706739842891693, + 0.7575291825046708, + -0.24415647983551025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.6479114627133241, + -0.48444947600364685, + 0.5878090320068401, + 0.2254822552204132 + ], + [ + 0.38863846662095985, + 0.873934805393219, + 0.2918872267482195, + 0.09445445984601974 + ], + [ + -0.655111375324734, + 0.039328090846538544, + 0.7545080651234247, + -0.23797795176506042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.6562622803295228, + -0.48451104760169983, + 0.578419254652403, + 0.21102631092071533 + ], + [ + 0.3858184956559098, + 0.8742762804031372, + 0.2945931466375113, + 0.08434729278087616 + ], + [ + -0.6484318362584298, + 0.029834486544132233, + 0.7606878971779342, + -0.25251683592796326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.6883475110851692, + -0.47004398703575145, + 0.5524820222319203, + 0.2310788780450821 + ], + [ + 0.37379083129738494, + 0.8825839161872866, + 0.285177224572173, + 0.09197589755058289 + ], + [ + -0.6216576155340244, + 0.010211654007434847, + 0.7832225641183516, + -0.28087255358695984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.6895825952413885, + -0.46671777963638306, + 0.5537602535828693, + 0.2309739589691162 + ], + [ + 0.3787594964185656, + 0.8841539621353149, + 0.2735198225258926, + 0.1059429794549942 + ], + [ + -0.6172658611395626, + 0.02112741768360138, + 0.7864709073218898, + -0.264682799577713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.6978430829950745, + -0.4630095958709717, + 0.5464770096278794, + 0.2253877818584442 + ], + [ + 0.37383101857307943, + 0.8862516283988953, + 0.27351126314380114, + 0.1028033122420311 + ], + [ + -0.610954483538406, + 0.01342211663722992, + 0.791551937864376, + -0.26786136627197266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.6990595807986243, + -0.45389920473098766, + 0.5525316913706332, + 0.20537710189819336 + ], + [ + 0.3690924695479172, + 0.8908549547195437, + 0.2648549732374508, + 0.10889390110969543 + ], + [ + -0.6124430455094851, + 0.018785871565341953, + 0.7902914679221843, + -0.262145459651947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.7034173700108987, + -0.44812509417533875, + 0.5517136249820552, + 0.19171470403671265 + ], + [ + 0.3636932133566591, + 0.8938250541687012, + 0.26230517630624484, + 0.10831698030233383 + ], + [ + -0.6106810235538574, + 0.01614445447921753, + 0.7917121239821924, + -0.2599313259124756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.7178192199026736, + -0.44388347864151, + 0.5363795910624586, + 0.20320338010787964 + ], + [ + 0.35853361440543075, + 0.896073579788208, + 0.26173618539725796, + 0.10651469975709915 + ], + [ + -0.5968159384380283, + 0.004430860280990601, + 0.8023659442633334, + -0.26629942655563354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.7035756020363669, + -0.43485942482948303, + 0.5620308811850331, + 0.16552326083183289 + ], + [ + 0.3602303022881376, + 0.9000052213668823, + 0.2454073578270387, + 0.11927399039268494 + ], + [ + -0.6125484248863916, + 0.02979787439107895, + 0.7898712117190666, + -0.2409667819738388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.7329512601684678, + -0.42993101477622997, + 0.5272018868450993, + 0.1928543895483017 + ], + [ + 0.3457590826393299, + 0.9028477072715761, + 0.25557129562664677, + 0.10519847273826599 + ], + [ + -0.58586101839688, + -0.005036473274230958, + 0.8103958685142509, + -0.26462268829345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.7380878432206224, + -0.42322832345962524, + 0.5254562082302531, + 0.1853618621826172 + ], + [ + 0.3398520230367499, + 0.9059905409812927, + 0.25235255202332896, + 0.10436508059501648 + ], + [ + -0.5828610436356975, + -0.007681019604206085, + 0.8125355270848543, + -0.2616382837295532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.744865033484415, + -0.4162408709526062, + 0.5214591175451105, + 0.18084564805030823 + ], + [ + 0.3345389162281655, + 0.9091972708702087, + 0.24787897259625744, + 0.10501234978437424 + ], + [ + -0.5772865865516856, + -0.010188020765781403, + 0.8164780147057707, + -0.25998714566230774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.7505511793465662, + -0.4097776412963867, + 0.5184160707565786, + 0.1760433465242386 + ], + [ + 0.3294478979747305, + 0.9121019840240479, + 0.24399612538327697, + 0.10619841516017914 + ], + [ + -0.5728324544935376, + -0.012340493500232697, + 0.8195796040505423, + -0.25732579827308655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.756599073516607, + -0.40415653586387634, + 0.5140188279318014, + 0.1724930852651596 + ], + [ + 0.3242741937442874, + 0.9145456552505493, + 0.24176944334660205, + 0.10615725070238113 + ], + [ + -0.567806408268737, + -0.016239523887634277, + 0.8230019638377734, + -0.2566915452480316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.7625389238221225, + -0.39733707904815674, + 0.510546440702892, + 0.1684279441833496 + ], + [ + 0.3163813545266474, + 0.9173950552940369, + 0.24143152564619277, + 0.10430826246738434 + ], + [ + -0.5643024634082613, + -0.022573575377464294, + 0.8252594733536811, + -0.25874418020248413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.7683327588681074, + -0.3927330970764161, + 0.5053963712902041, + 0.1663466840982437 + ], + [ + 0.3139054942589223, + 0.919349789619446, + 0.23719051639826114, + 0.10744962841272354 + ], + [ + -0.5577886117998416, + -0.023594550788402564, + 0.8296475934645617, + -0.2557542324066162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.7727356003282415, + -0.38429921865463257, + 0.5051670809249469, + 0.1598568707704544 + ], + [ + 0.30286864892710263, + 0.9226746559143066, + 0.23862544903965727, + 0.10272443294525146 + ], + [ + -0.5578084301440417, + -0.03139510005712509, + 0.829375729156229, + -0.2611163854598999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.7778580220743606, + -0.3775408864021301, + 0.5023940138322573, + 0.1560792475938797 + ], + [ + 0.29677045672488495, + 0.9253537654876709, + 0.23589775636401814, + 0.10191802680492401 + ], + [ + -0.5539532067871452, + -0.03439928591251373, + 0.8318368417243716, + -0.26284000277519226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.7827311110805845, + -0.3703449368476868, + 0.5001766071968915, + 0.1513632833957672 + ], + [ + 0.29070698402475015, + 0.9281793236732485, + 0.2323201925020554, + 0.10160987079143524 + ], + [ + -0.5502922053160701, + -0.0364394560456276, + 0.8341766734361543, + -0.26480361819267273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.7870714533347114, + -0.36383354663848877, + 0.4981402231805553, + 0.14564616978168488 + ], + [ + 0.2848394969619858, + 0.9306519627571106, + 0.22968107400329874, + 0.10090168565511703 + ], + [ + -0.547160839310075, + -0.03888542205095291, + 0.8361237474924831, + -0.2673978805541992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.7914220590077667, + -0.35741961002349854, + 0.4958853857259213, + 0.14029258489608765 + ], + [ + 0.27916165351605227, + 0.9330348968505859, + 0.2269683772576934, + 0.10100743919610977 + ], + [ + -0.5438013472740497, + -0.04119560122489929, + 0.8382022390661855, + -0.2692123055458069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.7960056546750955, + -0.3508320152759552, + 0.4932462996007455, + 0.1353786140680313 + ], + [ + 0.27316182706788134, + 0.9354058504104614, + 0.2244962409776724, + 0.10109670460224152 + ], + [ + -0.5401459040467331, + -0.0439642108976841, + 0.8404222252637633, + -0.27073952555656433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.800555236375456, + -0.34442722797393804, + 0.4903888946047464, + 0.13065767288208008 + ], + [ + 0.26722526196903446, + 0.9376392960548403, + 0.2223132253217629, + 0.10114109516143799 + ], + [ + -0.536378633735763, + -0.04692972823977472, + 0.8426716785860697, + -0.2722097635269165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8049135400518913, + -0.33798882365226746, + 0.4877271006065892, + 0.12598997354507446 + ], + [ + 0.26122642232024296, + 0.9398306608200073, + 0.22017966489697888, + 0.10126476734876633 + ], + [ + -0.5327991633141383, + -0.04981839656829834, + 0.8447740286664966, + -0.27285853028297424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8094565270390444, + -0.33143916726112366, + 0.48469397347306714, + 0.1218671053647995 + ], + [ + 0.2554007092804042, + 0.9420216679573059, + 0.21763653145328726, + 0.10170742869377136 + ], + [ + -0.5287254885102786, + -0.05237612873315811, + 0.8471753674814456, + -0.2732205390930176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8132251174851903, + -0.3251459300518036, + 0.48264376074893367, + 0.11752734333276749 + ], + [ + 0.24983531053921842, + 0.9441028237342834, + 0.21506308240801914, + 0.1018134206533432 + ], + [ + -0.5255922660025664, + -0.05431325361132622, + 0.8490011000305142, + -0.2728004455566406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8170528839256169, + -0.31913512945175176, + 0.480184722712806, + 0.11404202878475189 + ], + [ + 0.24473321106884435, + 0.9460549950599673, + 0.2123337055261091, + 0.10213753581047058 + ], + [ + -0.5220443144837792, + -0.0559707172214985, + 0.8510799194741278, + -0.2715841233730316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8209032395564976, + -0.3131062984466553, + 0.4775796323461701, + 0.1116686686873436 + ], + [ + 0.23926911736533985, + 0.9479281902313232, + 0.21019629867377013, + 0.10213927179574966 + ], + [ + -0.5185249847487702, + -0.05828075855970383, + 0.8530739716679508, + -0.27050718665122986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8236670104285785, + -0.3067973554134369, + 0.47691512843314776, + 0.10828181356191635 + ], + [ + 0.2337153866085894, + 0.9499197602272034, + 0.20743569094948716, + 0.1022079735994339 + ], + [ + -0.5166718528605752, + -0.05939554423093796, + 0.8541208270435154, + -0.2696805000305176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8272732890524734, + -0.3007713258266449, + 0.474505514212309, + 0.10739555954933167 + ], + [ + 0.22907444439343774, + 0.9518061280250549, + 0.20393616505927822, + 0.10319895297288895 + ], + [ + -0.5129754067936515, + -0.06001388281583786, + 0.8563028465334925, + -0.26806047558784485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8300926214458527, + -0.2952769994735718, + 0.4730304050095925, + 0.10622051358222961 + ], + [ + 0.22463415561921532, + 0.9534888863563538, + 0.20099377863901904, + 0.10327625274658203 + ], + [ + -0.5103780282541229, + -0.06058468297123909, + 0.8578133704673049, + -0.2660596966743469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.832889112604562, + -0.28935247659683233, + 0.4717741795929876, + 0.10527275502681732 + ], + [ + 0.21994887125520374, + 0.9552890062332156, + 0.1975992858073522, + 0.10330268740653992 + ], + [ + -0.507856526873172, + -0.06081210076808931, + 0.8592925417007987, + -0.2642897963523865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.8357983184247364, + -0.2845602333545685, + 0.46953880573015755, + 0.10568107664585114 + ], + [ + 0.21634607952842572, + 0.9567061066627502, + 0.19469924236841143, + 0.10346075147390366 + ], + [ + -0.5046142779964036, + -0.06114642694592476, + 0.8611768381561583, + -0.2620333731174469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.8371216919560708, + -0.27856481075286865, + 0.4707748551776621, + 0.10267828404903412 + ], + [ + 0.21103103307837762, + 0.95846027135849, + 0.19188501918391496, + 0.10249630361795425 + ], + [ + -0.5046714122921852, + -0.061283014714717865, + 0.8611336496020547, + -0.26171180605888367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.8396364399618478, + -0.2735200822353363, + 0.469252000530262, + 0.10245561599731445 + ], + [ + 0.20729805588967537, + 0.9599246382713318, + 0.18860586279491431, + 0.10170188546180725 + ], + [ + -0.5020340223034827, + -0.061085328459739685, + 0.8626878735583546, + -0.2614426910877228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.8398183905168751, + -0.26703801751136785, + 0.4726476692151343, + 0.0977783054113388 + ], + [ + 0.20230290594955538, + 0.9618843793869021, + 0.18398909476428266, + 0.10125052183866501 + ], + [ + -0.5037645048770395, + -0.05889942497015001, + 0.8618307091122503, + -0.26156020164489746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.8436112606627455, + -0.26325544714927673, + 0.46799205860021414, + 0.0999370664358139 + ], + [ + 0.2002342936424803, + 0.9629353880882263, + 0.18072543226586985, + 0.10051094740629196 + ], + [ + -0.4982230642839617, + -0.058753952383995056, + 0.8650559471603088, + -0.26284757256507874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.8445254081453385, + -0.25822579860687256, + 0.46914424223541823, + 0.09682188928127289 + ], + [ + 0.19644316776775048, + 0.9643733501434326, + 0.17718394254001, + 0.10011593997478485 + ], + [ + -0.4981836392820554, + -0.05747615918517113, + 0.8651644919058188, + -0.2637745141983032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.8466066555323158, + -0.2542046904563904, + 0.4675865240321833, + 0.09624986350536346 + ], + [ + 0.19414886164621012, + 0.9655272364616394, + 0.1733878609814368, + 0.10055144131183624 + ], + [ + -0.49554351922826945, + -0.0560099333524704, + 0.8667753406382864, + -0.2645893394947052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.8481723648966718, + -0.24961756169795996, + 0.4672201670396833, + 0.0952843725681305 + ], + [ + 0.19124712076972578, + 0.9668216705322268, + 0.1693529757017402, + 0.10110566020011902 + ], + [ + -0.49399204561228843, + -0.05428600683808328, + 0.8677700684820534, + -0.2649334669113159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.8493134959107486, + -0.2461741864681244, + 0.4669741611241511, + 0.09379716217517853 + ], + [ + 0.18894812040835113, + 0.9677646160125732, + 0.16652416908475903, + 0.10009543597698212 + ], + [ + -0.4929150006821982, + -0.05319733917713165, + 0.8684497094937014, + -0.2668851613998413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.8501065092683875, + -0.24202401936054235, + 0.4677000061483011, + 0.09228609502315521 + ], + [ + 0.1864949413224067, + 0.9689366817474367, + 0.16242332397381903, + 0.10007862001657486 + ], + [ + -0.492482027842167, + -0.0508534573018551, + 0.8688356607800616, + -0.26787713170051575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.8510129544458651, + -0.23830327391624456, + 0.4679620932685394, + 0.09058241546154022 + ], + [ + 0.184583576948037, + 0.9699880480766299, + 0.15827844104535785, + 0.09899766743183136 + ], + [ + -0.49163591971032444, + -0.048318892717361464, + 0.8694592644302194, + -0.2700369954109192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.8524257503472257, + -0.23396188020706177, + 0.4675811434907121, + 0.09000876545906067 + ], + [ + 0.18270685267895467, + 0.9712091088294983, + 0.1528758680429523, + 0.09808997064828873 + ], + [ + -0.48988622634228657, + -0.04488503932952881, + 0.8706301162607741, + -0.2733535170555115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.8531450505420393, + -0.2296581268310547, + 0.46840230346418527, + 0.08824019879102707 + ], + [ + 0.18101729125171684, + 0.9724205136299133, + 0.14707502253688381, + 0.09661345928907394 + ], + [ + -0.48926098792331724, + -0.04068741202354431, + 0.8711878264769953, + -0.2787109315395355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.8527036650810679, + -0.2307678759098053, + 0.46866042196028707, + 0.08698128163814545 + ], + [ + 0.18503828685798432, + 0.9723976254463196, + 0.1421398176916888, + 0.09342613816261292 + ], + [ + -0.4885255999028967, + -0.03448302298784256, + 0.8718679262168952, + -0.2857518196105957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.8504583797237124, + -0.2427201122045517, + 0.4666985561452501, + 0.08445234596729279 + ], + [ + 0.20233842470986996, + 0.9698697328567505, + 0.13569036786431915, + 0.08809198439121246 + ], + [ + -0.4855715661581771, + -0.020967965945601463, + 0.8739454347150668, + -0.2962481379508972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.8518806010985317, + -0.23075002431869512, + 0.47016365216282535, + 0.09484446048736572 + ], + [ + 0.19274702723654105, + 0.972835183143616, + 0.12821978033221704, + 0.09024810791015625 + ], + [ + -0.48697846002266343, + -0.018605304881930355, + 0.873215785423227, + -0.2794155776500702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.8503156392937122, + -0.22006924450397491, + 0.47805104128197023, + 0.07909028977155685 + ], + [ + 0.18555858714005297, + 0.9754047393798828, + 0.11896892386180125, + 0.0860322117805481 + ], + [ + -0.4924746370551945, + -0.012454666197299957, + 0.8702376776318056, + -0.2932375371456146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.8528421085719916, + -0.21683743596076965, + 0.4750177144416092, + 0.06901533901691437 + ], + [ + 0.18400251707716997, + 0.9761471748352051, + 0.11523811333297336, + 0.0760645866394043 + ], + [ + -0.4886751438950389, + -0.010875467211008072, + 0.8723980106043964, + -0.31487375497817993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.8547817558666614, + -0.21196967363357544, + 0.4737266800209809, + 0.06578941643238068 + ], + [ + 0.18250985728282335, + 0.9772589206695557, + 0.10795922088188557, + 0.071404829621315 + ], + [ + -0.48583770376168106, + -0.005821790546178818, + 0.8740296610325686, + -0.3225727677345276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.855308855847976, + -0.21004147827625275, + 0.473634170379255, + 0.06300818920135498 + ], + [ + 0.18469895991482133, + 0.977690577507019, + 0.10003695085937361, + 0.06882098317146301 + ], + [ + -0.4840795972660634, + 0.001917244866490364, + 0.875021883678544, + -0.32825788855552673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.85794351899076, + -0.20971746742725372, + 0.46898991756663994, + 0.06646282225847244 + ], + [ + 0.188913078134494, + 0.9777109026908875, + 0.09161458675351536, + 0.06682495027780533 + ], + [ + -0.4777497336551405, + 0.009998185560107231, + 0.8784390566387257, + -0.33337265253067017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.8569445986538543, + -0.20675732195377355, + 0.4721200598804446, + 0.059772856533527374 + ], + [ + 0.18707714549781104, + 0.97831666469574, + 0.08887440024027123, + 0.05979239195585251 + ], + [ + -0.4802583605197367, + 0.012162433005869392, + 0.8770427358609854, + -0.3373747169971466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.856940571562701, + -0.19846345484256744, + 0.47567328610124865, + 0.05076060816645622 + ], + [ + 0.1863819873935956, + 0.9797608852386475, + 0.07300905180723061, + 0.0652022436261177 + ], + [ + -0.4805357182552882, + 0.02609250880777836, + 0.8765869274457944, + -0.34497731924057007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.858353779597478, + -0.19419731199741364, + 0.47488545797652965, + 0.052561819553375244 + ], + [ + 0.18520020969831003, + 0.9804685115814209, + 0.06619923214315851, + 0.0645177885890007 + ], + [ + -0.4784659577780417, + 0.03112652711570263, + 0.8775542520737334, + -0.3414313793182373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.8600477280851283, + -0.18905577063560486, + 0.4738942577155735, + 0.05379525199532509 + ], + [ + 0.18360926729573054, + 0.9812721610069275, + 0.05824598031921533, + 0.06755796074867249 + ], + [ + -0.4760309941849598, + 0.036917053163051605, + 0.8786533137834699, + -0.33635950088500977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.8594023593071947, + -0.18574461340904236, + 0.4763680427451691, + 0.05110540986061096 + ], + [ + 0.17990641028030271, + 0.9819535613059998, + 0.05831748333093059, + 0.06267041712999344 + ], + [ + -0.4786034461646815, + 0.03558347374200821, + 0.8773098266834934, + -0.3327992260456085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/pull_out/transforms.json b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..ebe3af0ac5d3721d7f2bb86669d5ab188af80377 --- /dev/null +++ b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/pull_out/transforms.json @@ -0,0 +1,5368 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 153, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 7.486010872526094e-05, + 0.0002196452987845987, + -0.0002654411073308438 + ], + [ + -7.484106026822701e-05, + 1.0, + -8.672619151184335e-05, + 0.0001142723995144479 + ], + [ + -0.00021965178893879056, + 8.67097478476353e-05, + 1.0, + 0.00021108951477799565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999338388442993, + -0.009409398771822453, + 0.006617182865738869, + 0.011816962214039736 + ], + [ + 0.00942306313663721, + 0.9999535083770752, + -0.0020369677804410458, + 0.0007969757379645383 + ], + [ + -0.006597708910703659, + 0.0020991871133446693, + 0.9999760389328003, + -0.0007230046071191808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997265338897705, + -0.01911240443587303, + 0.013475535437464714, + 0.023088166041691838 + ], + [ + 0.019168775528669357, + 0.9998080134391785, + -0.004066530615091324, + 0.0007575213847877948 + ], + [ + -0.013395227491855621, + 0.004323728382587433, + 0.9999009370803833, + -0.0029770291704488425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993758797645569, + -0.028921371325850487, + 0.020282726734876633, + 0.03427577045942216 + ], + [ + 0.02905130200088024, + 0.9995590448379517, + -0.006140855140984058, + 0.00047445645813192974 + ], + [ + -0.020096182823181152, + 0.006726262159645557, + 0.9997754096984863, + -0.0031998498144706613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9989352822303772, + -0.037066735327243805, + 0.027465980499982834, + 0.044130171766798745 + ], + [ + 0.03730567544698715, + 0.999269962310791, + -0.008238716050982475, + 0.00017328956761814067 + ], + [ + -0.027140546590089798, + 0.009254580363631248, + 0.9995887875556946, + -0.004778314095088526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9983547329902649, + -0.04569840803742409, + 0.03463355824351311, + 0.05358761986472497 + ], + [ + 0.04611467197537422, + 0.9988720417022705, + -0.011316673830151558, + 0.0009763416080539556 + ], + [ + -0.034077342599630356, + 0.012895170599222183, + 0.9993360042572021, + -0.004742828044599216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9977129697799683, + -0.053892139345407486, + 0.04079800471663475, + 0.06302668108653865 + ], + [ + 0.05444388464093208, + 0.9984381198883057, + -0.012534970417618752, + 4.414271488234303e-05 + ], + [ + -0.04005875065922737, + 0.014727504923939705, + 0.9990887641906738, + -0.006027237825879926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9970232248306274, + -0.0614449717104435, + 0.04657505080103874, + 0.07223554395482336 + ], + [ + 0.06219964101910591, + 0.9979520440101624, + -0.014929651282727718, + 0.0008274641843806756 + ], + [ + -0.04556231573224068, + 0.01778215914964676, + 0.9988031983375549, + -0.006122026259177609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.996251106262207, + -0.06872429698705673, + 0.05254223570227623, + 0.0799569240722217 + ], + [ + 0.06967084854841232, + 0.9974352121353149, + -0.016398794949054718, + 0.0012988985405842724 + ], + [ + -0.05128047987818718, + 0.019997980445623398, + 0.9984840750694275, + -0.0059523270257111445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9954705834388733, + -0.07528886198997498, + 0.058051031082868576, + 0.08719125577542734 + ], + [ + 0.07648171484470367, + 0.9968973994255066, + -0.01860480196774006, + 0.00257924167610901 + ], + [ + -0.05647018924355507, + 0.022960374131798744, + 0.9981402158737183, + -0.004604197514096373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9946188926696777, + -0.08198574930429459, + 0.06333675980567932, + 0.09368971676418655 + ], + [ + 0.08339744061231613, + 0.9963161945343018, + -0.0199715718626976, + 0.003023741766810417 + ], + [ + -0.06146605685353279, + 0.025146227329969406, + 0.9977923631668091, + -0.002438517287373543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9937976002693176, + -0.08808811008930206, + 0.06787349283695221, + 0.09972832074486895 + ], + [ + 0.08970342576503754, + 0.9957444667816162, + -0.02112470753490925, + 0.0031946213364503102 + ], + [ + -0.06572382152080536, + 0.02708216942846775, + 0.9974702596664429, + -0.0016264665822841627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.992946445941925, + -0.09379029273986816, + 0.07253063470125198, + 0.10438132695853711 + ], + [ + 0.09565320611000061, + 0.9951571226119995, + -0.022644715383648872, + 0.004098316835925767 + ], + [ + -0.0700555220246315, + 0.029422776773571968, + 0.997109055519104, + -0.00027676984961879855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9920786023139954, + -0.09927861392498016, + 0.07696626335382462, + 0.10809640056502662 + ], + [ + 0.10140794515609741, + 0.9945490956306458, + -0.024260051548480988, + 0.0051476706505606045 + ], + [ + -0.07413821667432785, + 0.03187286853790283, + 0.9967384934425354, + 0.0006063778149454236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9912728071212769, + -0.10420301556587219, + 0.08074606955051422, + 0.1112822549319581 + ], + [ + 0.10652104020118713, + 0.9939975738525391, + -0.02494071051478386, + 0.005306620920371068 + ], + [ + -0.07766249775886536, + 0.03332420065999031, + 0.9964225888252258, + -0.0010031263393006813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9904168248176575, + -0.10920058190822601, + 0.08455628156661987, + 0.11345869126288514 + ], + [ + 0.11181765794754028, + 0.9933660626411438, + -0.02684522047638893, + 0.007160094676931438 + ], + [ + -0.08106382191181183, + 0.036042843014001846, + 0.9960570335388184, + -0.002660106597958428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9896203279495239, + -0.11374238133430481, + 0.08783086389303207, + 0.1156929728231932 + ], + [ + 0.11657829582691193, + 0.9927910566329956, + -0.0278471652418375, + 0.008069757234893346 + ], + [ + -0.08403029292821884, + 0.037797294557094574, + 0.9957460761070251, + -0.005535743522800897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9887679815292358, + -0.11818021535873413, + 0.09149499237537384, + 0.11702794655177154 + ], + [ + 0.12130987644195557, + 0.992178738117218, + -0.029416179284453392, + 0.010184327663706713 + ], + [ + -0.08730296790599823, + 0.04018501937389374, + 0.9953709840774536, + -0.00959336207566881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9880070090293884, + -0.12232591956853867, + 0.09422606974840164, + 0.11972622690036108 + ], + [ + 0.1257130205631256, + 0.9915862679481506, + -0.03086874634027481, + 0.012277313821802013 + ], + [ + -0.08965722471475601, + 0.04234398156404495, + 0.9950721263885498, + -0.014953849837183952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9871285557746887, + -0.1264643669128418, + 0.097897969186306, + 0.12185098575428129 + ], + [ + 0.13012224435806274, + 0.9909846186637878, + -0.031902045011520386, + 0.014401496388018131 + ], + [ + -0.09298091381788254, + 0.04423011839389801, + 0.9946849942207336, + -0.021433818154037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9863113164901733, + -0.13061530888080597, + 0.10064583271741867, + 0.12533075489888065 + ], + [ + 0.1345066875219345, + 0.9903672933578491, + -0.03287120908498764, + 0.01756860355013295 + ], + [ + -0.09538286179304123, + 0.045958779752254486, + 0.9943791627883911, + -0.031076185111152496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9854454398155212, + -0.1344515085220337, + 0.10401938110589981, + 0.12875207050360346 + ], + [ + 0.13864803314208984, + 0.9897513389587402, + -0.03419088199734688, + 0.022697893669828773 + ], + [ + -0.09835629910230637, + 0.048115331679582596, + 0.9939873814582825, + -0.04272948228999188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.984514594078064, + -0.13797539472579956, + 0.10813789069652557, + 0.13127165011277325 + ], + [ + 0.14246487617492676, + 0.9891838431358337, + -0.03491576761007309, + 0.029004795427777265 + ], + [ + -0.10215073823928833, + 0.04978092759847641, + 0.993522584438324, + -0.05536901072451943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9835415482521057, + -0.14122694730758667, + 0.112698495388031, + 0.13383882998635893 + ], + [ + 0.146053284406662, + 0.9886308312416077, + -0.03574281185865402, + 0.037519134664417884 + ], + [ + -0.10636936128139496, + 0.05161452293395996, + 0.9929861426353455, + -0.06914308310339326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9825727343559265, + -0.14466817677021027, + 0.11671313643455505, + 0.13738559437425513 + ], + [ + 0.14964686334133148, + 0.9881184101104736, + -0.03503997623920441, + 0.04553706700864591 + ], + [ + -0.11025723814964294, + 0.05189507454633713, + 0.992547333240509, + -0.08268475077654186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9815168976783752, + -0.14834892749786377, + 0.12090172618627548, + 0.14116546514100933 + ], + [ + 0.15355730056762695, + 0.9875227212905884, + -0.03491394221782684, + 0.055489476917213516 + ], + [ + -0.11421375721693039, + 0.05283396691083908, + 0.992050290107727, + -0.09589642443154987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9804078340530396, + -0.1519862711429596, + 0.1253024786710739, + 0.1451085274352839 + ], + [ + 0.1573057770729065, + 0.9869763255119324, + -0.033654287457466125, + 0.06515784194987072 + ], + [ + -0.11855559796094894, + 0.05270572751760483, + 0.9915476441383362, + -0.1091114162614471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9792719483375549, + -0.15514804422855377, + 0.13021358847618103, + 0.14928221543760675 + ], + [ + 0.1605307012796402, + 0.9865168929100037, + -0.03184787929058075, + 0.07560466607346346 + ], + [ + -0.12351676821708679, + 0.05209100991487503, + 0.9909743070602417, + -0.1202501748737536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9778348803520203, + -0.1601947396993637, + 0.13482047617435455, + 0.1552666244146071 + ], + [ + 0.16554240882396698, + 0.9857654571533203, + -0.02936270833015442, + 0.08661405216706426 + ], + [ + -0.12819762527942657, + 0.05103038251399994, + 0.9904348850250244, + -0.13149983984859365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9764490723609924, + -0.1634153127670288, + 0.1408640593290329, + 0.15996119945653176 + ], + [ + 0.16890498995780945, + 0.9852386116981506, + -0.02785685285925865, + 0.09951564640934138 + ], + [ + -0.13423247635364532, + 0.05099343881011009, + 0.9896369576454163, + -0.14227358240046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9747384190559387, + -0.1686803102493286, + 0.14639659225940704, + 0.16583073462702727 + ], + [ + 0.17388007044792175, + 0.9844890832901001, + -0.023386262357234955, + 0.10997715597286035 + ], + [ + -0.1401810497045517, + 0.04825093597173691, + 0.9889494776725769, + -0.15531235109818609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9727408289909363, + -0.17421966791152954, + 0.15304487943649292, + 0.17056136472444786 + ], + [ + 0.17926058173179626, + 0.983604907989502, + -0.019672542810440063, + 0.12171195704293879 + ], + [ + -0.14710834622383118, + 0.04657120257616043, + 0.9880234003067017, + -0.16715894098344602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9704703688621521, + -0.18006034195423126, + 0.1605164110660553, + 0.1744279488136894 + ], + [ + 0.18495769798755646, + 0.9826164841651917, + -0.015984144061803818, + 0.13359693720152505 + ], + [ + -0.15484794974327087, + 0.045200884342193604, + 0.986903727054596, + -0.17863825763526717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9679154753684998, + -0.1860344260931015, + 0.16891080141067505, + 0.17828300952127105 + ], + [ + 0.1904001086950302, + 0.9816568493843079, + -0.009882360696792603, + 0.1424924178539138 + ], + [ + -0.16397398710250854, + 0.041725918650627136, + 0.9855818152427673, + -0.18978313972291194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9535432457923889, + -0.2096485197544098, + 0.2163396179676056, + 0.11338318017752547 + ], + [ + 0.2042618691921234, + 0.9777764678001404, + 0.04722607880830765, + 0.07910782874218728 + ], + [ + -0.2214326560497284, + -0.0008421782404184341, + 0.9751753211021423, + -0.2273270714439844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9606420993804932, + -0.20141346752643585, + 0.1913096159696579, + 0.1792487056533757 + ], + [ + 0.1995498090982437, + 0.9794536232948303, + 0.02916313335299492, + 0.126227380156419 + ], + [ + -0.19325275719165802, + 0.010160461999475956, + 0.9810963869094849, + -0.2538158701438653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9576839208602905, + -0.21403126418590546, + 0.19243745505809784, + 0.2031836207367872 + ], + [ + 0.21720202267169952, + 0.9761152863502502, + 0.0047199297696352005, + 0.17395491968154123 + ], + [ + -0.18885134160518646, + 0.03727760165929794, + 0.9812979102134705, + -0.21950001983266126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.952888548374176, + -0.22093382477760315, + 0.2078259438276291, + 0.20799494621981132 + ], + [ + 0.22392362356185913, + 0.9745620489120483, + 0.009332165122032166, + 0.1830129958002975 + ], + [ + -0.20460106432437897, + 0.03764461725950241, + 0.978121280670166, + -0.22725213452389365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9271285533905029, + -0.24985088407993317, + 0.27929773926734924, + 0.11433682814240456 + ], + [ + 0.23404096066951752, + 0.9681298732757568, + 0.08915950357913971, + 0.08391859643161297 + ], + [ + -0.2926730811595917, + -0.01729520782828331, + 0.9560561180114746, + -0.27360330522060394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9124606847763062, + -0.28992247581481934, + 0.28872203826904297, + 0.12417251702986265 + ], + [ + 0.2748124599456787, + 0.9570366740226746, + 0.09251425415277481, + 0.08987058372187771 + ], + [ + -0.3031395673751831, + -0.00507122278213501, + 0.9529327154159546, + -0.2502873140730356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9027099013328552, + -0.30045634508132935, + 0.3079622685909271, + 0.12865748452512843 + ], + [ + 0.2835652828216553, + 0.9537926316261292, + 0.09934937953948975, + 0.09186389650169172 + ], + [ + -0.32358232140541077, + -0.0023562535643577576, + 0.9461970925331116, + -0.254353025241902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8812745213508606, + -0.31362080574035645, + 0.35354945063591003, + 0.11529521230412157 + ], + [ + 0.2914339303970337, + 0.9495478868484497, + 0.11586682498455048, + 0.08728194186758054 + ], + [ + -0.37205037474632263, + 0.0009258240461349487, + 0.9282121062278748, + -0.25720961058610364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8721312284469604, + -0.3263741135597229, + 0.36450937390327454, + 0.12737500020547918 + ], + [ + 0.3030738830566406, + 0.945228636264801, + 0.12119840085506439, + 0.0902273790812806 + ], + [ + -0.38410070538520813, + 0.004772353917360306, + 0.9232788681983948, + -0.2619676597024265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.864270031452179, + -0.33876946568489075, + 0.3718501627445221, + 0.14302775218690697 + ], + [ + 0.3148517310619354, + 0.9408286809921265, + 0.12533846497535706, + 0.09358214032101003 + ], + [ + -0.39230814576148987, + 0.008751384913921356, + 0.9197922348976135, + -0.26638025119900705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.855633020401001, + -0.3510538935661316, + 0.38033315539360046, + 0.15807970315217973 + ], + [ + 0.3258659243583679, + 0.9362813830375671, + 0.13110506534576416, + 0.09591965408701646 + ], + [ + -0.4021237790584564, + 0.01175978034734726, + 0.915509819984436, + -0.27030221035605984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8466073870658875, + -0.36290690302848816, + 0.3893001079559326, + 0.1725908376668629 + ], + [ + 0.3370571434497833, + 0.9316796064376831, + 0.1355198472738266, + 0.09901815618535406 + ], + [ + -0.411884069442749, + 0.016484275460243225, + 0.911087155342102, + -0.2744787590284097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8381093740463257, + -0.3741820156574249, + 0.3969389498233795, + 0.18642975848756338 + ], + [ + 0.34812650084495544, + 0.9270997643470764, + 0.1389029175043106, + 0.10270223666570688 + ], + [ + -0.41997697949409485, + 0.02176910638809204, + 0.9072736501693726, + -0.2787887421093489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8278724551200867, + -0.3860226273536682, + 0.4069567322731018, + 0.19610575676748626 + ], + [ + 0.35846996307373047, + 0.9221380949020386, + 0.14546693861484528, + 0.1039353451544517 + ], + [ + -0.4314238429069519, + 0.025453690439462662, + 0.901790201663971, + -0.2827841617166996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8132416605949402, + -0.4000590443611145, + 0.42260006070137024, + 0.1987336638726686 + ], + [ + 0.36699265241622925, + 0.916172444820404, + 0.1610727608203888, + 0.09921816305110329 + ], + [ + -0.4516131579875946, + 0.024100027978420258, + 0.8918883204460144, + -0.2881514737480565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.800495445728302, + -0.4116794764995575, + 0.4355767071247101, + 0.20340906081623153 + ], + [ + 0.3771609365940094, + 0.9108340740203857, + 0.1677226722240448, + 0.10049699225315922 + ], + [ + -0.46578606963157654, + 0.030021272599697113, + 0.8843879699707031, + -0.290832688620216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7912006378173828, + -0.42177432775497437, + 0.4428408443927765, + 0.20845607295632362 + ], + [ + 0.3861995339393616, + 0.9060561656951904, + 0.17295131087303162, + 0.10257123508735708 + ], + [ + -0.4741850793361664, + 0.034185729920864105, + 0.8797612190246582, + -0.2949543281605369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7883719205856323, + -0.4314103424549103, + 0.43858277797698975, + 0.21068761309510783 + ], + [ + 0.39451298117637634, + 0.901553213596344, + 0.17765501141548157, + 0.10152290677161593 + ], + [ + -0.47204792499542236, + 0.03296840935945511, + 0.8809561729431152, + -0.3092430309245461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7732312679290771, + -0.4401988685131073, + 0.4564410448074341, + 0.20180885729036832 + ], + [ + 0.3983771502971649, + 0.8972340822219849, + 0.1904381364583969, + 0.09502352770221861 + ], + [ + -0.4933651089668274, + 0.034582942724227905, + 0.8691345453262329, + -0.30988047687630904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.762651801109314, + -0.4486672878265381, + 0.4658969044685364, + 0.20382607732164232 + ], + [ + 0.4064124822616577, + 0.8927561044692993, + 0.19446197152137756, + 0.09743848221474573 + ], + [ + -0.5031810402870178, + 0.04103954881429672, + 0.8632060289382935, + -0.3063581727837261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7619649171829224, + -0.45308035612106323, + 0.46273931860923767, + 0.2178627995676116 + ], + [ + 0.41071194410324097, + 0.8905273675918579, + 0.19564446806907654, + 0.10343140391142745 + ], + [ + -0.5007246732711792, + 0.0409783273935318, + 0.8646361231803894, + -0.30837293745655764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7553388476371765, + -0.45733121037483215, + 0.4693734049797058, + 0.21782072417830167 + ], + [ + 0.41277989745140076, + 0.8883169293403625, + 0.20126056671142578, + 0.10318851823869504 + ], + [ + -0.5089950561523438, + 0.04172797501087189, + 0.8597574234008789, + -0.30916441741742584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7476083040237427, + -0.46362730860710144, + 0.47553306818008423, + 0.21931849278901752 + ], + [ + 0.41872766613960266, + 0.8848179578781128, + 0.20436331629753113, + 0.10400486933557611 + ], + [ + -0.5155085921287537, + 0.046335093677043915, + 0.8556307554244995, + -0.3083029198019128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7409449815750122, + -0.46880772709846497, + 0.48085328936576843, + 0.21982175223529338 + ], + [ + 0.42371925711631775, + 0.8818568587303162, + 0.20685862004756927, + 0.10395582374185323 + ], + [ + -0.5210207104682922, + 0.050475940108299255, + 0.852050244808197, + -0.30821762457489965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7370342016220093, + -0.4708939492702484, + 0.48480871319770813, + 0.2211867324223644 + ], + [ + 0.42591890692710876, + 0.8805760145187378, + 0.20779554545879364, + 0.10564363145906674 + ], + [ + -0.5247606039047241, + 0.05333675444126129, + 0.8495773077011108, + -0.30797279806513533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.733278751373291, + -0.47555649280548096, + 0.4859509766101837, + 0.22397003026777193 + ], + [ + 0.43025994300842285, + 0.8779549598693848, + 0.2099321484565735, + 0.10517567698108522 + ], + [ + -0.5264776945114136, + 0.05514641851186752, + 0.8483985662460327, + -0.30925645616493724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7299193739891052, + -0.4792203903198242, + 0.48740702867507935, + 0.22658300635061765 + ], + [ + 0.43289369344711304, + 0.8759338855743408, + 0.2129388153553009, + 0.10330410772248318 + ], + [ + -0.5289809107780457, + 0.05556723475456238, + 0.8468125462532043, + -0.3087174790470224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7269030809402466, + -0.4841855764389038, + 0.4870075583457947, + 0.23046953540883566 + ], + [ + 0.4368501901626587, + 0.873192548751831, + 0.2160942107439041, + 0.10034163867760645 + ], + [ + -0.5298810601234436, + 0.055669769644737244, + 0.8462428450584412, + -0.30924803406784407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7242805361747742, + -0.48809078335762024, + 0.4870165288448334, + 0.23321137565531228 + ], + [ + 0.4403545558452606, + 0.8709574937820435, + 0.21799282729625702, + 0.09875501023703499 + ], + [ + -0.5305709838867188, + 0.056571975350379944, + 0.8457505702972412, + -0.30913941326894256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7222667932510376, + -0.49074244499206543, + 0.48734232783317566, + 0.23662788018976388 + ], + [ + 0.4425734877586365, + 0.8694324493408203, + 0.21958135068416595, + 0.09775331748747512 + ], + [ + -0.5314691066741943, + 0.057088449597358704, + 0.8451517820358276, + -0.30743324293902047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7200033068656921, + -0.4935426712036133, + 0.4878636300563812, + 0.23955975143533004 + ], + [ + 0.4453998804092407, + 0.8677505254745483, + 0.2205176055431366, + 0.09725341843931298 + ], + [ + -0.5321787595748901, + 0.05852096527814865, + 0.8446070551872253, + -0.30594885976690994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7186486721038818, + -0.49534931778907776, + 0.4880298376083374, + 0.24245796117343402 + ], + [ + 0.4471587836742401, + 0.8666703701019287, + 0.22120466828346252, + 0.09681053057705101 + ], + [ + -0.5325345993041992, + 0.059258364140987396, + 0.8443313241004944, + -0.3047055156999513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7161622643470764, + -0.49725329875946045, + 0.4897455871105194, + 0.2445760065395581 + ], + [ + 0.4491681456565857, + 0.8654537796974182, + 0.22189579904079437, + 0.09608708331851583 + ], + [ + -0.5341905951499939, + 0.06106473505496979, + 0.8431556820869446, + -0.30210740825063304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7124788761138916, + -0.5017019510269165, + 0.49058035016059875, + 0.2467414753413514 + ], + [ + 0.4538414478302002, + 0.8626941442489624, + 0.22312942147254944, + 0.09449950631119702 + ], + [ + -0.5351652503013611, + 0.06367069482803345, + 0.8423444628715515, + -0.3000616597893991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7072316408157349, + -0.5058014392852783, + 0.4939517378807068, + 0.24652282893657684 + ], + [ + 0.46034589409828186, + 0.8597296476364136, + 0.22123877704143524, + 0.09649187165655587 + ], + [ + -0.5365678668022156, + 0.07092158496379852, + 0.8408716320991516, + -0.29781033569260645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7088268995285034, + -0.5011103749275208, + 0.49644020199775696, + 0.24438205241764846 + ], + [ + 0.44815048575401306, + 0.8634193539619446, + 0.23166388273239136, + 0.08863336063529316 + ], + [ + -0.544725239276886, + 0.05827031284570694, + 0.83658766746521, + -0.28853770572888227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7064495086669922, + -0.5092297196388245, + 0.491542786359787, + 0.24902873427460068 + ], + [ + 0.45558616518974304, + 0.8586693406105042, + 0.23479411005973816, + 0.08136503339598053 + ], + [ + -0.5416368842124939, + 0.05806984752416611, + 0.8386044502258301, + -0.29496953518767105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7066060304641724, + -0.5129421949386597, + 0.48744046688079834, + 0.25657864016921894 + ], + [ + 0.45840588212013245, + 0.8565908074378967, + 0.23688878118991852, + 0.0790556523458738 + ], + [ + -0.5390472412109375, + 0.05605851113796234, + 0.8404079675674438, + -0.2962552123163876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7055343389511108, + -0.5136846899986267, + 0.48821038007736206, + 0.2604807147854253 + ], + [ + 0.4590679705142975, + 0.8561062812805176, + 0.2373577058315277, + 0.07976807818601006 + ], + [ + -0.539887011051178, + 0.056657709181308746, + 0.8398285508155823, + -0.292009761458949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6304056644439697, + -0.5233215093612671, + 0.5733440518379211, + 0.13198159631145628 + ], + [ + 0.4432392716407776, + 0.8490173816680908, + 0.2875908315181732, + 0.019056047440359464 + ], + [ + -0.6372814774513245, + 0.07282967120409012, + 0.7671819925308228, + -0.2467652564770297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.623478889465332, + -0.5025610327720642, + 0.5989211797714233, + 0.12013149888891923 + ], + [ + 0.4283827543258667, + 0.8604052066802979, + 0.27602726221084595, + 0.027151934371182795 + ], + [ + -0.6540354490280151, + 0.08447032421827316, + 0.7517329454421997, + -0.2055993426787226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.692449152469635, + -0.515053927898407, + 0.5052065253257751, + 0.2424163424262875 + ], + [ + 0.45391494035720825, + 0.8553050756454468, + 0.24982890486717224, + 0.06424441021916114 + ], + [ + -0.5607810616493225, + 0.056326963007450104, + 0.8260459303855896, + -0.27691694800006716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7024346590042114, + -0.5159513354301453, + 0.4902855157852173, + 0.26641095876693727 + ], + [ + 0.4622131288051605, + 0.8545053601264954, + 0.2370224893093109, + 0.08213739097118378 + ], + [ + -0.5412436723709106, + 0.060123562812805176, + 0.8387135863304138, + -0.28380451798439027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7010699510574341, + -0.5140037536621094, + 0.4942682385444641, + 0.2648321207808821 + ], + [ + 0.4596215784549713, + 0.8556593060493469, + 0.23789751529693604, + 0.08438250555803901 + ], + [ + -0.5452054142951965, + 0.06039350479841232, + 0.8361241817474365, + -0.27712033030233885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6960209608078003, + -0.5207414031028748, + 0.4943513870239258, + 0.2701667578596818 + ], + [ + 0.46947816014289856, + 0.8509830832481384, + 0.23541045188903809, + 0.08656022085955269 + ], + [ + -0.5432726144790649, + 0.06823652237653732, + 0.8367787599563599, + -0.2769930677978616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6972241997718811, + -0.5184755325317383, + 0.4950369894504547, + 0.2679867000368081 + ], + [ + 0.4704066216945648, + 0.852001428604126, + 0.2298070639371872, + 0.09023001212626695 + ], + [ + -0.5409215092658997, + 0.07264159619808197, + 0.8379302620887756, + -0.28020181793131327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7007420659065247, + -0.5122458934783936, + 0.49655282497406006, + 0.2688156789854953 + ], + [ + 0.46397605538368225, + 0.8559435606002808, + 0.22822552919387817, + 0.0917287029718098 + ], + [ + -0.541928768157959, + 0.07046139240264893, + 0.8374654650688171, + -0.27646561123822866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7012858390808105, + -0.5165933966636658, + 0.49125295877456665, + 0.2713163958960458 + ], + [ + 0.4691143035888672, + 0.8532971143722534, + 0.22763106226921082, + 0.09265835130293118 + ], + [ + -0.5367774367332458, + 0.07081928849220276, + 0.8407465219497681, + -0.281671872499742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.7049028873443604, + -0.5171411633491516, + 0.48546576499938965, + 0.2754040012234136 + ], + [ + 0.46874839067459106, + 0.8533053994178772, + 0.22835247218608856, + 0.09123191090398713 + ], + [ + -0.5323410034179688, + 0.06659497320652008, + 0.8439065217971802, + -0.28518857234402706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.7034510374069214, + -0.5215265154838562, + 0.4828735291957855, + 0.27700762919297345 + ], + [ + 0.46564480662345886, + 0.8514518141746521, + 0.24125659465789795, + 0.0792402310590995 + ], + [ + -0.5369652509689331, + 0.05513530224561691, + 0.8418007493019104, + -0.27929872976321923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.7005684971809387, + -0.5174944996833801, + 0.49132809042930603, + 0.26590989804581594 + ], + [ + 0.4678799510002136, + 0.8529921770095825, + 0.2312850058078766, + 0.08822178668097445 + ], + [ + -0.5387877225875854, + 0.06785152107477188, + 0.839704692363739, + -0.27776354425831845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.70619797706604, + -0.5167732834815979, + 0.48397305607795715, + 0.2692974318603152 + ], + [ + 0.4635133445262909, + 0.854164183139801, + 0.2357095181941986, + 0.08315540428616498 + ], + [ + -0.535200834274292, + 0.05787036567926407, + 0.8427402973175049, + -0.28024007928998845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.7053415775299072, + -0.5109115839004517, + 0.4913884997367859, + 0.2580837754042525 + ], + [ + 0.4630224406719208, + 0.856951117515564, + 0.22637349367141724, + 0.09126873933955243 + ], + [ + -0.5367527604103088, + 0.06785324215888977, + 0.8410068154335022, + -0.28037057652285224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.7119850516319275, + -0.5083200335502625, + 0.48444610834121704, + 0.2594430196049966 + ], + [ + 0.4578325152397156, + 0.8591428995132446, + 0.22861087322235107, + 0.08838864266872407 + ], + [ + -0.5324159264564514, + 0.059027642011642456, + 0.8444223403930664, + -0.28295751198341973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.7145720720291138, + -0.50968337059021, + 0.47917598485946655, + 0.2592747434189445 + ], + [ + 0.45987576246261597, + 0.8584074378013611, + 0.22726856172084808, + 0.08818989717646648 + ], + [ + -0.5271632075309753, + 0.05796162784099579, + 0.8477849960327148, + -0.2876585077298315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.7195661664009094, + -0.5060887336730957, + 0.47549837827682495, + 0.25569531905807946 + ], + [ + 0.45179399847984314, + 0.8611865043640137, + 0.2328948676586151, + 0.08268835797513786 + ], + [ + -0.5273582339286804, + 0.04724404960870743, + 0.8483285307884216, + -0.28718350274782434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.7255055904388428, + -0.5013484358787537, + 0.47147780656814575, + 0.24988446855231336 + ], + [ + 0.45057833194732666, + 0.8638554811477661, + 0.2252395898103714, + 0.08719018797733281 + ], + [ + -0.5202121734619141, + 0.04902510344982147, + 0.852628767490387, + -0.2961319986926882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.7274364233016968, + -0.49972307682037354, + 0.4702266752719879, + 0.24298193268477916 + ], + [ + 0.4442753195762634, + 0.8652628064155579, + 0.2322491705417633, + 0.07898923913507086 + ], + [ + -0.5229299068450928, + 0.03996359556913376, + 0.8514382839202881, + -0.29419455026325425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.7286536693572998, + -0.4982719421386719, + 0.4698818027973175, + 0.23301052333492983 + ], + [ + 0.4420715570449829, + 0.8661899566650391, + 0.2329971194267273, + 0.07639345699235013 + ], + [ + -0.5231028199195862, + 0.037947170436382294, + 0.8514243364334106, + -0.2945067121794349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.7307535409927368, + -0.49414342641830444, + 0.4709794819355011, + 0.22042448667711334 + ], + [ + 0.43856102228164673, + 0.8685547113418579, + 0.23081810772418976, + 0.07747585607790633 + ], + [ + -0.5231286883354187, + 0.03788207471370697, + 0.8514114022254944, + -0.297177115906226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.7341200113296509, + -0.4901063144207001, + 0.4699612259864807, + 0.210109454471814 + ], + [ + 0.43532487750053406, + 0.8708741664886475, + 0.22818945348262787, + 0.07831484461693387 + ], + [ + -0.5211141705513, + 0.03706739842891693, + 0.8526816368103027, + -0.29688810737509475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.735008955001831, + -0.48444947600364685, + 0.47441601753234863, + 0.19583125412464142 + ], + [ + 0.4309946596622467, + 0.873934805393219, + 0.22468113899230957, + 0.0804118886590004 + ], + [ + -0.5234553217887878, + 0.039328090846538544, + 0.8511450290679932, + -0.29117451608181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.7425163984298706, + -0.48451104760169983, + 0.46251314878463745, + 0.1818149541553698 + ], + [ + 0.4290448725223541, + 0.8742762804031372, + 0.2270716428756714, + 0.07000592586241271 + ], + [ + -0.5143829584121704, + 0.029834486544132233, + 0.8570414781570435, + -0.30664577139051336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.7706372141838074, + -0.47004398703575134, + 0.43032193183898926, + 0.20361754423693607 + ], + [ + 0.4160093367099762, + 0.8825839161872864, + 0.2190476357936859, + 0.07799719974006478 + ], + [ + -0.4827572703361511, + 0.010211654007434845, + 0.8756946921348572, + -0.3367557017034606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.7728095054626465, + -0.46671777963638306, + 0.43004655838012695, + 0.20324727296829223 + ], + [ + 0.41932570934295654, + 0.8841539621353149, + 0.20600436627864838, + 0.09266111899755503 + ], + [ + -0.47637325525283813, + 0.02112741768360138, + 0.8789892792701721, + -0.32135447679381623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.7804538607597351, + -0.4630095958709717, + 0.4201355278491974, + 0.1980236915577399 + ], + [ + 0.41482144594192505, + 0.8862516283988953, + 0.20610970258712769, + 0.08937906187615896 + ], + [ + -0.4677765667438507, + 0.01342211663722992, + 0.8837448358535767, + -0.325421062817699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.783412516117096, + -0.45389920473098755, + 0.4245472848415375, + 0.177446359474408 + ], + [ + 0.40902382135391235, + 0.8908549547195435, + 0.1976788341999054, + 0.09588871464917534 + ], + [ + -0.46793630719184875, + 0.01878587156534195, + 0.8835625052452087, + -0.3202745718391318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.7882930040359497, + -0.44812509417533875, + 0.4216373562812805, + 0.16369801128381178 + ], + [ + 0.4036045968532562, + 0.8938250541687012, + 0.1953972578048706, + 0.09533334672451019 + ], + [ + -0.4644324779510498, + 0.01614445447921753, + 0.8854613900184631, + -0.3187679051176498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8005181550979614, + -0.44388347864151, + 0.40266385674476624, + 0.17618251603684926 + ], + [ + 0.39876091480255127, + 0.896073579788208, + 0.19504337012767792, + 0.09342626307747866 + ], + [ + -0.4473929703235626, + 0.004430860280990601, + 0.8943265080451965, + -0.3263134422270875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.7917172312736511, + -0.43485942482948303, + 0.4290468096733093, + 0.13644969412370733 + ], + [ + 0.39788469672203064, + 0.9000052213668823, + 0.1779842972755432, + 0.10721321235361853 + ], + [ + -0.46354252099990845, + 0.02979787439107895, + 0.8855735063552856, + -0.30097603931238776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8151552081108093, + -0.42993101477622986, + 0.38817697763442993, + 0.16629491213120912 + ], + [ + 0.38576188683509827, + 0.9028477072715759, + 0.18987837433815002, + 0.09220679449407679 + ], + [ + -0.43209928274154663, + -0.005036473274230957, + 0.901811957359314, + -0.32632561169172586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.820561408996582, + -0.42322832345962524, + 0.3841313123703003, + 0.1588264754728267 + ], + [ + 0.3796986937522888, + 0.9059905409812927, + 0.18710988759994507, + 0.09143972651738869 + ], + [ + -0.4272094964981079, + -0.007681019604206085, + 0.9041200280189514, + -0.32409394355980975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.827160656452179, + -0.4162408709526062, + 0.37755632400512695, + 0.15451606229731912 + ], + [ + 0.37398338317871094, + 0.9091972708702087, + 0.18302103877067566, + 0.09224904050168238 + ], + [ + -0.41945403814315796, + -0.010188020765781403, + 0.9077193737030029, + -0.3232886283021224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8328419327735901, + -0.4097776412963867, + 0.37209758162498474, + 0.149849635186164 + ], + [ + 0.36858171224594116, + 0.9121019840240479, + 0.17949247360229492, + 0.09356308971580707 + ], + [ + -0.41294291615486145, + -0.012340493500232697, + 0.9106733202934265, + -0.32143240700426856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.838611900806427, + -0.40415653586387634, + 0.36522266268730164, + 0.1465430539689566 + ], + [ + 0.3633940517902374, + 0.9145456552505493, + 0.17762595415115356, + 0.09353645922322022 + ], + [ + -0.4058015048503876, + -0.016239523887634277, + 0.9138169884681702, + -0.32162064706024374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8444271087646484, + -0.39733707904815674, + 0.3592577576637268, + 0.1426653812982534 + ], + [ + 0.3558822274208069, + 0.9173950552940369, + 0.17814090847969055, + 0.09153368416193285 + ], + [ + -0.4003632664680481, + -0.022573575377464294, + 0.9160784482955933, + -0.3244366478763129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.849764883518219, + -0.392733097076416, + 0.3516537547111511, + 0.1408980571125683 + ], + [ + 0.3529582619667053, + 0.9193497896194458, + 0.1738288402557373, + 0.09486990971000571 + ], + [ + -0.3915611505508423, + -0.023594550788402557, + 0.9198495149612427, + -0.3223222894103903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.8546483516693115, + -0.38429921865463257, + 0.3491278886795044, + 0.1343613473208327 + ], + [ + 0.3426940441131592, + 0.9226746559143066, + 0.17672666907310486, + 0.0898187354010971 + ], + [ + -0.3900473713874817, + -0.03139510005712509, + 0.920259416103363, + -0.32831954018850074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8597441911697388, + -0.3775408864021301, + 0.3439517021179199, + 0.13073543796413822 + ], + [ + 0.3364899158477783, + 0.9253537654876709, + 0.1746281534433365, + 0.08905068918278343 + ], + [ + -0.38420623540878296, + -0.03439928591251373, + 0.9226062297821045, + -0.33082151444334734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8646875619888306, + -0.37034493684768677, + 0.33935239911079407, + 0.1261351116197674 + ], + [ + 0.3301492929458618, + 0.9281793236732483, + 0.1717109978199005, + 0.08884451371666632 + ], + [ + -0.3785721957683563, + -0.036439456045627594, + 0.9248542189598083, + -0.3335592278916585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8691304326057434, + -0.36383354663848877, + 0.3350185751914978, + 0.12051977664232254 + ], + [ + 0.3241749405860901, + 0.9306519627571106, + 0.16969838738441467, + 0.08817430660128593 + ], + [ + -0.3735276460647583, + -0.03888542205095291, + 0.9268036484718323, + -0.33690815418958664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.873528003692627, + -0.35741961002349854, + 0.3304542601108551, + 0.11529111126927953 + ], + [ + 0.3183661103248596, + 0.9330348968505859, + 0.16759741306304932, + 0.08832737176041854 + ], + [ + -0.3682279884815216, + -0.04119560122489929, + 0.92882239818573, + -0.33948505277696406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8780645132064819, + -0.3508320152759552, + 0.3254529535770416, + 0.11054141497925708 + ], + [ + 0.3122831881046295, + 0.9354058504104614, + 0.16581663489341736, + 0.08844227720248071 + ], + [ + -0.3626043498516083, + -0.0439642108976841, + 0.9309055805206299, + -0.3417823198594545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8825093507766724, + -0.344427227973938, + 0.3202299177646637, + 0.10600839631730004 + ], + [ + 0.30631494522094727, + 0.9376392960548401, + 0.16432791948318481, + 0.08849216978016652 + ], + [ + -0.3568591773509979, + -0.046929728239774704, + 0.932978630065918, + -0.3440245659727799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.886790931224823, + -0.33798882365226746, + 0.31522274017333984, + 0.10151873450530202 + ], + [ + 0.300291508436203, + 0.9398306608200073, + 0.1629212647676468, + 0.08861693232075164 + ], + [ + -0.35132157802581787, + -0.04981839656829834, + 0.9349284768104553, + -0.34543850414062804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8911631107330322, + -0.33143916726112366, + 0.3098006248474121, + 0.09761297749845606 + ], + [ + 0.2943502962589264, + 0.9420216679573059, + 0.1610996127128601, + 0.0890950248037514 + ], + [ + -0.34523361921310425, + -0.05237612873315811, + 0.9370541572570801, + -0.3465820158782758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8949630260467529, + -0.3251459300518036, + 0.3054853081703186, + 0.09341008216142654 + ], + [ + 0.2886522710323334, + 0.9441028237342834, + 0.15921582281589508, + 0.08924375043103569 + ], + [ + -0.3401779532432556, + -0.05431325361132622, + 0.9387912750244141, + -0.3469155462164628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8987240195274353, + -0.3191351294517517, + 0.3007456064224243, + 0.09010109564191417 + ], + [ + 0.28336966037750244, + 0.946054995059967, + 0.1571037322282791, + 0.089631251863351 + ], + [ + -0.334659218788147, + -0.05597071722149849, + 0.9406755566596985, + -0.34646684860712607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9024629592895508, + -0.3131062984466553, + 0.2958463132381439, + 0.08792310933533468 + ], + [ + 0.27785009145736694, + 0.9479281902313232, + 0.15566477179527283, + 0.0896451256384975 + ], + [ + -0.32918068766593933, + -0.05828075855970383, + 0.942466676235199, + -0.34615253829642345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9055334329605103, + -0.3067973554134369, + 0.2930607199668884, + 0.08456703161722735 + ], + [ + 0.2721077501773834, + 0.9499197602272034, + 0.15365487337112427, + 0.08977405950427056 + ], + [ + -0.32552510499954224, + -0.05939554423093796, + 0.9436660408973694, + -0.3460429493926073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.909050464630127, + -0.3007713258266449, + 0.2883813977241516, + 0.0838697086823614 + ], + [ + 0.26709476113319397, + 0.9518061280250549, + 0.15074962377548218, + 0.09090095734909961 + ], + [ + -0.31982433795928955, + -0.06001388281583786, + 0.9455742835998535, + -0.3451994303025697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.911984920501709, + -0.2952769994735718, + 0.2847718894481659, + 0.08280177267366334 + ], + [ + 0.26238763332366943, + 0.9534888863563538, + 0.14836351573467255, + 0.09107530572892804 + ], + [ + -0.31533512473106384, + -0.06058468297123909, + 0.9470444917678833, + -0.34394164501052155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9149344563484192, + -0.2893524765968323, + 0.2813718020915985, + 0.08194851353764535 + ], + [ + 0.25733649730682373, + 0.9552890062332153, + 0.14560532569885254, + 0.09123277224992452 + ], + [ + -0.31092265248298645, + -0.060812100768089294, + 0.9484877586364746, + -0.34291443950251527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9177725315093994, + -0.2845602333545685, + 0.2769821286201477, + 0.08253849089929932 + ], + [ + 0.25344064831733704, + 0.9567061066627502, + 0.14311274886131287, + 0.09150330469404397 + ], + [ + -0.3057146668434143, + -0.06114642694592476, + 0.9501577019691467, + -0.3414215495319743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.919809877872467, + -0.27856481075286865, + 0.2763177156448364, + 0.07940942378420579 + ], + [ + 0.24788494408130646, + 0.95846027135849, + 0.1410922110080719, + 0.09061485426990609 + ], + [ + -0.30414289236068726, + -0.061283014714717865, + 0.9506531953811646, + -0.34176681198571857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9224017858505249, + -0.2735200822353363, + 0.2726934850215912, + 0.07931255049219257 + ], + [ + 0.2437637746334076, + 0.9599246382713318, + 0.13828910887241364, + 0.08996550714303005 + ], + [ + -0.29959002137184143, + -0.061085328459739685, + 0.9521104693412781, + -0.342246803288397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9238014817237854, + -0.2670380175113678, + 0.2743748724460602, + 0.0743120334258205 + ], + [ + 0.23810602724552155, + 0.9618843793869019, + 0.1344766616821289, + 0.08974922840532504 + ], + [ + -0.29982730746269226, + -0.058899424970149994, + 0.9521735310554504, + -0.3429960957483241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9269278645515442, + -0.26325544714927673, + 0.2673971951007843, + 0.07689165027910157 + ], + [ + 0.23559096455574036, + 0.9629353880882263, + 0.13134820759296417, + 0.08919080583084571 + ], + [ + -0.2920643389225006, + -0.058753952383995056, + 0.9545922875404358, + -0.34511835524126105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9285373687744141, + -0.25822579860687256, + 0.26671677827835083, + 0.073659642746574 + ], + [ + 0.23132503032684326, + 0.9643733501434326, + 0.12834639847278595, + 0.08897006852846397 + ], + [ + -0.2903568744659424, + -0.05747615918517113, + 0.9551907777786255, + -0.34672529226855225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9306685328483582, + -0.2542046904563904, + 0.26312747597694397, + 0.07322620935738086 + ], + [ + 0.22844937443733215, + 0.9655272364616394, + 0.124771848320961, + 0.08963390458375216 + ], + [ + -0.2857743203639984, + -0.0560099333524704, + 0.9566587209701538, + -0.34829697757959366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9325607419013977, + -0.2496175616979599, + 0.2608093321323395, + 0.07229197091962161 + ], + [ + 0.22491614520549774, + 0.9668216705322266, + 0.12111407518386841, + 0.09042849830890956 + ], + [ + -0.282388299703598, + -0.05428600683808327, + 0.9577629566192627, + -0.34936783282380357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9340623021125793, + -0.2461741864681244, + 0.2587004005908966, + 0.07082048185953968 + ], + [ + 0.22223544120788574, + 0.9677646160125732, + 0.11850358545780182, + 0.08957044647908524 + ], + [ + -0.27953359484672546, + -0.05319733917713165, + 0.9586610794067383, + -0.35202940200504507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9354463219642639, + -0.2420240193605423, + 0.2576131820678711, + 0.06923649452234569 + ], + [ + 0.2191012054681778, + 0.9689366817474365, + 0.11470118165016174, + 0.08981588271103408 + ], + [ + -0.27737128734588623, + -0.05085345730185509, + 0.9594160318374634, + -0.3537196187596572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9368312358856201, + -0.2383032739162445, + 0.25604453682899475, + 0.0675047170762953 + ], + [ + 0.21647104620933533, + 0.9699880480766296, + 0.11074045300483704, + 0.08901645554915855 + ], + [ + -0.2747499644756317, + -0.04831889271736145, + 0.960300862789154, + -0.3565904284386259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9385542273521423, + -0.23396188020706177, + 0.2537277042865753, + 0.06697296072777949 + ], + [ + 0.21356543898582458, + 0.9712091088294983, + 0.10555864870548248, + 0.0885063564895015 + ], + [ + -0.2711193859577179, + -0.04488503932952881, + 0.9614986181259155, + -0.3606474705432591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9398833513259888, + -0.2296581268310547, + 0.25273796916007996, + 0.0651279766112566 + ], + [ + 0.21073001623153687, + 0.9724205136299133, + 0.09995590150356293, + 0.08747275513841918 + ], + [ + -0.2687232792377472, + -0.04068741202354431, + 0.9623576998710632, + -0.36671601067248144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9399502873420715, + -0.2307678759098053, + 0.2514748275279999, + 0.06381912647109282 + ], + [ + 0.21362799406051636, + 0.9723976254463196, + 0.09384015947580338, + 0.08478296557931524 + ], + [ + -0.2661888301372528, + -0.03448302298784256, + 0.9633039236068726, + -0.37447718099543925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9377308487892151, + -0.2427201122045517, + 0.24849115312099457, + 0.061401521894884736 + ], + [ + 0.22903086245059967, + 0.9698697328567505, + 0.0830516591668129, + 0.08038785021850153 + ], + [ + -0.26116234064102173, + -0.020967965945601463, + 0.9650671482086182, + -0.3857708141991967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9403764009475708, + -0.23075002431869507, + 0.24989326298236847, + 0.07149916881401289 + ], + [ + 0.21805864572525024, + 0.9728351831436157, + 0.07773130387067795, + 0.08298636768013239 + ], + [ + -0.26104146242141724, + -0.01860530488193035, + 0.9651482701301575, + -0.369580744991177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9412107467651367, + -0.22006924450397491, + 0.25630414485931396, + 0.05497746561702929 + ], + [ + 0.20896519720554352, + 0.9754047393798828, + 0.07013658434152603, + 0.07943383575368085 + ], + [ + -0.2654351592063904, + -0.012454666197299957, + 0.9640482664108276, + -0.38393418326189643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9433553218841553, + -0.21683743596076965, + 0.2511219382286072, + 0.04522483960578316 + ], + [ + 0.2066613733768463, + 0.9761471748352051, + 0.06654191017150879, + 0.06976061620210347 + ], + [ + -0.259560763835907, + -0.010875467211008072, + 0.9656655192375183, + -0.40635785680068165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9453468322753906, + -0.21196967363357544, + 0.2477663904428482, + 0.04215380681776687 + ], + [ + 0.20353031158447266, + 0.9772589206695557, + 0.059501711279153824, + 0.0657286795321852 + ], + [ + -0.2547444701194763, + -0.005821790546178818, + 0.9669908881187439, + -0.4148186090353288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9462596774101257, + -0.21004147827625275, + 0.24591703712940216, + 0.039387210634978194 + ], + [ + 0.20378150045871735, + 0.977690577507019, + 0.05093326419591904, + 0.06392870911053922 + ], + [ + -0.2511288821697235, + 0.001917244866490364, + 0.967951774597168, + -0.4212322037470968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.948069155216217, + -0.20971746742725372, + 0.23913072049617767, + 0.04333636442101316 + ], + [ + 0.20583896338939667, + 0.9777109026908875, + 0.04137275367975235, + 0.06282376949430296 + ], + [ + -0.24247731268405914, + 0.009998185560107231, + 0.9701055288314819, + -0.42719206880582006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9483022689819336, + -0.2067573219537735, + 0.24077832698822021, + 0.03632865101099014 + ], + [ + 0.20344235002994537, + 0.9783166646957397, + 0.03882946819067001, + 0.056011627947813586 + ], + [ + -0.2435857355594635, + 0.012162433005869389, + 0.9698030948638916, + -0.4318029130759992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9496135711669922, + -0.19846345484256744, + 0.2425825297832489, + 0.02698113649691406 + ], + [ + 0.19880951941013336, + 0.9797608852386475, + 0.023309694603085518, + 0.06291728014199946 + ], + [ + -0.24229899048805237, + 0.02609250880777836, + 0.9698507189750671, + -0.4400482120874681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9511950016021729, + -0.19419731199741364, + 0.2398238480091095, + 0.028894992447213122 + ], + [ + 0.19596697390079498, + 0.9804685115814209, + 0.016685357317328453, + 0.06287120727479066 + ], + [ + -0.23837998509407043, + 0.03112652711570263, + 0.9706730246543884, + -0.4372214804354467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9529887437820435, + -0.18905577063560486, + 0.2367917150259018, + 0.030271864515778266 + ], + [ + 0.19241276383399963, + 0.9812721610069275, + 0.009071139618754387, + 0.06665681464180938 + ], + [ + -0.23407207429409027, + 0.036917053163051605, + 0.9715180993080139, + -0.4328721541715296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9534120559692383, + -0.18574461340904236, + 0.2377064973115921, + 0.02733476012945175 + ], + [ + 0.1888699233531952, + 0.9819535613059998, + 0.009767157956957817, + 0.061693701334297656 + ], + [ + -0.2352309376001358, + 0.03558347374200821, + 0.9712879061698914, + -0.42992801666259767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/push_in/transforms.json b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7afd6a04f7a0557e07586095aa5d22e6dbbc0103 --- /dev/null +++ b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/push_in/transforms.json @@ -0,0 +1,5368 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 153, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 7.486010872526094e-05, + 0.0002196452987845987, + -0.0002654411073308438 + ], + [ + -7.484106026822701e-05, + 1.0, + -8.672619151184335e-05, + 0.0001142723995144479 + ], + [ + -0.00021965178893879056, + 8.67097478476353e-05, + 1.0, + 0.00021108951477799565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999338388442993, + -0.009409398771822453, + 0.006617182865738869, + 0.01182566903359992 + ], + [ + 0.00942306313663721, + 0.9999535083770752, + -0.0020369677804410458, + 0.0007942955172008002 + ], + [ + -0.006597708910703659, + 0.0020991871133446693, + 0.9999760389328003, + 0.0005927533388450301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997265338897705, + -0.01911240443587303, + 0.013475535437464714, + 0.023123627977053585 + ], + [ + 0.019168775528669357, + 0.9998080134391785, + -0.004066530615091324, + 0.0007468199884322913 + ], + [ + -0.013395227491855621, + 0.004323728382587433, + 0.9999009370803833, + -0.00034571091497415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993758797645569, + -0.028921371325850487, + 0.020282726734876633, + 0.034355833854428246 + ], + [ + 0.02905130200088024, + 0.9995590448379517, + -0.006140855140984058, + 0.0004502162404701506 + ], + [ + -0.020096182823181152, + 0.006726262159645557, + 0.9997754096984863, + 0.0007466320659181005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9989352822303772, + -0.037066735327243805, + 0.027465980499982834, + 0.04427472955890392 + ], + [ + 0.03730567544698715, + 0.999269962310791, + -0.008238716050982475, + 0.0001299279041919171 + ], + [ + -0.027140546590089798, + 0.009254580363631248, + 0.9995887875556946, + 0.00048267952362565604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9983547329902649, + -0.04569840803742409, + 0.03463355824351311, + 0.05381547222159019 + ], + [ + 0.04611467197537422, + 0.9988720417022705, + -0.011316673830151558, + 0.0009018898065398006 + ], + [ + -0.034077342599630356, + 0.012895170599222183, + 0.9993360042572021, + 0.0018317509307771134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9977129697799683, + -0.053892139345407486, + 0.04079800471663475, + 0.06334877059745946 + ], + [ + 0.05444388464093208, + 0.9984381198883057, + -0.012534970417618752, + -5.481757788833133e-05 + ], + [ + -0.04005875065922737, + 0.014727504923939705, + 0.9990887641906738, + 0.0018603050493096055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9970232248306274, + -0.0614449717104435, + 0.04657505080103874, + 0.07266452468588556 + ], + [ + 0.06219964101910591, + 0.9979520440101624, + -0.014929651282727718, + 0.0006899542383555519 + ], + [ + -0.04556231573224068, + 0.01778215914964676, + 0.9988031983375549, + 0.003077476883405133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.996251106262207, + -0.06872429698705673, + 0.05254223570227623, + 0.08051000023750883 + ], + [ + 0.06967084854841232, + 0.9974352121353149, + -0.016398794949054718, + 0.0011262796463836966 + ], + [ + -0.05128047987818718, + 0.019997980445623398, + 0.9984840750694275, + 0.004558031659230198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9954705834388733, + -0.07528886198997498, + 0.058051031082868576, + 0.08787870219614553 + ], + [ + 0.07648171484470367, + 0.9968973994255066, + -0.01860480196774006, + 0.0023589216528068246 + ], + [ + -0.05647018924355507, + 0.022960374131798744, + 0.9981402158737183, + 0.007215883989671343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9946188926696777, + -0.08198574930429459, + 0.06333675980567932, + 0.09452309518268234 + ], + [ + 0.08339744061231613, + 0.9963161945343018, + -0.0199715718626976, + 0.0027609579265117645 + ], + [ + -0.06146605685353279, + 0.025146227329969406, + 0.9977923631668091, + 0.010690329596400261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9937976002693176, + -0.08808811008930206, + 0.06787349283695221, + 0.10071070024645642 + ], + [ + 0.08970342576503754, + 0.9957444667816162, + -0.02112470753490925, + 0.0028888689905503077 + ], + [ + -0.06572382152080536, + 0.02708216942846775, + 0.9974702596664429, + 0.012810602965519616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.992946445941925, + -0.09379029273986816, + 0.07253063470125198, + 0.1055265475064516 + ], + [ + 0.09565320611000061, + 0.9951571226119995, + -0.022644715383648872, + 0.003740768698289206 + ], + [ + -0.0700555220246315, + 0.029422776773571968, + 0.997109055519104, + 0.015467057342788106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9920786023139954, + -0.09927861392498016, + 0.07696626335382462, + 0.10941292875397363 + ], + [ + 0.10140794515609741, + 0.9945490956306458, + -0.024260051548480988, + 0.004732696084599746 + ], + [ + -0.07413821667432785, + 0.03187286853790283, + 0.9967384934425354, + 0.017655852044883527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9912728071212769, + -0.10420301556587219, + 0.08074606955051422, + 0.11276968252894125 + ], + [ + 0.10652104020118713, + 0.9939975738525391, + -0.02494071051478386, + 0.00484718677930926 + ], + [ + -0.07766249775886536, + 0.03332420065999031, + 0.9964225888252258, + 0.01735202661274295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9904168248176575, + -0.10920058190822601, + 0.08455628156661987, + 0.1151275652411737 + ], + [ + 0.11181765794754028, + 0.9933660626411438, + -0.02684522047638893, + 0.006630254799107972 + ], + [ + -0.08106382191181183, + 0.036042843014001846, + 0.9960570335388184, + 0.016998913800834042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9896203279495239, + -0.11374238133430481, + 0.08783086389303207, + 0.11754204364199387 + ], + [ + 0.11657829582691193, + 0.9927910566329956, + -0.0278471652418375, + 0.007483501124538873 + ], + [ + -0.08403029292821884, + 0.037797294557094574, + 0.9957460761070251, + 0.01542733176366279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9887679815292358, + -0.11818021535873413, + 0.09149499237537384, + 0.11907454506543122 + ], + [ + 0.12130987644195557, + 0.992178738117218, + -0.029416179284453392, + 0.009526334179712362 + ], + [ + -0.08730296790599823, + 0.04018501937389374, + 0.9953709840774536, + 0.012671515199747917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9880070090293884, + -0.12232591956853867, + 0.09422606974840164, + 0.12195789697334955 + ], + [ + 0.1257130205631256, + 0.9915862679481506, + -0.03086874634027481, + 0.011546211934795506 + ], + [ + -0.08965722471475601, + 0.04234398156404495, + 0.9950721263885498, + 0.008613647893071175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9871285557746887, + -0.1264643669128418, + 0.097897969186306, + 0.12429843498393893 + ], + [ + 0.13012224435806274, + 0.9909846186637878, + -0.031902045011520386, + 0.013603945262730122 + ], + [ + -0.09298091381788254, + 0.04423011839389801, + 0.9946849942207336, + 0.0034333067014813423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9863113164901733, + -0.13061530888080597, + 0.10064583271741867, + 0.1279793294440759 + ], + [ + 0.1345066875219345, + 0.9903672933578491, + -0.03287120908498764, + 0.016703571732106962 + ], + [ + -0.09538286179304123, + 0.045958779752254486, + 0.9943791627883911, + -0.004908312406194838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9854454398155212, + -0.1344515085220337, + 0.10401938110589981, + 0.13162629024468755 + ], + [ + 0.13864803314208984, + 0.9897513389587402, + -0.03419088199734688, + 0.021753145614638925 + ], + [ + -0.09835629910230637, + 0.048115331679582596, + 0.9939873814582825, + -0.015264041486539339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.984514594078064, + -0.13797539472579956, + 0.10813789069652557, + 0.13440195747504108 + ], + [ + 0.14246487617492676, + 0.9891838431358337, + -0.03491576761007309, + 0.027994075839064624 + ], + [ + -0.10215073823928833, + 0.04978092759847641, + 0.993522584438324, + -0.02660914643814689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9835415482521057, + -0.14122694730758667, + 0.112698495388031, + 0.1372494423467862 + ], + [ + 0.146053284406662, + 0.9886308312416077, + -0.03574281185865402, + 0.03643744430553756 + ], + [ + -0.10636936128139496, + 0.05161452293395996, + 0.9929861426353455, + -0.039092186681534115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9825727343559265, + -0.14466817677021027, + 0.11671313643455505, + 0.1410712723669253 + ], + [ + 0.14964686334133148, + 0.9881184101104736, + -0.03503997623920441, + 0.04443054144319735 + ], + [ + -0.11025723814964294, + 0.05189507454633713, + 0.992547333240509, + -0.051341150779473155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9815168976783752, + -0.14834892749786377, + 0.12090172618627548, + 0.14514249560766315 + ], + [ + 0.15355730056762695, + 0.9875227212905884, + -0.03491394221782684, + 0.05434099197583763 + ], + [ + -0.11421375721693039, + 0.05283396691083908, + 0.992050290107727, + -0.06326319120432201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9804078340530396, + -0.1519862711429596, + 0.1253024786710739, + 0.14939519117929434 + ], + [ + 0.1573057770729065, + 0.9869763255119324, + -0.033654287457466125, + 0.06400651106316792 + ], + [ + -0.11855559796094894, + 0.05270572751760483, + 0.9915476441383362, + -0.0751900494882935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9792719483375549, + -0.15514804422855377, + 0.13021358847618103, + 0.15390822450189215 + ], + [ + 0.1605307012796402, + 0.9865168929100037, + -0.03184787929058075, + 0.07447322825656126 + ], + [ + -0.12351676821708679, + 0.05209100991487503, + 0.9909743070602417, + -0.08504450870187659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9778348803520203, + -0.1601947396993637, + 0.13482047617435455, + 0.16023369458945175 + ], + [ + 0.16554240882396698, + 0.9857654571533203, + -0.02936270833015442, + 0.08553226817595332 + ], + [ + -0.12819762527942657, + 0.05103038251399994, + 0.9904348850250244, + -0.09501013355819803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9764490723609924, + -0.1634153127670288, + 0.1408640593290329, + 0.16533627540461326 + ], + [ + 0.16890498995780945, + 0.9852386116981506, + -0.02785685285925865, + 0.09845268755023809 + ], + [ + -0.13423247635364532, + 0.05099343881011009, + 0.9896369576454163, + -0.10451111954293753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9747384190559387, + -0.1686803102493286, + 0.14639659225940704, + 0.17160954747937227 + ], + [ + 0.17388007044792175, + 0.9844890832901001, + -0.023386262357234955, + 0.10905401403770636 + ], + [ + -0.1401810497045517, + 0.04825093597173691, + 0.9889494776725769, + -0.11627487171637385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9727408289909363, + -0.17421966791152954, + 0.15304487943649292, + 0.17680398480672585 + ], + [ + 0.17926058173179626, + 0.983604907989502, + -0.019672542810440063, + 0.12090952437567083 + ], + [ + -0.14710834622383118, + 0.04657120257616043, + 0.9880234003067017, + -0.1268579864972516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9704703688621521, + -0.18006034195423126, + 0.1605164110660553, + 0.18118653454278644 + ], + [ + 0.18495769798755646, + 0.9826164841651917, + -0.015984144061803818, + 0.13292392060944908 + ], + [ + -0.15484794974327087, + 0.045200884342193604, + 0.986903727054596, + -0.13708441649612627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9679154753684998, + -0.1860344260931015, + 0.16891080141067505, + 0.18561729431936616 + ], + [ + 0.1904001086950302, + 0.9816568493843079, + -0.009882360696792603, + 0.14206331534997413 + ], + [ + -0.16397398710250854, + 0.041725918650627136, + 0.9855818152427673, + -0.1469881398505286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9535432457923889, + -0.2096485197544098, + 0.2163396179676056, + 0.1230615315076552 + ], + [ + 0.2042618691921234, + 0.9777764678001404, + 0.04722607880830765, + 0.08122057437308525 + ], + [ + -0.2214326560497284, + -0.0008421782404184341, + 0.9751753211021423, + -0.18370080707888853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9606420993804932, + -0.20141346752643585, + 0.1913096159696579, + 0.18805901691513627 + ], + [ + 0.1995498090982437, + 0.9794536232948303, + 0.02916313335299492, + 0.1275704191924122 + ], + [ + -0.19325275719165802, + 0.010160461999475956, + 0.9810963869094849, + -0.20863379969408638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9576839208602905, + -0.21403126418590546, + 0.19243745505809784, + 0.21229907913427604 + ], + [ + 0.21720202267169952, + 0.9761152863502502, + 0.0047199297696352005, + 0.17417849530220816 + ], + [ + -0.18885134160518646, + 0.03727760165929794, + 0.9812979102134705, + -0.17301748724360216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.952888548374176, + -0.22093382477760315, + 0.2078259438276291, + 0.21811278822194588 + ], + [ + 0.22392362356185913, + 0.9745620489120483, + 0.009332165122032166, + 0.18346732489176487 + ], + [ + -0.20460106432437897, + 0.03764461725950241, + 0.978121280670166, + -0.1796330721754777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9271285533905029, + -0.24985088407993317, + 0.27929773926734924, + 0.128301715105772 + ], + [ + 0.23404096066951752, + 0.9681298732757568, + 0.08915950357913971, + 0.08837657161056996 + ], + [ + -0.2926730811595917, + -0.01729520782828331, + 0.9560561180114746, + -0.2258004993200302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9124606847763062, + -0.28992247581481934, + 0.28872203826904297, + 0.13898851636208986 + ], + [ + 0.2748124599456787, + 0.9570366740226746, + 0.09251425415277481, + 0.09461802571129642 + ], + [ + -0.3031395673751831, + -0.00507122278213501, + 0.9529327154159546, + -0.20138681946616424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9027099013328552, + -0.30045634508132935, + 0.3079622685909271, + 0.14486602497728246 + ], + [ + 0.2835652828216553, + 0.9537926316261292, + 0.09934937953948975, + 0.09709281121429644 + ], + [ + -0.32358232140541077, + -0.0023562535643577576, + 0.9461970925331116, + -0.20455317826647507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8812745213508606, + -0.31362080574035645, + 0.35354945063591003, + 0.13436827477263777 + ], + [ + 0.2914339303970337, + 0.9495478868484497, + 0.11586682498455048, + 0.09353265216279971 + ], + [ + -0.37205037474632263, + 0.0009258240461349487, + 0.9282121062278748, + -0.20713501011854724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8721312284469604, + -0.3263741135597229, + 0.36450937390327454, + 0.1475189392896075 + ], + [ + 0.3030738830566406, + 0.945228636264801, + 0.12119840085506439, + 0.09692518544432364 + ], + [ + -0.38410070538520813, + 0.004772353917360306, + 0.9232788681983948, + -0.2109443538283047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.864270031452179, + -0.33876946568489075, + 0.3718501627445221, + 0.16406664297376808 + ], + [ + 0.3148517310619354, + 0.9408286809921265, + 0.12533846497535706, + 0.10067365873408946 + ], + [ + -0.39230814576148987, + 0.008751384913921356, + 0.9197922348976135, + -0.21433937475085257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.855633020401001, + -0.3510538935661316, + 0.38033315539360046, + 0.18009899109601973 + ], + [ + 0.3258659243583679, + 0.9362813830375671, + 0.13110506534576416, + 0.10350994734387649 + ], + [ + -0.4021237790584564, + 0.01175978034734726, + 0.915509819984436, + -0.21729901025169773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8466073870658875, + -0.36290690302848816, + 0.3893001079559326, + 0.19564150195372731 + ], + [ + 0.3370571434497833, + 0.9316796064376831, + 0.1355198472738266, + 0.10704235766867273 + ], + [ + -0.411884069442749, + 0.016484275460243225, + 0.911087155342102, + -0.22053280904104836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8381093740463257, + -0.3741820156574249, + 0.3969389498233795, + 0.2104550107137153 + ], + [ + 0.34812650084495544, + 0.9270997643470764, + 0.1389029175043106, + 0.111109518514652 + ], + [ + -0.41997697949409485, + 0.02176910638809204, + 0.9072736501693726, + -0.22387481065172898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8278724551200867, + -0.3860226273536682, + 0.4069567322731018, + 0.2212728178422702 + ], + [ + 0.35846996307373047, + 0.9221380949020386, + 0.14546693861484528, + 0.11293132688458028 + ], + [ + -0.4314238429069519, + 0.025453690439462662, + 0.901790201663971, + -0.22701555714011193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8132416605949402, + -0.4000590443611145, + 0.42260006070137024, + 0.22542419402222885 + ], + [ + 0.36699265241622925, + 0.916172444820404, + 0.1610727608203888, + 0.10939117952396996 + ], + [ + -0.4516131579875946, + 0.024100027978420258, + 0.8918883204460144, + -0.23182168508830822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.800495445728302, + -0.4116794764995575, + 0.4355767071247101, + 0.231492295880851 + ], + [ + 0.3771609365940094, + 0.9108340740203857, + 0.1677226722240448, + 0.1113106908570779 + ], + [ + -0.46578606963157654, + 0.030021272599697113, + 0.8843879699707031, + -0.23381293792473642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7912006378173828, + -0.42177432775497437, + 0.4428408443927765, + 0.23759033903479576 + ], + [ + 0.3861995339393616, + 0.9060561656951904, + 0.17295131087303162, + 0.11394961080268809 + ], + [ + -0.4741850793361664, + 0.034185729920864105, + 0.8797612190246582, + -0.2370753005931252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7883719205856323, + -0.4314103424549103, + 0.43858277797698975, + 0.24011882582777425 + ], + [ + 0.39451298117637634, + 0.901553213596344, + 0.17765501141548157, + 0.11344449306397061 + ], + [ + -0.47204792499542236, + 0.03296840935945511, + 0.8809561729431152, + -0.2501262351086265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7732312679290771, + -0.4401988685131073, + 0.4564410448074341, + 0.23303903404035067 + ], + [ + 0.3983771502971649, + 0.8972340822219849, + 0.1904381364583969, + 0.10805350545989839 + ], + [ + -0.4933651089668274, + 0.034582942724227905, + 0.8691345453262329, + -0.2504133764066194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.762651801109314, + -0.4486672878265381, + 0.4658969044685364, + 0.23631625618589552 + ], + [ + 0.4064124822616577, + 0.8927561044692993, + 0.19446197152137756, + 0.1109996460182102 + ], + [ + -0.5031810402870178, + 0.04103954881429672, + 0.8632060289382935, + -0.24616091023934517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7619649171829224, + -0.45308035612106323, + 0.46273931860923767, + 0.25074164588984693 + ], + [ + 0.41071194410324097, + 0.8905273675918579, + 0.19564446806907654, + 0.11733245822159867 + ], + [ + -0.5007246732711792, + 0.0409783273935318, + 0.8646361231803894, + -0.24693826554637205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7553388476371765, + -0.45733121037483215, + 0.4693734049797058, + 0.25178853638078036 + ], + [ + 0.41277989745140076, + 0.8883169293403625, + 0.20126056671142578, + 0.11775342767175875 + ], + [ + -0.5089950561523438, + 0.04172797501087189, + 0.8597574234008789, + -0.24694513019762543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7476083040237427, + -0.46362730860710144, + 0.47553306818008423, + 0.2543577714970237 + ], + [ + 0.41872766613960266, + 0.8848179578781128, + 0.20436331629753113, + 0.11906321895749945 + ], + [ + -0.5155085921287537, + 0.046335093677043915, + 0.8556307554244995, + -0.24525644308642336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7409449815750122, + -0.46880772709846497, + 0.48085328936576843, + 0.25588574893772603 + ], + [ + 0.42371925711631775, + 0.8818568587303162, + 0.20685862004756927, + 0.11947022024542094 + ], + [ + -0.5210207104682922, + 0.050475940108299255, + 0.852050244808197, + -0.2443138562142849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7370342016220093, + -0.4708939492702484, + 0.48480871319770813, + 0.25818529211376845 + ], + [ + 0.42591890692710876, + 0.8805760145187378, + 0.20779554545879364, + 0.12150171255986941 + ], + [ + -0.5247606039047241, + 0.05333675444126129, + 0.8495773077011108, + -0.24313663510899794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.733278751373291, + -0.47555649280548096, + 0.4859509766101837, + 0.2616951718730362 + ], + [ + 0.43025994300842285, + 0.8779549598693848, + 0.2099321484565735, + 0.12147304113758238 + ], + [ + -0.5264776945114136, + 0.05514641851186752, + 0.8483985662460327, + -0.2433939358905742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7299193739891052, + -0.4792203903198242, + 0.48740702867507935, + 0.2650625086144397 + ], + [ + 0.43289369344711304, + 0.8759338855743408, + 0.2129388153553009, + 0.12011506682948063 + ], + [ + -0.5289809107780457, + 0.05556723475456238, + 0.8468125462532043, + -0.24186385697440096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7269030809402466, + -0.4841855764389038, + 0.4870075583457947, + 0.2695582999602745 + ], + [ + 0.4368501901626587, + 0.873192548751831, + 0.2160942107439041, + 0.11768604243468297 + ], + [ + -0.5298810601234436, + 0.055669769644737244, + 0.8462428450584412, + -0.2413259109776271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7242805361747742, + -0.48809078335762024, + 0.4870165288448334, + 0.27294167142949605 + ], + [ + 0.4403545558452606, + 0.8709574937820435, + 0.21799282729625702, + 0.11653863562172966 + ], + [ + -0.5305709838867188, + 0.056571975350379944, + 0.8457505702972412, + -0.24014397200785184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7222667932510376, + -0.49074244499206543, + 0.48734232783317566, + 0.27702599420751395 + ], + [ + 0.4425734877586365, + 0.8694324493408203, + 0.21958135068416595, + 0.11595545576787308 + ], + [ + -0.5314691066741943, + 0.057088449597358704, + 0.8451517820358276, + -0.2373746083755242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7200033068656921, + -0.4935426712036133, + 0.4878636300563812, + 0.2806430044927095 + ], + [ + 0.4453998804092407, + 0.8677505254745483, + 0.2205176055431366, + 0.11582332206399817 + ], + [ + -0.5321787595748901, + 0.05852096527814865, + 0.8446070551872253, + -0.23482405511956467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7186486721038818, + -0.49534931778907776, + 0.4880298376083374, + 0.28419735517941025 + ], + [ + 0.4471587836742401, + 0.8666703701019287, + 0.22120466828346252, + 0.1157293508907682 + ], + [ + -0.5325345993041992, + 0.059258364140987396, + 0.8443313241004944, + -0.23249296824398794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7161622643470764, + -0.49725329875946045, + 0.4897455871105194, + 0.2871065443675769 + ], + [ + 0.4491681456565857, + 0.8654537796974182, + 0.22189579904079437, + 0.11535698165626902 + ], + [ + -0.5341905951499939, + 0.06106473505496979, + 0.8431556820869446, + -0.2288859937536089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7124788761138916, + -0.5017019510269165, + 0.49058035016059875, + 0.2899900062107726 + ], + [ + 0.4538414478302002, + 0.8626941442489624, + 0.22312942147254944, + 0.11417012636206653 + ], + [ + -0.5351652503013611, + 0.06367069482803345, + 0.8423444628715515, + -0.22580234529940707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7072316408157349, + -0.5058014392852783, + 0.4939517378807068, + 0.29071851074695587 + ], + [ + 0.46034589409828186, + 0.8597296476364136, + 0.22123877704143524, + 0.1162869201286843 + ], + [ + -0.5365678668022156, + 0.07092158496379852, + 0.8408716320991516, + -0.2225744528205771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7088268995285034, + -0.5011103749275208, + 0.49644020199775696, + 0.28945359707270796 + ], + [ + 0.44815048575401306, + 0.8634193539619446, + 0.23166388273239136, + 0.10966600262020763 + ], + [ + -0.544725239276886, + 0.05827031284570694, + 0.83658766746521, + -0.2125843517090145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7064495086669922, + -0.5092297196388245, + 0.491542786359787, + 0.29430241196563367 + ], + [ + 0.45558616518974304, + 0.8586693406105042, + 0.23479411005973816, + 0.10299080669095642 + ], + [ + -0.5416368842124939, + 0.05806984752416611, + 0.8386044502258301, + -0.21772965161423935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7066060304641724, + -0.5129421949386597, + 0.48744046688079834, + 0.30211584168045147 + ], + [ + 0.45840588212013245, + 0.8565908074378967, + 0.23688878118991852, + 0.10118605164124778 + ], + [ + -0.5390472412109375, + 0.05605851113796234, + 0.8404079675674438, + -0.21774341534627112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7055343389511108, + -0.5136846899986267, + 0.48821038007736206, + 0.30673222447696485 + ], + [ + 0.4590679705142975, + 0.8561062812805176, + 0.2373577058315277, + 0.102254597685839 + ], + [ + -0.539887011051178, + 0.056657709181308746, + 0.8398285508155823, + -0.21244705664484126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6304056644439697, + -0.5233215093612671, + 0.5733440518379211, + 0.18705280129062501 + ], + [ + 0.4432392716407776, + 0.8490173816680908, + 0.2875908315181732, + 0.04667990362565769 + ], + [ + -0.6372814774513245, + 0.07282967120409012, + 0.7671819925308228, + -0.17307540719446382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.623478889465332, + -0.5025610327720642, + 0.5989211797714233, + 0.17844750849824204 + ], + [ + 0.4283827543258667, + 0.8604052066802979, + 0.27602726221084595, + 0.05402827306013358 + ], + [ + -0.6540354490280151, + 0.08447032421827316, + 0.7517329454421997, + -0.13240429272777154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.692449152469635, + -0.515053927898407, + 0.5052065253257751, + 0.2922722495308048 + ], + [ + 0.45391494035720825, + 0.8553050756454468, + 0.24982890486717224, + 0.08889857846263208 + ], + [ + -0.5607810616493225, + 0.056326963007450104, + 0.8260459303855896, + -0.19539925750148923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7024346590042114, + -0.5159513354301453, + 0.4902855157852173, + 0.315439510345459 + ], + [ + 0.4622131288051605, + 0.8545053601264954, + 0.2370224893093109, + 0.10583963990211487 + ], + [ + -0.5412436723709106, + 0.060123562812805176, + 0.8387135863304138, + -0.19993315935134887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7010699510574341, + -0.5140037536621094, + 0.4942682385444641, + 0.31490929758078173 + ], + [ + 0.4596215784549713, + 0.8556593060493469, + 0.23789751529693604, + 0.10848528013417595 + ], + [ + -0.5452054142951965, + 0.06039350479841232, + 0.8361241817474365, + -0.1924077487305591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6960209608078003, + -0.5207414031028748, + 0.4943513870239258, + 0.3209028212647689 + ], + [ + 0.46947816014289856, + 0.8509830832481384, + 0.23541045188903809, + 0.11072076723763817 + ], + [ + -0.5432726144790649, + 0.06823652237653732, + 0.8367787599563599, + -0.19111314243391941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6972241997718811, + -0.5184755325317383, + 0.4950369894504547, + 0.3194444923612632 + ], + [ + 0.4704066216945648, + 0.852001428604126, + 0.2298070639371872, + 0.11411785166710615 + ], + [ + -0.5409215092658997, + 0.07264159619808197, + 0.8379302620887756, + -0.1931011722668221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7007420659065247, + -0.5122458934783936, + 0.49655282497406006, + 0.32108439740381745 + ], + [ + 0.46397605538368225, + 0.8559435606002808, + 0.22822552919387817, + 0.11575244288695485 + ], + [ + -0.541928768157959, + 0.07046139240264893, + 0.8374654650688171, + -0.18831135175730052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7012858390808105, + -0.5165933966636658, + 0.49125295877456665, + 0.32367361913386145 + ], + [ + 0.4691143035888672, + 0.8532971143722534, + 0.22763106226921082, + 0.11691903030793918 + ], + [ + -0.5367774367332458, + 0.07081928849220276, + 0.8407465219497681, + -0.1920659931866746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.7049028873443604, + -0.5171411633491516, + 0.48546576499938965, + 0.327783202183874 + ], + [ + 0.46874839067459106, + 0.8533053994178772, + 0.22835247218608856, + 0.11586994079774932 + ], + [ + -0.5323410034179688, + 0.06659497320652008, + 0.8439065217971802, + -0.19413550025538395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.7034510374069214, + -0.5215265154838562, + 0.4828735291957855, + 0.3297425014604079 + ], + [ + 0.46564480662345886, + 0.8514518141746521, + 0.24125659465789795, + 0.10558799073884362 + ], + [ + -0.5369652509689331, + 0.05513530224561691, + 0.8418007493019104, + -0.18736522687893165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.7005684971809387, + -0.5174944996833801, + 0.49132809042930603, + 0.32021458172484446 + ], + [ + 0.4678799510002136, + 0.8529921770095825, + 0.2312850058078766, + 0.11378486627026609 + ], + [ + -0.5387877225875854, + 0.06785152107477188, + 0.839704692363739, + -0.18495407826022098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.70619797706604, + -0.5167732834815979, + 0.48397305607795715, + 0.32342599734271826 + ], + [ + 0.4635133445262909, + 0.854164183139801, + 0.2357095181941986, + 0.10951765303156878 + ], + [ + -0.535200834274292, + 0.05787036567926407, + 0.8427402973175049, + -0.1859862302478991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.7053415775299072, + -0.5109115839004517, + 0.4913884997367859, + 0.3136882635323625 + ], + [ + 0.4630224406719208, + 0.856951117515564, + 0.22637349367141724, + 0.11688468730763385 + ], + [ + -0.5367527604103088, + 0.06785324215888977, + 0.8410068154335022, + -0.1852040158290612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.7119850516319275, + -0.5083200335502625, + 0.48444610834121704, + 0.31489935042826755 + ], + [ + 0.4578325152397156, + 0.8591428995132446, + 0.22861087322235107, + 0.11455857157707214 + ], + [ + -0.5324159264564514, + 0.059027642011642456, + 0.8444223403930664, + -0.18629337564895027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.7145720720291138, + -0.50968337059021, + 0.47917598485946655, + 0.31475827850793536 + ], + [ + 0.45987576246261597, + 0.8584074378013611, + 0.22726856172084808, + 0.11450520432309101 + ], + [ + -0.5271632075309753, + 0.05796162784099579, + 0.8477849960327148, + -0.18949392924183292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.7195661664009094, + -0.5060887336730957, + 0.47549837827682495, + 0.31137868177733924 + ], + [ + 0.45179399847984314, + 0.8611865043640137, + 0.2328948676586151, + 0.10996157274042305 + ], + [ + -0.5273582339286804, + 0.04724404960870743, + 0.8483285307884216, + -0.187839766905496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.7255055904388428, + -0.5013484358787537, + 0.47147780656814575, + 0.30571736669854116 + ], + [ + 0.45057833194732666, + 0.8638554811477661, + 0.2252395898103714, + 0.11386329729698207 + ], + [ + -0.5202121734619141, + 0.04902510344982147, + 0.852628767490387, + -0.19516280254251078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.7274364233016968, + -0.49972307682037354, + 0.4702266752719879, + 0.299285389855504 + ], + [ + 0.4442753195762634, + 0.8652628064155579, + 0.2322491705417633, + 0.10679802139730829 + ], + [ + -0.5229299068450928, + 0.03996359556913376, + 0.8514382839202881, + -0.19224601889911452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.7286536693572998, + -0.4982719421386719, + 0.4698818027973175, + 0.2898909520946051 + ], + [ + 0.4420715570449829, + 0.8661899566650391, + 0.2329971194267273, + 0.10459837144926974 + ], + [ + -0.5231028199195862, + 0.037947170436382294, + 0.8514243364334106, + -0.19143955566381154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.7307535409927368, + -0.49414342641830444, + 0.4709794819355011, + 0.278057502229747 + ], + [ + 0.43856102228164673, + 0.8685547113418579, + 0.23081810772418976, + 0.10572070347047166 + ], + [ + -0.5231286883354187, + 0.03788207471370697, + 0.8514114022254944, + -0.19299124694968525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.7341200113296509, + -0.4901063144207001, + 0.4699612259864807, + 0.26823623768593136 + ], + [ + 0.43532487750053406, + 0.8708741664886475, + 0.22818945348262787, + 0.10653827702136416 + ], + [ + -0.5211141705513, + 0.03706739842891693, + 0.8526816368103027, + -0.19142485229592573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.735008955001831, + -0.48444947600364685, + 0.47441601753234863, + 0.255133256316185 + ], + [ + 0.4309946596622467, + 0.873934805393219, + 0.22468113899230957, + 0.10849703103303909 + ], + [ + -0.5234553217887878, + 0.039328090846538544, + 0.8511450290679932, + -0.18478138744831085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.7425163984298706, + -0.48451104760169983, + 0.46251314878463745, + 0.24023766768606086 + ], + [ + 0.4290448725223541, + 0.8742762804031372, + 0.2270716428756714, + 0.09868865969933961 + ], + [ + -0.5143829584121704, + 0.029834486544132233, + 0.8570414781570435, + -0.19838790046541316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.7706372141838074, + -0.47004398703575134, + 0.43032193183898926, + 0.2585402118532281 + ], + [ + 0.4160093367099762, + 0.8825839161872864, + 0.2190476357936859, + 0.105954595361101 + ], + [ + -0.4827572703361511, + 0.010211654007434845, + 0.8756946921348572, + -0.2249894054704591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.7728095054626465, + -0.46671777963638306, + 0.43004655838012695, + 0.25870064496994016 + ], + [ + 0.41932570934295654, + 0.8841539621353149, + 0.20600436627864838, + 0.11922483991243338 + ], + [ + -0.47637325525283813, + 0.02112741768360138, + 0.8789892792701721, + -0.2080111223616098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.7804538607597351, + -0.4630095958709717, + 0.4201355278491974, + 0.2527518721591485 + ], + [ + 0.41482144594192505, + 0.8862516283988953, + 0.20610970258712769, + 0.11622756260790323 + ], + [ + -0.4677765667438507, + 0.01342211663722992, + 0.8837448358535767, + -0.21030166972624628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.783412516117096, + -0.45389920473098755, + 0.4245472848415375, + 0.2333078443219787 + ], + [ + 0.40902382135391235, + 0.8908549547195435, + 0.1976788341999054, + 0.12189908757021553 + ], + [ + -0.46793630719184875, + 0.01878587156534195, + 0.8835625052452087, + -0.20401634746476224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.7882930040359497, + -0.44812509417533875, + 0.4216373562812805, + 0.2197313967896135 + ], + [ + 0.4036045968532562, + 0.8938250541687012, + 0.1953972578048706, + 0.12130061388015748 + ], + [ + -0.4644324779510498, + 0.01614445447921753, + 0.8854613900184631, + -0.20109474670730138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8005181550979614, + -0.44388347864151, + 0.40266385674476624, + 0.23022424417891002 + ], + [ + 0.39876091480255127, + 0.896073579788208, + 0.19504337012767792, + 0.11960313643671965 + ], + [ + -0.4473929703235626, + 0.004430860280990601, + 0.8943265080451965, + -0.20628541088417957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.7917172312736511, + -0.43485942482948303, + 0.4290468096733093, + 0.19459682753995844 + ], + [ + 0.39788469672203064, + 0.9000052213668823, + 0.1779842972755432, + 0.13133476843175135 + ], + [ + -0.46354252099990845, + 0.02979787439107895, + 0.8855735063552856, + -0.18095752463528986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8151552081108093, + -0.42993101477622986, + 0.38817697763442993, + 0.21941386696539428 + ], + [ + 0.38576188683509827, + 0.9028477072715759, + 0.18987837433815002, + 0.1181901509824552 + ], + [ + -0.43209928274154663, + -0.005036473274230957, + 0.901811957359314, + -0.2029197648951882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.820561408996582, + -0.42322832345962524, + 0.3841313123703003, + 0.21189724889240769 + ], + [ + 0.3796986937522888, + 0.9059905409812927, + 0.18710988759994507, + 0.11729043467264427 + ], + [ + -0.4272094964981079, + -0.007681019604206085, + 0.9041200280189514, + -0.1991826238992967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.827160656452179, + -0.4162408709526062, + 0.37755632400512695, + 0.20717523380329733 + ], + [ + 0.37398338317871094, + 0.9091972708702087, + 0.18302103877067566, + 0.1177756590670661 + ], + [ + -0.41945403814315796, + -0.010188020765781403, + 0.9077193737030029, + -0.19668566302249307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8328419327735901, + -0.4097776412963867, + 0.37209758162498474, + 0.20223705786231316 + ], + [ + 0.36858171224594116, + 0.9121019840240479, + 0.17949247360229492, + 0.11883374060455121 + ], + [ + -0.41294291615486145, + -0.012340493500232697, + 0.9106733202934265, + -0.19321918954190453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.838611900806427, + -0.40415653586387634, + 0.36522266268730164, + 0.19844311656136263 + ], + [ + 0.3633940517902374, + 0.9145456552505493, + 0.17762595415115356, + 0.11877804218154205 + ], + [ + -0.4058015048503876, + -0.016239523887634277, + 0.9138169884681702, + -0.19176244343581952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8444271087646484, + -0.39733707904815674, + 0.3592577576637268, + 0.19419050706844582 + ], + [ + 0.3558822274208069, + 0.9173950552940369, + 0.17814090847969055, + 0.11708284077283583 + ], + [ + -0.4003632664680481, + -0.022573575377464294, + 0.9160784482955933, + -0.19305171252865538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.849764883518219, + -0.392733097076416, + 0.3516537547111511, + 0.19179531108391912 + ], + [ + 0.3529582619667053, + 0.9193497896194458, + 0.1738288402557373, + 0.12002934711544137 + ], + [ + -0.3915611505508423, + -0.023594550788402557, + 0.9198495149612427, + -0.18918617540284208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.8546483516693115, + -0.38429921865463257, + 0.3491278886795044, + 0.1853523942200761 + ], + [ + 0.3426940441131592, + 0.9226746559143066, + 0.17672666907310486, + 0.11563013048940583 + ], + [ + -0.3900473713874817, + -0.03139510005712509, + 0.920259416103363, + -0.19391323073129904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8597441911697388, + -0.3775408864021301, + 0.3439517021179199, + 0.18142305722362118 + ], + [ + 0.3364899158477783, + 0.9253537654876709, + 0.1746281534433365, + 0.11478536442706459 + ], + [ + -0.38420623540878296, + -0.03439928591251373, + 0.9226062297821045, + -0.19485849110703718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8646875619888306, + -0.37034493684768677, + 0.33935239911079407, + 0.17659145517176703 + ], + [ + 0.3301492929458618, + 0.9281793236732483, + 0.1717109978199005, + 0.11437522786620416 + ], + [ + -0.3785721957683563, + -0.036439456045627594, + 0.9248542189598083, + -0.19604800849368698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8691304326057434, + -0.36383354663848877, + 0.3350185751914978, + 0.1707725629210472 + ], + [ + 0.3241749405860901, + 0.9306519627571106, + 0.16969838738441467, + 0.11362906470894814 + ], + [ + -0.3735276460647583, + -0.03888542205095291, + 0.9268036484718323, + -0.1978876069188118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.873528003692627, + -0.35741961002349854, + 0.3304542601108551, + 0.16529405852289575 + ], + [ + 0.3183661103248596, + 0.9330348968505859, + 0.16759741306304932, + 0.11368750663180101 + ], + [ + -0.3682279884815216, + -0.04119560122489929, + 0.92882239818573, + -0.19893955831464968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8780645132064819, + -0.3508320152759552, + 0.3254529535770416, + 0.16021581315680555 + ], + [ + 0.3122831881046295, + 0.9354058504104614, + 0.16581663489341736, + 0.11375113200200232 + ], + [ + -0.3626043498516083, + -0.0439642108976841, + 0.9309055805206299, + -0.19969673125367415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8825093507766724, + -0.344427227973938, + 0.3202299177646637, + 0.1553069494468601 + ], + [ + 0.30631494522094727, + 0.9376392960548401, + 0.16432791948318481, + 0.11379002054270945 + ], + [ + -0.3568591773509979, + -0.046929728239774704, + 0.932978630065918, + -0.2003949610810531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.886790931224823, + -0.33798882365226746, + 0.31522274017333984, + 0.1504612125848469 + ], + [ + 0.300291508436203, + 0.9398306608200073, + 0.1629212647676468, + 0.11391260237678101 + ], + [ + -0.35132157802581787, + -0.04981839656829834, + 0.9349284768104553, + -0.20027855642532047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8911631107330322, + -0.33143916726112366, + 0.3098006248474121, + 0.14612123323114296 + ], + [ + 0.2943502962589264, + 0.9420216679573059, + 0.1610996127128601, + 0.11431983258379133 + ], + [ + -0.34523361921310425, + -0.05237612873315811, + 0.9370541572570801, + -0.19985906230775935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8949630260467529, + -0.3251459300518036, + 0.3054853081703186, + 0.14164460450410843 + ], + [ + 0.2886522710323334, + 0.9441028237342834, + 0.15921582281589508, + 0.11438309087565071 + ], + [ + -0.3401779532432556, + -0.05431325361132622, + 0.9387912750244141, + -0.19868534489681844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8987240195274353, + -0.3191351294517517, + 0.3007456064224243, + 0.13798296192758963 + ], + [ + 0.28336966037750244, + 0.946054995059967, + 0.1571037322282791, + 0.11464381975759017 + ], + [ + -0.334659218788147, + -0.05597071722149849, + 0.9406755566596985, + -0.1967013981389372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9024629592895508, + -0.3131062984466553, + 0.2958463132381439, + 0.13541422803935252 + ], + [ + 0.27785009145736694, + 0.9479281902313232, + 0.15566477179527283, + 0.11463341795300183 + ], + [ + -0.32918068766593933, + -0.05828075855970383, + 0.942466676235199, + -0.19486183500603627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9055334329605103, + -0.3067973554134369, + 0.2930607199668884, + 0.13199659550660536 + ], + [ + 0.2721077501773834, + 0.9499197602272034, + 0.15365487337112427, + 0.11464188769459724 + ], + [ + -0.32552510499954224, + -0.05939554423093796, + 0.9436660408973694, + -0.19331805066842783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.909050464630127, + -0.3007713258266449, + 0.2883813977241516, + 0.13092141041630193 + ], + [ + 0.26709476113319397, + 0.9518061280250549, + 0.15074962377548218, + 0.11549694859667828 + ], + [ + -0.31982433795928955, + -0.06001388281583786, + 0.9455742835998535, + -0.19092152087311995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.911984920501709, + -0.2952769994735718, + 0.2847718894481659, + 0.12963925449079589 + ], + [ + 0.26238763332366943, + 0.9534888863563538, + 0.14836351573467255, + 0.11547719976423602 + ], + [ + -0.31533512473106384, + -0.06058468297123909, + 0.9470444917678833, + -0.1881777483381723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9149344563484192, + -0.2893524765968323, + 0.2813718020915985, + 0.1285969965159893 + ], + [ + 0.25733649730682373, + 0.9552890062332153, + 0.14560532569885254, + 0.11537260256315532 + ], + [ + -0.31092265248298645, + -0.060812100768089294, + 0.9484877586364746, + -0.18566515320225768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9177725315093994, + -0.2845602333545685, + 0.2769821286201477, + 0.12882366239240295 + ], + [ + 0.25344064831733704, + 0.9567061066627502, + 0.14311274886131287, + 0.11541819825376334 + ], + [ + -0.3057146668434143, + -0.06114642694592476, + 0.9501577019691467, + -0.1826451967029195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.919809877872467, + -0.27856481075286865, + 0.2763177156448364, + 0.12594714431386245 + ], + [ + 0.24788494408130646, + 0.95846027135849, + 0.1410922110080719, + 0.11437775296600242 + ], + [ + -0.30414289236068726, + -0.061283014714717865, + 0.9506531953811646, + -0.18165680013204877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9224017858505249, + -0.2735200822353363, + 0.2726934850215912, + 0.12559868150243633 + ], + [ + 0.2437637746334076, + 0.9599246382713318, + 0.13828910887241364, + 0.11343826378058446 + ], + [ + -0.29959002137184143, + -0.061085328459739685, + 0.9521104693412781, + -0.18063857888704854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9238014817237854, + -0.2670380175113678, + 0.2743748724460602, + 0.12124457739685711 + ], + [ + 0.23810602724552155, + 0.9618843793869019, + 0.1344766616821289, + 0.11275181527200498 + ], + [ + -0.29982730746269226, + -0.058899424970149994, + 0.9521735310554504, + -0.1801243075414708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9269278645515442, + -0.26325544714927673, + 0.2673971951007843, + 0.12298248259252624 + ], + [ + 0.23559096455574036, + 0.9629353880882263, + 0.13134820759296417, + 0.11183108898173821 + ], + [ + -0.2920643389225006, + -0.058753952383995056, + 0.9545922875404358, + -0.18057678988889642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9285373687744141, + -0.25822579860687256, + 0.26671677827835083, + 0.11998413581597178 + ], + [ + 0.23132503032684326, + 0.9643733501434326, + 0.12834639847278595, + 0.11126181142110574 + ], + [ + -0.2903568744659424, + -0.05747615918517113, + 0.9551907777786255, + -0.1808237361280542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9306685328483582, + -0.2542046904563904, + 0.26312747597694397, + 0.11927351765334607 + ], + [ + 0.22844937443733215, + 0.9655272364616394, + 0.124771848320961, + 0.11146897803992033 + ], + [ + -0.2857743203639984, + -0.0560099333524704, + 0.9566587209701538, + -0.18088170140981674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9325607419013977, + -0.2496175616979599, + 0.2608093321323395, + 0.11827677421663937 + ], + [ + 0.22491614520549774, + 0.9668216705322266, + 0.12111407518386841, + 0.11178282209132848 + ], + [ + -0.282388299703598, + -0.05428600683808327, + 0.9577629566192627, + -0.1804991009988283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9340623021125793, + -0.2461741864681244, + 0.2587004005908966, + 0.11677384249081738 + ], + [ + 0.22223544120788574, + 0.9677646160125732, + 0.11850358545780182, + 0.11062042547487899 + ], + [ + -0.27953359484672546, + -0.05319733917713165, + 0.9586610794067383, + -0.18174092079463758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9354463219642639, + -0.2420240193605423, + 0.2576131820678711, + 0.11533569552396473 + ], + [ + 0.2191012054681778, + 0.9689366817474365, + 0.11470118165016174, + 0.11034135732211564 + ], + [ + -0.27737128734588623, + -0.05085345730185509, + 0.9594160318374634, + -0.18203464464137428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9368312358856201, + -0.2383032739162445, + 0.25604453682899475, + 0.11366011384678515 + ], + [ + 0.21647104620933533, + 0.9699880480766296, + 0.11074045300483704, + 0.10897887931450417 + ], + [ + -0.2747499644756317, + -0.04831889271736145, + 0.960300862789154, + -0.18348356238321253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9385542273521423, + -0.23396188020706177, + 0.2537277042865753, + 0.11304457019034185 + ], + [ + 0.21356543898582458, + 0.9712091088294983, + 0.10555864870548248, + 0.10767358480707595 + ], + [ + -0.2711193859577179, + -0.04488503932952881, + 0.9614986181259155, + -0.18605956356776387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9398833513259888, + -0.2296581268310547, + 0.25273796916007996, + 0.11135242097079753 + ], + [ + 0.21073001623153687, + 0.9724205136299133, + 0.09995590150356293, + 0.10575416343972871 + ], + [ + -0.2687232792377472, + -0.04068741202354431, + 0.9623576998710632, + -0.1907058524065896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9399502873420715, + -0.2307678759098053, + 0.2514748275279999, + 0.11014343680519807 + ], + [ + 0.21362799406051636, + 0.9723976254463196, + 0.09384015947580338, + 0.1020693107459106 + ], + [ + -0.2661888301372528, + -0.03448302298784256, + 0.9633039236068726, + -0.19702645822575215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9377308487892151, + -0.2427201122045517, + 0.24849115312099457, + 0.10750317003970083 + ], + [ + 0.22903086245059967, + 0.9698697328567505, + 0.0830516591668129, + 0.0957961185639234 + ], + [ + -0.26116234064102173, + -0.020967965945601463, + 0.9650671482086182, + -0.20672546170259776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9403764009475708, + -0.23075002431869507, + 0.24989326298236847, + 0.11818975216071856 + ], + [ + 0.21805864572525024, + 0.9728351831436157, + 0.07773130387067795, + 0.09750984814018011 + ], + [ + -0.26104146242141724, + -0.01860530488193035, + 0.9651482701301575, + -0.1892504103089634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9412107467651367, + -0.22006924450397491, + 0.25630414485931396, + 0.10320311392608442 + ], + [ + 0.20896519720554352, + 0.9754047393798828, + 0.07013658434152603, + 0.09263058780741534 + ], + [ + -0.2654351592063904, + -0.012454666197299957, + 0.9640482664108276, + -0.20254089102933281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9433553218841553, + -0.21683743596076965, + 0.2511219382286072, + 0.09280583842804557 + ], + [ + 0.2066613733768463, + 0.9761471748352051, + 0.06654191017150879, + 0.08236855707670512 + ], + [ + -0.259560763835907, + -0.010875467211008072, + 0.9656655192375183, + -0.22338965315567821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9453468322753906, + -0.21196967363357544, + 0.2477663904428482, + 0.08942502604699448 + ], + [ + 0.20353031158447266, + 0.9772589206695557, + 0.059501711279153824, + 0.07708097971044481 + ], + [ + -0.2547444701194763, + -0.005821790546178818, + 0.9669908881187439, + -0.23032692643372638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9462596774101257, + -0.21004147827625275, + 0.24591703712940216, + 0.08662916776773177 + ], + [ + 0.20378150045871735, + 0.977690577507019, + 0.05093326419591904, + 0.07371325723238681 + ], + [ + -0.2511288821697235, + 0.001917244866490364, + 0.967951774597168, + -0.23528357336395664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.948069155216217, + -0.20971746742725372, + 0.23913072049617767, + 0.08958928009593173 + ], + [ + 0.20583896338939667, + 0.9777109026908875, + 0.04137275367975235, + 0.0708261310613077 + ], + [ + -0.24247731268405914, + 0.009998185560107231, + 0.9701055288314819, + -0.23955323625552027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9483022689819336, + -0.2067573219537735, + 0.24077832698822021, + 0.0832170620560646 + ], + [ + 0.20344235002994537, + 0.9783166646957397, + 0.03882946819067001, + 0.06357315596389143 + ], + [ + -0.2435857355594635, + 0.012162433005869389, + 0.9698030948638916, + -0.242946520918294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9496135711669922, + -0.19846345484256744, + 0.2425825297832489, + 0.07454007983599839 + ], + [ + 0.19880951941013336, + 0.9797608852386475, + 0.023309694603085518, + 0.06748720711023595 + ], + [ + -0.24229899048805237, + 0.02609250880777836, + 0.9698507189750671, + -0.24990642639367205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9511950016021729, + -0.19419731199741364, + 0.2398238480091095, + 0.07622864665953737 + ], + [ + 0.19596697390079498, + 0.9804685115814209, + 0.016685357317328453, + 0.06616436990321074 + ], + [ + -0.23837998509407043, + 0.03112652711570263, + 0.9706730246543884, + -0.24564127820102793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9529887437820435, + -0.18905577063560486, + 0.2367917150259018, + 0.07731863947487191 + ], + [ + 0.19241276383399963, + 0.9812721610069275, + 0.009071139618754387, + 0.06845910685553559 + ], + [ + -0.23407207429409027, + 0.036917053163051605, + 0.9715180993080139, + -0.23984684759848995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9534120559692383, + -0.18574461340904236, + 0.2377064973115921, + 0.07487605959177017 + ], + [ + 0.1888699233531952, + 0.9819535613059998, + 0.009767157956957817, + 0.06364713292568921 + ], + [ + -0.2352309376001358, + 0.03558347374200821, + 0.9712879061698914, + -0.23567043542861937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/tilt_down/transforms.json b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..bd6ca4e5377313260884fa5d669ff1a111dac59f --- /dev/null +++ b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/tilt_down/transforms.json @@ -0,0 +1,5368 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 153, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 7.486010872526094e-05, + 0.0002196452987845987, + -0.0002654411073308438 + ], + [ + -7.484106026822701e-05, + 1.0, + -8.672619151184335e-05, + 0.0001142723995144479 + ], + [ + -0.00021965178893879056, + 8.67097478476353e-05, + 1.0, + 0.00021108951477799565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999338388442993, + -0.00942078200966883, + 0.006600966645280223, + 0.011821315623819828 + ], + [ + 0.00942306313663721, + 0.9999555335758906, + -0.0003146812927071368, + 0.0007956356275826693 + ], + [ + -0.006597708910703659, + 0.00037686172751498313, + 0.9999781712625074, + -6.51256341370754e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997265338897705, + -0.019158710513630727, + 0.013409618566597708, + 0.02310589700937271 + ], + [ + 0.019168775528669357, + 0.9998160895732768, + -0.0006224458541759701, + 0.000752170686610043 + ], + [ + -0.013395227491855621, + 0.0008793219995903364, + 0.9999098986379604, + -0.0016613700427114964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993758797645569, + -0.02902578751564119, + 0.02013301721715487, + 0.0343158021569252 + ], + [ + 0.02905130200088024, + 0.9995774315576974, + -0.0009759814228462003, + 0.00046233634930104017 + ], + [ + -0.020096182823181152, + 0.0015602626542568956, + 0.9997968183690457, + -0.0012266088742762804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9989352822303772, + -0.03725507986182089, + 0.02720996099105489, + 0.044202450662851334 + ], + [ + 0.03730567544698715, + 0.9993030072529241, + -0.0013541469789981758, + 0.00015160873590502888 + ], + [ + -0.027140546590089798, + 0.0023677906673107004, + 0.9996288236301143, + -0.002147817285731435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9983547329902649, + -0.04599496782251778, + 0.034238732289138214, + 0.05370154604315758 + ], + [ + 0.04611467197537422, + 0.9989324579947081, + -0.002714252326419832, + 0.0009391157072968781 + ], + [ + -0.034077342599630356, + 0.004288695048912158, + 0.9994099969103328, + -0.0014555385569110513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9977129697799685, + -0.054310868334028733, + 0.040238904717787315, + 0.06318772584199905 + ], + [ + 0.0544438846409321, + 0.9985143424743672, + -0.002216439136925326, + -5.33743150299415e-06 + ], + [ + -0.04005875065922738, + 0.004402132808184129, + 0.9991876096910289, + -0.00208346638828516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9970232248306274, + -0.06200202679101278, + 0.04583086928504712, + 0.07245003432035446 + ], + [ + 0.06219964101910591, + 0.998059509264229, + -0.0028969982277001313, + 0.0007587092113681138 + ], + [ + -0.04556231573224068, + 0.005739037039530295, + 0.9989449923029854, + -0.001522274687886238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.996251106262207, + -0.0694417252430226, + 0.05159033169336368, + 0.08023346215486526 + ], + [ + 0.06967084854841232, + 0.9975664783096475, + -0.002654097980363599, + 0.0012125890934839845 + ], + [ + -0.05128047987818718, + 0.006238490078290727, + 0.9986648329798625, + -0.0006971476832404733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9954705834388735, + -0.07617964582612263, + 0.05687702973377032, + 0.08753497898578644 + ], + [ + 0.07648171484470369, + 0.9970660164379382, + -0.0031500003457524146, + 0.002469081664457917 + ], + [ + -0.05647018924355508, + 0.007485784747145386, + 0.9983761978089345, + 0.0013058432377874851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.994618892669678, + -0.08306442477187059, + 0.06191534195162949, + 0.09410640597343445 + ], + [ + 0.08339744061231615, + 0.9965123838755269, + -0.0028092626602527404, + 0.002892349846661091 + ], + [ + -0.061466056853532805, + 0.007957726859748635, + 0.9980774555745471, + 0.004125906154513359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9937976002693176, + -0.0893581557251634, + 0.06619249333867283, + 0.10021951049566269 + ], + [ + 0.08970342576503754, + 0.9959659652174878, + -0.0022566619238004195, + 0.003041745163500309 + ], + [ + -0.06572382152080536, + 0.008180359699895114, + 0.9978043117441282, + 0.005592068191617727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9929464459419253, + -0.09526924417122651, + 0.07057678865916084, + 0.10495393723249435 + ], + [ + 0.09565320611000064, + 0.9954125698533989, + -0.0020730648936815137, + 0.003919542767107487 + ], + [ + -0.07005552202463151, + 0.008809338198887408, + 0.9975041673856632, + 0.007595143746584654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9920786023139956, + -0.10097691591670117, + 0.07472423522169376, + 0.10875466465950012 + ], + [ + 0.10140794515609744, + 0.9948429549332934, + -0.001987143795431272, + 0.004940183367580175 + ], + [ + -0.07413821667432786, + 0.009549034405527726, + 0.9972022462875081, + 0.009131114929914474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9912728071212769, + -0.10611957254168829, + 0.07821018171854122, + 0.11202596873044968 + ], + [ + 0.10652104020118713, + 0.9943099516586932, + -0.0009674183185804789, + 0.005076903849840164 + ], + [ + -0.07766249775886536, + 0.009290002360885476, + 0.9969363940226713, + 0.008174450136721134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9904168248176575, + -0.11134844772462466, + 0.08170712962027982, + 0.11429312825202942 + ], + [ + 0.11181765794754028, + 0.9937280410387648, + -0.0011750416391242973, + 0.006895174738019705 + ], + [ + -0.08106382191181183, + 0.010300080019860682, + 0.9966557123431677, + 0.007169403601437807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9896203279495241, + -0.11611931584534693, + 0.08466341861396398, + 0.11661750823259354 + ], + [ + 0.11657829582691195, + 0.9931814111681575, + -0.00048088719430529965, + 0.00777662917971611 + ], + [ + -0.08403029292821886, + 0.010345814897068546, + 0.9964094779118117, + 0.004945794120430946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9887679815292358, + -0.12080816767735986, + 0.08799592919246549, + 0.11805124580860138 + ], + [ + 0.12130987644195557, + 0.992614644692753, + -0.00035653478105664437, + 0.009855330921709538 + ], + [ + -0.08730296790599823, + 0.011027302748453949, + 0.9961207910286245, + 0.0015390765620395541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9880070090293884, + -0.12518791832085865, + 0.0903889812145776, + 0.12084206193685532 + ], + [ + 0.1257130205631256, + 0.9920666270798841, + -0.00011712516424931371, + 0.01191176287829876 + ], + [ + -0.08965722471475601, + 0.011478792847882866, + 0.9959065150930994, + -0.003170100972056389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9871285557746887, + -0.1295997880688936, + 0.09370775529254052, + 0.12307471036911011 + ], + [ + 0.13012224435806274, + 0.9914978387411423, + 0.0005391435560750431, + 0.014002720825374126 + ], + [ + -0.09298091381788254, + 0.011661256327101988, + 0.9955995963247036, + -0.009000255726277828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9863113164901736, + -0.13400411181103136, + 0.09608767129630931, + 0.12665504217147827 + ], + [ + 0.13450668752193454, + 0.9909118588752032, + 0.0012570123907672034, + 0.017136087641119957 + ], + [ + -0.09538286179304126, + 0.011684623394809697, + 0.9953720904265799, + -0.017992248758673668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9854454398155215, + -0.1381250949899226, + 0.0990893431380479, + 0.1301891803741455 + ], + [ + 0.13864803314208987, + 0.9903403942235578, + 0.0016226372065868203, + 0.02222551964223385 + ], + [ + -0.0983562991023064, + 0.012139522402488988, + 0.9950771988327184, + -0.02899676188826561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.984514594078064, + -0.1419729359768136, + 0.10283335258639335, + 0.13283680379390717 + ], + [ + 0.14246487617492676, + 0.9897965028512166, + 0.0025824972952548965, + 0.028499435633420944 + ], + [ + -0.10215073823928833, + 0.012107627916404478, + 0.9946952658416593, + -0.04098907858133316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9835415482521057, + -0.14557946167884558, + 0.10701692317499804, + 0.13554413616657257 + ], + [ + 0.146053284406662, + 0.9892707629645264, + 0.003438985987037641, + 0.03697828948497772 + ], + [ + -0.10636936128139496, + 0.012247785142480974, + 0.994251240986214, + -0.054117634892463684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9825727343559267, + -0.1493677625512361, + 0.11063502653701238, + 0.1392284333705902 + ], + [ + 0.1496468633413315, + 0.9887223443620476, + 0.005823924219200675, + 0.04498380422592163 + ], + [ + -0.11025723814964297, + 0.01083375062727328, + 0.9938440206251494, + -0.06701295077800751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9815168976783752, + -0.15341573499213232, + 0.11440386331506204, + 0.14315398037433624 + ], + [ + 0.15355730056762695, + 0.9881102849942127, + 0.007627130195207563, + 0.054915234446525574 + ], + [ + -0.11421375721693039, + 0.01008139157730582, + 0.9934050390984667, + -0.07957980781793594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9804078340530396, + -0.15744325592731478, + 0.11837296541044422, + 0.14725185930728912 + ], + [ + 0.1573057770729065, + 0.9874934443197653, + 0.010562935709002698, + 0.06458217650651932 + ], + [ + -0.11855559796094894, + 0.008264762876948202, + 0.9929130465473965, + -0.0921507328748703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9792719483375549, + -0.16103356169065083, + 0.12286043407465581, + 0.15159521996974945 + ], + [ + 0.1605307012796402, + 0.9869308758415556, + 0.014046840311430832, + 0.07503894716501236 + ], + [ + -0.12351676821708679, + 0.005967193126232462, + 0.9923245150522444, + -0.1026473417878151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9778348803520205, + -0.16650784764815513, + 0.1269411363380893, + 0.15775015950202942 + ], + [ + 0.165542408823967, + 0.9860348521905123, + 0.01819272994388238, + 0.08607316017150879 + ], + [ + -0.1281976252794266, + 0.0032246506487964145, + 0.9917433957643741, + -0.11325498670339584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9764490723609924, + -0.17024453873816636, + 0.132529410649969, + 0.1626487374305725 + ], + [ + 0.16890498995780945, + 0.9854006826993675, + 0.02136868661715005, + 0.09898416697978973 + ], + [ + -0.13423247635364532, + 0.0015194443285850756, + 0.9909487020165514, + -0.12339235097169876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9747384190559387, + -0.17601626456286731, + 0.13748921375988568, + 0.16872014105319977 + ], + [ + 0.17388007044792175, + 0.9843829915846072, + 0.027491785379683005, + 0.10951558500528336 + ], + [ + -0.1401810497045517, + -0.002890667484375318, + 0.9901216421493403, + -0.13579361140727997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9727408289909365, + -0.18213907883581595, + 0.1435290345880398, + 0.17368267476558685 + ], + [ + 0.1792605817317963, + 0.983253071827173, + 0.0328484505584897, + 0.12131074070930481 + ], + [ + -0.1471083462238312, + -0.006223929418016959, + 0.9891007932286813, + -0.14700846374034882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9704703688621521, + -0.18862941286995275, + 0.15035354856649857, + 0.17780724167823792 + ], + [ + 0.18495769798755646, + 0.9820049278792046, + 0.03817026899969665, + 0.13326042890548706 + ], + [ + -0.15484794974327087, + -0.0092340684681736, + 0.9878951454476805, + -0.15786133706569672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9679154753684998, + -0.195329397181872, + 0.1580698994797954, + 0.1819501519203186 + ], + [ + 0.1904001086950302, + 0.9806330164911958, + 0.04589899741219839, + 0.14227786660194397 + ], + [ + -0.16397398710250854, + -0.014329829102792234, + 0.9863605947230211, + -0.16838563978672028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9535432457923889, + -0.2219508391633815, + 0.2036986920239191, + 0.11822235584259033 + ], + [ + 0.2042618691921234, + 0.9733363958961332, + 0.10437137503766677, + 0.08016420155763626 + ], + [ + -0.2214326560497284, + -0.057914747227280704, + 0.9734544150623876, + -0.20551393926143646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9606420993804934, + -0.2125732957912173, + 0.1788277047326288, + 0.18365386128425598 + ], + [ + 0.19954980909824377, + 0.9759175204526225, + 0.08811856674924692, + 0.1268988996744156 + ], + [ + -0.19325275719165808, + -0.048965371284664036, + 0.9799263991799811, + -0.23122483491897583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9576839208602905, + -0.22554442282116471, + 0.17880511595735163, + 0.20774134993553162 + ], + [ + 0.21720202267169952, + 0.9739470117961868, + 0.06519622839505283, + 0.1740667074918747 + ], + [ + -0.18885134160518646, + -0.02360054701959244, + 0.9817220698115988, + -0.1962587535381317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.952888548374176, + -0.23372061071659272, + 0.19333404766095497, + 0.2130538672208786 + ], + [ + 0.22392362356185913, + 0.9719894638160859, + 0.07137757852457811, + 0.1832401603460312 + ], + [ + -0.20460106432437897, + -0.024722822114959048, + 0.9785331568092785, + -0.20344260334968567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9271285533905029, + -0.2675828802932045, + 0.262358711708548, + 0.12131927162408829 + ], + [ + 0.23404096066951752, + 0.9602257223673906, + 0.15228732945138512, + 0.08614758402109146 + ], + [ + -0.2926730811595917, + -0.07978723929829203, + 0.952877967761954, + -0.24970190227031708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9124606847763064, + -0.30864815760990905, + 0.26861081915819035, + 0.13158051669597626 + ], + [ + 0.27481245994567877, + 0.9486686455447978, + 0.15654355178680004, + 0.09224430471658707 + ], + [ + -0.30313956737518316, + -0.06902225765054579, + 0.9504432678278871, + -0.22583706676959991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9027099013328552, + -0.3209437242721946, + 0.286548250780902, + 0.13676175475120544 + ], + [ + 0.2835652828216553, + 0.9446907362977643, + 0.1647728621841785, + 0.09447835385799408 + ], + [ + -0.32358232140541077, + -0.0674869547187058, + 0.9437902313500435, + -0.22945310175418854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8812745213508606, + -0.3377849912224736, + 0.33053974578410034, + 0.12483174353837967 + ], + [ + 0.2914339303970337, + 0.9390059286030603, + 0.1825764951976603, + 0.09040729701519012 + ], + [ + -0.37205037474632263, + -0.06456951754832523, + 0.9259640104786624, + -0.23217231035232544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8721312284469604, + -0.35186589522996764, + 0.33996696521760095, + 0.13744696974754333 + ], + [ + 0.3030738830566406, + 0.9339967722589484, + 0.18919898676976657, + 0.09357628226280212 + ], + [ + -0.38410070538520813, + -0.06197124272147636, + 0.9212091016154678, + -0.2364560067653656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.864270031452179, + -0.3653554668130637, + 0.3457639039624614, + 0.15354719758033752 + ], + [ + 0.3148517310619354, + 0.9289752840044356, + 0.19461053283068067, + 0.09712789952754974 + ], + [ + -0.39230814576148987, + -0.059331694662641835, + 0.9179183471988765, + -0.2403598129749298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.855633020401001, + -0.37884188492362386, + 0.35266268799960854, + 0.16908934712409973 + ], + [ + 0.3258659243583679, + 0.9236678718187612, + 0.20161604338905467, + 0.09971480071544647 + ], + [ + -0.4021237790584564, + -0.05758860700995185, + 0.913772441729562, + -0.24380061030387878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8466073870658875, + -0.3919604622559293, + 0.3600319296233982, + 0.1841161698102951 + ], + [ + 0.3370571434497833, + 0.9183894527624115, + 0.2072518543023339, + 0.1030302569270134 + ], + [ + -0.411884069442749, + -0.05410961659715573, + 0.9096283226453108, + -0.247505784034729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8381093740463259, + -0.4044243128360176, + 0.3660787974131469, + 0.19844238460063934 + ], + [ + 0.3481265008449555, + 0.9131978960476753, + 0.21184332936798705, + 0.10690587759017944 + ], + [ + -0.41997697949409496, + -0.05010617106133683, + 0.9061505073144116, + -0.25133177638053894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8278724551200867, + -0.4176661357106729, + 0.37440920107810355, + 0.20868928730487823 + ], + [ + 0.35846996307373047, + 0.907355464355068, + 0.21955718527193574, + 0.10843333601951599 + ], + [ + -0.4314238429069519, + -0.047550892708125854, + 0.9008953162142611, + -0.25489985942840576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8132416605949402, + -0.4335906763066412, + 0.3881200532050354, + 0.21207892894744873 + ], + [ + 0.36699265241622925, + 0.8997419682660543, + 0.2361795365124272, + 0.10430467128753662 + ], + [ + -0.4516131579875946, + -0.04963383957252913, + 0.8908322341865844, + -0.2599865794181824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.800495445728302, + -0.44693146504800263, + 0.3993235839649358, + 0.21745067834854126 + ], + [ + 0.3771609365940094, + 0.8934539173409279, + 0.24390511016109986, + 0.10590384155511856 + ], + [ + -0.46578606963157654, + -0.04463568596466789, + 0.8837709057079612, + -0.2623228132724762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7912006378173828, + -0.45830082504089703, + 0.4049221539783923, + 0.2230232059955597 + ], + [ + 0.3861995339393616, + 0.8878225721967773, + 0.25024190621250586, + 0.10826042294502258 + ], + [ + -0.4741850793361664, + -0.041610814981721304, + 0.8794413037301192, + -0.26601481437683105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7883719205856323, + -0.4682228811942091, + 0.3990451982435951, + 0.22540321946144104 + ], + [ + 0.39451298117637634, + 0.8824920121663338, + 0.2560612201985014, + 0.10748369991779327 + ], + [ + -0.47204792499542236, + -0.04444292859462682, + 0.8804518844094807, + -0.2796846330165863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7732312679290771, + -0.47926009009911813, + 0.4152387713873877, + 0.2174239456653595 + ], + [ + 0.3983771502971649, + 0.8766044883844608, + 0.26992638452491513, + 0.1015385165810585 + ], + [ + -0.4933651089668274, + -0.04329389382653387, + 0.8687441951254936, + -0.28014692664146423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.762651801109314, + -0.48926971424317306, + 0.4230572153780029, + 0.22007116675376892 + ], + [ + 0.4064124822616577, + 0.8713121364757156, + 0.2750346910215215, + 0.10421906411647797 + ], + [ + -0.5031810402870178, + -0.03781996448162686, + 0.8633530814498247, + -0.27625954151153564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7619649171829226, + -0.4940983849333065, + 0.41866009135816756, + 0.23430222272872925 + ], + [ + 0.4107119441032411, + 0.8685082075385845, + 0.27750539409934194, + 0.11038193106651306 + ], + [ + -0.5007246732711793, + -0.039500691132929186, + 0.8647048885165425, + -0.27765560150146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7553388476371765, + -0.49967804010078637, + 0.42401071392853834, + 0.23480463027954102 + ], + [ + 0.41277989745140076, + 0.8652972085416021, + 0.284382706147554, + 0.1104709729552269 + ], + [ + -0.5089950561523438, + -0.03978221364821252, + 0.8598496534096376, + -0.27805477380752563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7476083040237427, + -0.5072676275413854, + 0.4286741586188318, + 0.23683813214302063 + ], + [ + 0.41872766613960266, + 0.8610246023133197, + 0.2886240077382826, + 0.11153404414653778 + ], + [ + -0.5155085921287537, + -0.036280013029211855, + 0.856116050070877, + -0.2767796814441681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7409449815750122, + -0.513682154095995, + 0.4325866565723065, + 0.2378537505865097 + ], + [ + 0.42371925711631775, + 0.85733478652995, + 0.292299626724583, + 0.11171302199363708 + ], + [ + -0.5210207104682922, + -0.03328264375300154, + 0.8528948972952857, + -0.2762657403945923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7370342016220093, + -0.5168967634475328, + 0.43542891014402607, + 0.2396860122680664 + ], + [ + 0.42591890692710876, + 0.8554621696100553, + 0.2945803496913518, + 0.11357267200946808 + ], + [ + -0.5247606039047241, + -0.03165840926992395, + 0.8506610113655695, + -0.27555471658706665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.733278751373291, + -0.5224003305062688, + 0.43520136052726444, + 0.24283260107040405 + ], + [ + 0.43025994300842285, + 0.8521292461375425, + 0.29791301816454674, + 0.1133243590593338 + ], + [ + -0.5264776945114136, + -0.031203604418735587, + 0.8496161425928118, + -0.27632519602775574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7299193739891052, + -0.5269436846006958, + 0.4353712753037305, + 0.2458227574825287 + ], + [ + 0.43289369344711304, + 0.8492944140482195, + 0.30216238887189917, + 0.1117095872759819 + ], + [ + -0.5289809107780457, + -0.0320847241402471, + 0.8480269904589997, + -0.27529066801071167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7269030809402466, + -0.5325886849775617, + 0.4335450691119409, + 0.25001391768455505 + ], + [ + 0.4368501901626587, + 0.8457155906056859, + 0.30647524356663036, + 0.10901384055614471 + ], + [ + -0.5298810601234436, + -0.03338357266713022, + 0.8474146642234139, + -0.2752869725227356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7242805361747742, + -0.5372185351332754, + 0.4322198025032906, + 0.2530765235424042 + ], + [ + 0.4403545558452606, + 0.8427617892285544, + 0.30958099964952573, + 0.10764682292938232 + ], + [ + -0.5305709838867188, + -0.03389354428446423, + 0.8469625984711425, + -0.2746416926383972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7222667932510376, + -0.5406335270553009, + 0.4313305939049468, + 0.2568269371986389 + ], + [ + 0.4425734877586365, + 0.8405392220326423, + 0.3124461069685799, + 0.1068543866276741 + ], + [ + -0.5314691066741943, + -0.034773988354812324, + 0.8463636307696975, + -0.27240392565727234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7200033068656922, + -0.5442162115049336, + 0.43060887701695727, + 0.2601013779640198 + ], + [ + 0.44539988040924083, + 0.8382251180442499, + 0.3146389046121547, + 0.10653837025165558 + ], + [ + -0.5321787595748902, + -0.03474793692398431, + 0.8459186497108632, + -0.2703864574432373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7186486721038818, + -0.5467709745067744, + 0.42963422869580264, + 0.2633276581764221 + ], + [ + 0.4471587836742401, + 0.8365318002182399, + 0.31664425291901527, + 0.1062699407339096 + ], + [ + -0.5325345993041992, + -0.03544127761088693, + 0.8456659236479072, + -0.2685992419719696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7161622643470765, + -0.5495964620275632, + 0.4301805576129378, + 0.2658412754535675 + ], + [ + 0.4491681456565858, + 0.8346980486554105, + 0.31863326567599626, + 0.10572203248739243 + ], + [ + -0.534190595149994, + -0.0349697022041385, + 0.8446404714614311, + -0.26549670100212097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7124788761138916, + -0.5548517550408512, + 0.4295502968873349, + 0.268365740776062 + ], + [ + 0.4538414478302002, + 0.8312646848474738, + 0.32097811291979733, + 0.10433481633663177 + ], + [ + -0.5351652503013611, + -0.033742395005682074, + 0.8440732209290422, + -0.2629320025444031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7072316408157349, + -0.5600561347349848, + 0.4314632560069723, + 0.26862066984176636 + ], + [ + 0.46034589409828186, + 0.8279873512756022, + 0.3201852738953406, + 0.10638939589262009 + ], + [ + -0.5365678668022156, + -0.02782282518689591, + 0.843398401279898, + -0.2601923942565918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7088268995285034, + -0.5564355060879141, + 0.4335250968332295, + 0.2669178247451782 + ], + [ + 0.44815048575401306, + 0.8298622905880297, + 0.3323999308343751, + 0.0991496816277504 + ], + [ + -0.544725239276886, + -0.0413295362309012, + 0.837595501509503, + -0.25056102871894836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7064495086669922, + -0.5646527432078742, + 0.4267276623018498, + 0.2716655731201172 + ], + [ + 0.45558616518974304, + 0.8241965304022482, + 0.33636496532207155, + 0.09217792004346848 + ], + [ + -0.5416368842124939, + -0.04321369476343467, + 0.8395011064405689, + -0.2563495934009552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7066060304641724, + -0.5685712224277019, + 0.42122994804326225, + 0.2793472409248352 + ], + [ + 0.45840588212013245, + 0.8212974392221208, + 0.3396095145427167, + 0.09012085199356079 + ], + [ + -0.5390472412109375, + -0.04687587181261955, + 0.8409701310175373, + -0.25699931383132935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7055343389511108, + -0.5701279159062587, + 0.4209221964433018, + 0.28360646963119507 + ], + [ + 0.4590679705142975, + 0.8201724821704516, + 0.3414289748336, + 0.09101133793592453 + ], + [ + -0.539887011051178, + -0.04765799244413317, + 0.8403872955553706, + -0.25222840905189514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6304056644439698, + -0.5910886955678658, + 0.503192764166933, + 0.15951719880104065 + ], + [ + 0.4432392716407777, + 0.8062509469617244, + 0.3917887329558852, + 0.032867975533008575 + ], + [ + -0.6372814774513246, + -0.023951079077109867, + 0.7702588632935693, + -0.20992033183574677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.623478889465332, + -0.5746135324969438, + 0.5301824775594731, + 0.14928950369358063 + ], + [ + 0.4283827543258667, + 0.818340249528888, + 0.38315454475600125, + 0.04059010371565819 + ], + [ + -0.6540354490280151, + -0.01176774731134461, + 0.756372379889669, + -0.16900181770324707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.692449152469635, + -0.5758424849941933, + 0.4346488402734245, + 0.26734429597854614 + ], + [ + 0.45391494035720825, + 0.8159962961990976, + 0.3579263872940199, + 0.0765714943408966 + ], + [ + -0.5607810616493225, + -0.05055223214408527, + 0.8264194320643045, + -0.2361581027507782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7024346590042115, + -0.5755324017072613, + 0.41874589204671453, + 0.2909252345561981 + ], + [ + 0.46221312880516063, + 0.816257305313729, + 0.3465300599446806, + 0.09398851543664932 + ], + [ + -0.5412436723709108, + -0.04986489338869124, + 0.8393859750483472, + -0.24186883866786957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7010699510574342, + -0.5748489513425498, + 0.42195927949620526, + 0.2898707091808319 + ], + [ + 0.4596215784549714, + 0.8166873486187329, + 0.34895537024010725, + 0.09643389284610748 + ], + [ + -0.5452054142951966, + -0.05070056935564463, + 0.8367678740198322, + -0.23476403951644897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6960209608078004, + -0.582262941786448, + 0.4201485087206922, + 0.29553478956222534 + ], + [ + 0.46947816014289867, + 0.8117841411760987, + 0.3472704953895355, + 0.09864049404859543 + ], + [ + -0.543272614479065, + -0.04445704036360835, + 0.8383784871179936, + -0.2340531051158905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6972241997718811, + -0.5808337991797813, + 0.42013164185600305, + 0.29371559619903564 + ], + [ + 0.4704066216945648, + 0.8129538285531318, + 0.3432547066242608, + 0.10217393189668655 + ], + [ + -0.5409215092658997, + -0.041692806581567814, + 0.840039067842515, + -0.2366514950990677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7007420659065248, + -0.5755941674101874, + 0.42148774337882067, + 0.29495003819465637 + ], + [ + 0.46397605538368236, + 0.8164834115580692, + 0.34362932028482246, + 0.10374057292938232 + ], + [ + -0.5419287681579591, + -0.045235295888116936, + 0.8392061612072239, + -0.2323884814977646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7012858390808105, + -0.5798875356236324, + 0.4146428017096403, + 0.2974950075149536 + ], + [ + 0.4691143035888672, + 0.8133522786206581, + 0.3440783875345953, + 0.10478869080543518 + ], + [ + -0.5367774367332458, + -0.046782489880687665, + 0.8424259518994752, + -0.2368689328432083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.7049028873443604, + -0.5803285204785807, + 0.4078367322050554, + 0.3015936017036438 + ], + [ + 0.46874839067459106, + 0.8126650975477406, + 0.3461941586117864, + 0.10355092585086823 + ], + [ + -0.5323410034179688, + -0.05286045507767676, + 0.8448780268637436, + -0.2396620362997055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.7034510374069214, + -0.5850014052409859, + 0.4036460174667872, + 0.3033750653266907 + ], + [ + 0.46564480662345886, + 0.8083944948346972, + 0.3601017592961556, + 0.09241411089897156 + ], + [ + -0.5369652509689331, + -0.06535832728481479, + 0.8410687796687644, + -0.23333197832107544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.7005684971809387, + -0.5829248035556153, + 0.41158537759146363, + 0.2930622398853302 + ], + [ + 0.4678799510002136, + 0.8107349870818094, + 0.3518482466526655, + 0.10100332647562027 + ], + [ + -0.5387877225875854, + -0.05392129527843502, + 0.8407141566580985, + -0.23135881125926971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.7061979770660402, + -0.5818463957627887, + 0.4034096147436769, + 0.2963617146015167 + ], + [ + 0.463513344526291, + 0.8106418010606021, + 0.3577922569025889, + 0.09633652865886688 + ], + [ + -0.5352008342742921, + -0.06568644242112384, + 0.8421671325982183, + -0.2331131547689438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.7053415775299072, + -0.5778372261416771, + 0.41060619128567677, + 0.2858860194683075 + ], + [ + 0.4630224406719208, + 0.8141585989530198, + 0.350365455202183, + 0.10407671332359314 + ], + [ + -0.5367527604103088, + -0.057007469944056734, + 0.8418115433086263, + -0.23278729617595673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.7119850516319275, + -0.5749446736032282, + 0.4031326217149483, + 0.2871711850166321 + ], + [ + 0.4578325152397156, + 0.8153871473394492, + 0.35430672177245853, + 0.1014736071228981 + ], + [ + -0.5324159264564514, + -0.06769388104064207, + 0.8437718233894834, + -0.234625443816185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.7145720720291138, + -0.5761901412943574, + 0.3967262076009417, + 0.28701651096343994 + ], + [ + 0.45987576246261597, + 0.8142513363602667, + 0.35427262052673586, + 0.10134755074977875 + ], + [ + -0.5271632075309753, + -0.07070857736395367, + 0.846817127181149, + -0.23857621848583221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.7195661664009094, + -0.5727585704701942, + 0.39264759523988907, + 0.28353700041770935 + ], + [ + 0.45179399847984314, + 0.8155273364592821, + 0.36165920169140214, + 0.09632496535778046 + ], + [ + -0.5273582339286804, + -0.08284189620771995, + 0.8455947709191333, + -0.23751163482666016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.7255055904388428, + -0.5681297962142845, + 0.3884200186626564, + 0.27780091762542725 + ], + [ + 0.45057833194732666, + 0.8187221120867866, + 0.35591188278439684, + 0.10052674263715744 + ], + [ + -0.5202121734619141, + -0.08320242205450414, + 0.8499744895493666, + -0.2456474006175995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.7274364233016968, + -0.5669972239528163, + 0.3864588305032871, + 0.2711336612701416 + ], + [ + 0.4442753195762634, + 0.8184038074993167, + 0.3644648258118819, + 0.09289363026618958 + ], + [ + -0.5229299068450928, + -0.09343086955856991, + 0.8472395841256875, + -0.2432202845811844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.7286536693572998, + -0.5661746316536918, + 0.3853701122226627, + 0.26145073771476746 + ], + [ + 0.4420715570449829, + 0.8185723646566617, + 0.36675875246398165, + 0.09049591422080994 + ], + [ + -0.5231028199195862, + -0.09687894776220503, + 0.8467454504723894, + -0.24297313392162323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.7307535409927368, + -0.5629369495307283, + 0.38613649028509806, + 0.24924099445343018 + ], + [ + 0.43856102228164673, + 0.8206214843182428, + 0.3663941387670359, + 0.091598279774189 + ], + [ + -0.5231286883354187, + -0.09839940701278847, + 0.8465541826272723, + -0.24508418142795563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.7341200113296509, + -0.5594527269014131, + 0.38481216161697773, + 0.23917284607887268 + ], + [ + 0.43532487750053406, + 0.8227020537438069, + 0.36558661258820635, + 0.09242656081914902 + ], + [ + -0.5211141705513, + -0.10086611399527422, + 0.8475057479612026, + -0.24415647983551025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.735008955001831, + -0.5552590669929193, + 0.38916477360318036, + 0.2254822552204132 + ], + [ + 0.4309946596622467, + 0.8256624079191284, + 0.3640401714725343, + 0.09445445984601974 + ], + [ + -0.5234553217887878, + -0.09984487384011609, + 0.8461829355432783, + -0.23797795176506042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.7425163984298706, + -0.5540301106490906, + 0.37645717490962133, + 0.21102631092071533 + ], + [ + 0.4290448725223541, + 0.8249775274490281, + 0.36787582779776307, + 0.08434729278087616 + ], + [ + -0.5143829584121704, + -0.11163680791683184, + 0.8502631445541446, + -0.25251683592796326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.7706372141838076, + -0.5350588776420749, + 0.3461651516639255, + 0.2310788780450821 + ], + [ + 0.4160093367099763, + 0.8338689889975066, + 0.362765413246035, + 0.09197589755058289 + ], + [ + -0.48275727033615123, + -0.13555261862337006, + 0.865199953360538, + -0.28087255358695984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.7728095054626465, + -0.5323291089835213, + 0.34553038640923867, + 0.2309739589691162 + ], + [ + 0.41932570934295654, + 0.8369818279229667, + 0.3516069501761489, + 0.1059429794549942 + ], + [ + -0.47637325525283813, + -0.126835434614311, + 0.8700467190766671, + -0.264682799577713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.7804538607597351, + -0.5275872491249666, + 0.3354749501683765, + 0.2253877818584442 + ], + [ + 0.41482144594192505, + 0.8384243622528429, + 0.35350777519194904, + 0.1028033122420311 + ], + [ + -0.4677765667438507, + -0.13673430501447015, + 0.8732060569791636, + -0.26786136627197266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.7834125161170962, + -0.5199447971152645, + 0.3404736305127183, + 0.20537710189819336 + ], + [ + 0.40902382135391246, + 0.8437943988122163, + 0.3474341439353999, + 0.10889390110969543 + ], + [ + -0.46793630719184887, + -0.13292243907238752, + 0.8737088959354292, + -0.262145459651947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.7882930040359497, + -0.514339823272806, + 0.33771098062873584, + 0.19171470403671265 + ], + [ + 0.4036045968532562, + 0.846514913438807, + 0.34715388107154116, + 0.10831698030233383 + ], + [ + -0.4644324779510498, + -0.1373573013923859, + 0.8748917009425005, + -0.2599313259124756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8005181550979614, + -0.5074282274292553, + 0.31888449028991883, + 0.20320338010787964 + ], + [ + 0.39876091480255127, + 0.8481915003955455, + 0.34865592678451557, + 0.10651469975709915 + ], + [ + -0.4473929703235626, + -0.15194670965986687, + 0.8813351989672741, + -0.26629942655563354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.7917172312736511, + -0.5037502037512359, + 0.3455714346910954, + 0.16552326083183289 + ], + [ + 0.39788469672203064, + 0.8544701559515245, + 0.3340188035912008, + 0.11927399039268494 + ], + [ + -0.46354252099990845, + -0.126950898283116, + 0.876933188961241, + -0.2409667819738388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8151552081108095, + -0.49221334311803305, + 0.3053654667582585, + 0.1928543895483017 + ], + [ + 0.3857618868350984, + 0.8545714302622687, + 0.34770023029376995, + 0.10519847273826599 + ], + [ + -0.43209928274154674, + -0.1656312962124817, + 0.8864854461378667, + -0.26462268829345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.820561408996582, + -0.4854175132705567, + 0.30174313038079803, + 0.1853618621826172 + ], + [ + 0.3796986937522888, + 0.8575608265100857, + 0.34701354328120715, + 0.10436508059501648 + ], + [ + -0.4272094964981079, + -0.17017445740167944, + 0.8879936245126953, + -0.2616382837295532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.827160656452179, + -0.47787143979919333, + 0.29570953226417046, + 0.18084564805030823 + ], + [ + 0.37398338317871094, + 0.8608576693136805, + 0.3450513746883946, + 0.10501234978437424 + ], + [ + -0.41945403814315796, + -0.17482247846318894, + 0.890783564165215, + -0.25998714566230774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8328419327735901, + -0.47102594565284905, + 0.2907041177545162, + 0.1760433465242386 + ], + [ + 0.36858171224594116, + 0.8637642284369534, + 0.34359705326616147, + 0.10619841516017914 + ], + [ + -0.41294291615486145, + -0.17901381044030637, + 0.8929906157097761, + -0.25732579827308655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.838611900806427, + -0.4647303313568058, + 0.2841756814699048, + 0.1724930852651596 + ], + [ + 0.3633940517902374, + 0.8659178660383144, + 0.3437018830344346, + 0.10615725070238113 + ], + [ + -0.4058015048503876, + -0.1849647715392961, + 0.8950492968761826, + -0.2566915452480316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8444271087646484, + -0.4574061928607417, + 0.27878749175802736, + 0.1684279441833496 + ], + [ + 0.3558822274208069, + 0.8680278257663204, + 0.3462305076785014, + 0.10430826246738434 + ], + [ + -0.4003632664680481, + -0.19315092489363703, + 0.8957689489760831, + -0.25874418020248413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.8497648835182192, + -0.45193203748146105, + 0.2713983828977974, + 0.1663466840982437 + ], + [ + 0.3529582619667054, + 0.8701620459311614, + 0.3438582777815151, + 0.10744962841272354 + ], + [ + -0.3915611505508424, + -0.1964063842748793, + 0.8989462526855588, + -0.2557542324066162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.8546483516693115, + -0.4436386338136411, + 0.26974234873363057, + 0.1598568707704544 + ], + [ + 0.3426940441131592, + 0.872282149057946, + 0.348833325046662, + 0.10272443294525146 + ], + [ + -0.3900473713874817, + -0.20569071966768734, + 0.8975268091132924, + -0.2611163854598999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8597441911697388, + -0.43647726488748395, + 0.26519330974114264, + 0.1560792475938797 + ], + [ + 0.3364899158477783, + 0.8747117612763249, + 0.34878921709552724, + 0.10191802680492401 + ], + [ + -0.38420623540878296, + -0.21063465385395855, + 0.8988985530636165, + -0.26284000277519226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8646875619888308, + -0.4289837791571942, + 0.2613203785604568, + 0.1513632833957672 + ], + [ + 0.33014929294586187, + 0.8774461133386681, + 0.34797965724119584, + 0.10160987079143524 + ], + [ + -0.37857219576835643, + -0.21461898574457972, + 0.900345406631603, + -0.26480361819267273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8691304326057434, + -0.42220146877542586, + 0.25760088343551113, + 0.14564616978168488 + ], + [ + 0.3241749405860901, + 0.8796632332101065, + 0.3479988715540257, + 0.10090168565511703 + ], + [ + -0.3735276460647583, + -0.21894867179593414, + 0.9014092067355297, + -0.2673978805541992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.873528003692627, + -0.4154578320714222, + 0.2536603741723891, + 0.14029258489608765 + ], + [ + 0.3183661103248596, + 0.8818123186344649, + 0.34792247169580603, + 0.10100743919610977 + ], + [ + -0.3682279884815216, + -0.2231631596584876, + 0.9025554437833789, + -0.2692123055458069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8780645132064819, + -0.40844496287162, + 0.24935003557130084, + 0.1353786140680313 + ], + [ + 0.3122831881046295, + 0.8838889778300612, + 0.34816596080034146, + 0.10109670460224152 + ], + [ + -0.3626043498516083, + -0.22784433654848124, + 0.9036619998578502, + -0.27073952555656433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8825093507766726, + -0.4015532281460073, + 0.24481078523401498, + 0.13065767288208008 + ], + [ + 0.3063149452209473, + 0.8857742229664719, + 0.3486762689889168, + 0.10114109516143799 + ], + [ + -0.356859177350998, + -0.2327208729080091, + 0.9047057636962808, + -0.2722097635269165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.886790931224823, + -0.39465773462376713, + 0.24051422689285695, + 0.12598997354507446 + ], + [ + 0.300291508436203, + 0.8876025468235565, + 0.3492659851792003, + 0.10126476734876633 + ], + [ + -0.35132157802581787, + -0.237501535916584, + 0.9056302500607065, + -0.27285853028297424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8911631107330322, + -0.3875552781231405, + 0.23585854902777914, + 0.1218671053647995 + ], + [ + 0.2943502962589264, + 0.8895155737320567, + 0.34945665282754057, + 0.10170742869377136 + ], + [ + -0.34523361921310425, + -0.24199784237027738, + 0.9067804567710859, + -0.2732205390930176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8949630260467529, + -0.3809160709832406, + 0.2322586838072103, + 0.11752734333276749 + ], + [ + 0.2886522710323334, + 0.8913358077477419, + 0.3495715918730674, + 0.1018134206533432 + ], + [ + -0.3401779532432556, + -0.2458116689883527, + 0.9076649221871328, + -0.2728004455566406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8987240195274355, + -0.374454153528152, + 0.22820875867962065, + 0.11404202878475189 + ], + [ + 0.2833696603775025, + 0.8930793195276122, + 0.3494437943218716, + 0.10213753581047058 + ], + [ + -0.33465921878814703, + -0.24938609193608938, + 0.9087407777975891, + -0.2715841233730316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9024629592895508, + -0.3679285132677483, + 0.22402947196329395, + 0.1116686686873436 + ], + [ + 0.27785009145736694, + 0.8946082645383553, + 0.3499648954294965, + 0.10213927179574966 + ], + [ + -0.32918068766593933, + -0.25358373560999037, + 0.9095797775160794, + -0.27050718665122986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9055334329605103, + -0.3615602052295759, + 0.22199869565053004, + 0.10828181356191635 + ], + [ + 0.2721077501773834, + 0.8963738368559206, + 0.34995901985946753, + 0.1022079735994339 + ], + [ + -0.32552510499954224, + -0.25649203944746646, + 0.9100798103009891, + -0.2696805000305176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.909050464630127, + -0.3550611168243845, + 0.21807985764915094, + 0.10739555954933167 + ], + [ + 0.26709476113319397, + 0.8982290368773181, + 0.34906296240784723, + 0.10319895297288895 + ], + [ + -0.31982433795928955, + -0.25906789533557867, + 0.9113705160594143, + -0.26806047558784485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.911984920501709, + -0.3492976009970939, + 0.21511560002861044, + 0.10622051358222961 + ], + [ + 0.26238763332366943, + 0.8997801591985428, + 0.34863799896006314, + 0.10327625274658203 + ], + [ + -0.31533512473106384, + -0.26150893431242844, + 0.9122372775070048, + -0.2660596966743469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9149344563484194, + -0.3431499320250231, + 0.21246898803405675, + 0.10527275502681732 + ], + [ + 0.2573364973068238, + 0.9015301284620617, + 0.34788133576996033, + 0.10330268740653992 + ], + [ + -0.3109226524829865, + -0.2636125960923187, + 0.9131459571528201, + -0.2642897963523865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9177725315093994, + -0.33788476066370016, + 0.20863248666731782, + 0.10568107664585114 + ], + [ + 0.25344064831733704, + 0.902853835690899, + 0.3473079106364697, + 0.10346075147390366 + ], + [ + -0.3057146668434143, + -0.26587371195801457, + 0.9142481684035303, + -0.2620333731174469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.919809877872467, + -0.33224799423681134, + 0.20871297059497287, + 0.10267828404903412 + ], + [ + 0.24788494408130646, + 0.9044078670197594, + 0.347274407137217, + 0.10249630361795425 + ], + [ + -0.30414289236068726, + -0.2676896221999066, + 0.9142425126559223, + -0.26171180605888367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9224017858505249, + -0.32688761989656584, + 0.2057169320148544, + 0.10245561599731445 + ], + [ + 0.2437637746334076, + 0.9058544586584892, + 0.34642010409560414, + 0.10170188546180725 + ], + [ + -0.29959002137184143, + -0.2693921833207924, + 0.9152451118405167, + -0.2614426910877228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9238014817237856, + -0.321294536688756, + 0.20823230806037527, + 0.0977783054113388 + ], + [ + 0.2381060272455216, + 0.9080137944804674, + 0.3446976659028592, + 0.10125052183866501 + ], + [ + -0.2998273074626923, + -0.2688508334158198, + 0.9153266110389442, + -0.26156020164489746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9269278645515442, + -0.3164049695001707, + 0.20172403346435594, + 0.0999370664358139 + ], + [ + 0.23559096455574036, + 0.9091430204926719, + 0.34344705787059615, + 0.10051094740629196 + ], + [ + -0.2920643389225006, + -0.2708262991054206, + 0.9172521889127788, + -0.26284757256507874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9285373687744141, + -0.3116983585388872, + 0.20164953797493163, + 0.09682188928127289 + ], + [ + 0.23132503032684326, + 0.9106276932026984, + 0.3424119753164822, + 0.10011593997478485 + ], + [ + -0.2903568744659424, + -0.2712957266716527, + 0.9176554688540327, + -0.2637745141983032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9306685328483582, + -0.3073141000063103, + 0.19852994031464866, + 0.09624986350536346 + ], + [ + 0.22844937443733215, + 0.9119720234066377, + 0.3407607474552818, + 0.10055144131183624 + ], + [ + -0.2857743203639984, + -0.2717812720599743, + 0.9189493790192477, + -0.2645893394947052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9325607419013979, + -0.3026598034514816, + 0.19679298313217963, + 0.0952843725681305 + ], + [ + 0.2249161452054978, + 0.9134805958907448, + 0.33906631025429074, + 0.10110566020011902 + ], + [ + -0.2823882997035981, + -0.2719380157723278, + 0.9199492198965689, + -0.2649334669113159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9340623021125793, + -0.2991616327125578, + 0.1950126787208716, + 0.09379716217517853 + ], + [ + 0.22223544120788574, + 0.9144143496010212, + 0.3383161967982898, + 0.10009543597698212 + ], + [ + -0.27953359484672546, + -0.27266968302145744, + 0.9206042939427326, + -0.2668851613998413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9354463219642641, + -0.29520789371613415, + 0.19440287294752087, + 0.09228609502315521 + ], + [ + 0.21910120546817785, + 0.9158529053498791, + 0.3364641289496732, + 0.10007862001657486 + ], + [ + -0.2773712873458863, + -0.27215025032127255, + 0.9214116547539244, + -0.26787713170051575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9368312358856203, + -0.29155792837079514, + 0.19323878907534434, + 0.09058241546154022 + ], + [ + 0.21647104620933538, + 0.917220206082551, + 0.33443587561311305, + 0.09899766743183136 + ], + [ + -0.27474996447563177, + -0.2714793781416574, + 0.922394389461929, + -0.2700369954109192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9385542273521423, + -0.2871254775452601, + 0.19150683919109962, + 0.09000876545906067 + ], + [ + 0.21356543898582458, + 0.919049636124881, + 0.33126655087503104, + 0.09808997064828873 + ], + [ + -0.2711193859577179, + -0.2700123791264267, + 0.9238980325404667, + -0.2733535170555115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9398833513259888, + -0.2830391986488224, + 0.19107105563884552, + 0.08824019879102707 + ], + [ + 0.21073001623153687, + 0.9209831343324713, + 0.3276933076045217, + 0.09661345928907394 + ], + [ + -0.2687232792377472, + -0.26772907527355827, + 0.9252615577508138, + -0.2787109315395355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9399502873420715, + -0.28414387545232533, + 0.18909166950210687, + 0.08698128163814545 + ], + [ + 0.21362799406051636, + 0.9218555810189809, + 0.3233348191089884, + 0.09342613816261292 + ], + [ + -0.2661888301372528, + -0.263523387369154, + 0.9271995213654192, + -0.2857518196105957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9377308487892151, + -0.2953531517773538, + 0.1828316760935456, + 0.08445234596729279 + ], + [ + 0.22903086245059967, + 0.9214379457784745, + 0.313842299382238, + 0.08809198439121246 + ], + [ + -0.26116234064102173, + -0.2524255114537889, + 0.931705756832437, + -0.2962481379508972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.940376400947571, + -0.2843932700067611, + 0.18658157621243057, + 0.09484446048736572 + ], + [ + 0.2180586457252503, + 0.9250615233395768, + 0.3109849308249034, + 0.09024810791015625 + ], + [ + -0.2610414624214173, + -0.25175716770091094, + 0.9319204200017299, + -0.2794155776500702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9412107467651367, + -0.27591883018295327, + 0.19491302213829917, + 0.07909028977155685 + ], + [ + 0.20896519720554352, + 0.9288682434300167, + 0.3058387359623834, + 0.0860322117805481 + ], + [ + -0.2654351592063904, + -0.24712867959951934, + 0.9319182337518708, + -0.2932375371456146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9433553218841553, + -0.271849059423764, + 0.19020723010482055, + 0.06901533901691437 + ], + [ + 0.2066613733768463, + 0.9299422576474418, + 0.3041357101519068, + 0.0760645866394043 + ], + [ + -0.259560763835907, + -0.24759955121166063, + 0.9334466417911138, + -0.31487375497817993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9453468322753906, + -0.2666301775820595, + 0.18769037049343215, + 0.06578941643238068 + ], + [ + 0.20353031158447266, + 0.9322343199070027, + 0.2991899471254021, + 0.071404829621315 + ], + [ + -0.2547444701194763, + -0.2446375982120888, + 0.9355520918104246, + -0.3225727677345276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9462596774101257, + -0.2646253394076679, + 0.18591944892978218, + 0.06300818920135498 + ], + [ + 0.20378150045871735, + 0.9342677337094302, + 0.2926035961793786, + 0.06882098317146301 + ], + [ + -0.2511288821697235, + -0.23899205302968596, + 0.9379856674610442, + -0.32825788855552673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.948069155216217, + -0.26293157436747594, + 0.17897459269338406, + 0.06646282225847244 + ], + [ + 0.20583896338939667, + 0.9361768788249798, + 0.28496169135726734, + 0.06682495027780533 + ], + [ + -0.24247731268405914, + -0.23332343598470853, + 0.9416819394063969, + -0.33337265253067017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9483022689819338, + -0.2607904098863744, + 0.1808622543264335, + 0.059772856533527374 + ], + [ + 0.20344235002994543, + 0.9369121804321988, + 0.28426535170356226, + 0.05979239195585251 + ], + [ + -0.24358573555946356, + -0.23277443534497771, + 0.9415317465885213, + -0.3373747169971466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9496135711669922, + -0.25353723945438456, + 0.18426311316684824, + 0.05076060816645622 + ], + [ + 0.19880951941013336, + 0.9417574052349682, + 0.27123370695989674, + 0.0652022436261177 + ], + [ + -0.24229899048805237, + -0.22093396865007828, + 0.9447112879651989, + -0.34497731924057007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9511950016021729, + -0.24902485877613204, + 0.18224898839896145, + 0.052561819553375244 + ], + [ + 0.19596697390079498, + 0.9436654397194665, + 0.2666316583426657, + 0.0645177885890007 + ], + [ + -0.23837998509407043, + -0.21790392066626502, + 0.9464105149670802, + -0.3414313793182373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9529887437820435, + -0.24359002808353003, + 0.18021181685393264, + 0.05379525199532509 + ], + [ + 0.19241276383399963, + 0.9459394602413487, + 0.26110510737918236, + 0.06755796074867249 + ], + [ + -0.23407207429409027, + -0.21415518391901195, + 0.9483395190004019, + -0.33635950088500977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9534120559692383, + -0.24093848783472396, + 0.18153260135451457, + 0.05110540986061096 + ], + [ + 0.1888699233531952, + 0.9459663785862057, + 0.26358263319230874, + 0.06267041712999344 + ], + [ + -0.2352309376001358, + -0.2170168121180334, + 0.9474017540270684, + -0.3327992260456085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/tilt_up/transforms.json b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..21d11dd9a7a958d3038690a961d4abda945d8eb7 --- /dev/null +++ b/dynpose_eval/camera_controls/929cbac9-9ec3-4229-aafd-3be8a32bdab1/tilt_up/transforms.json @@ -0,0 +1,5368 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 153, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 7.486010872526094e-05, + 0.0002196452987845987, + -0.0002654411073308438 + ], + [ + -7.484106026822701e-05, + 1.0, + -8.672619151184335e-05, + 0.0001142723995144479 + ], + [ + -0.00021965178893879056, + 8.67097478476353e-05, + 1.0, + 0.00021108951477799565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999338388442993, + -0.009397987620633576, + 0.0066333794560706405, + 0.011821315623819828 + ], + [ + 0.00942306313663721, + 0.9999485167778087, + -0.003759248225431875, + 0.0007956356275826693 + ], + [ + -0.006597708910703659, + 0.0038215062718552377, + 0.9999709401358043, + -6.51256341370754e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997265338897705, + -0.0190658715675591, + 0.013541292405678567, + 0.02310589700937271 + ], + [ + 0.019168775528669357, + 0.9997880734385396, + -0.00751056712196605, + 0.000752170686610043 + ], + [ + -0.013395227491855621, + 0.0077680834595979815, + 0.9998801105536202, + -0.0016613700427114964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993758797645569, + -0.02881618297036705, + 0.02043189472828534, + 0.0343158021569252 + ], + [ + 0.02905130200088024, + 0.9995139710986455, + -0.011305564905704545, + 0.00046233634930104017 + ], + [ + -0.020096182823181152, + 0.011892082081956312, + 0.9997273082316861, + -0.0012266088742762804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9989352822303772, + -0.03687663144090893, + 0.027720696351584462, + 0.044202450662851334 + ], + [ + 0.03730567544698715, + 0.9991894875815679, + -0.015122894076940244, + 0.00015160873590502888 + ], + [ + -0.027140546590089798, + 0.01614093079649666, + 0.9995013065613236, + -0.002147817285731435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9983547329902649, + -0.0453984591204158, + 0.035025815668641574, + 0.05370154604315758 + ], + [ + 0.04611467197537422, + 0.998737546043384, + -0.019918256055184266, + 0.0009391157072968781 + ], + [ + -0.034077342599630356, + 0.021500689804746932, + 0.9991878978287587, + -0.0014555385569110513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9977129697799685, + -0.05346765497501221, + 0.04135274771470963, + 0.06318772584199905 + ], + [ + 0.0544438846409321, + 0.9982552696450848, + -0.02285216303294918, + -5.33743150299415e-06 + ], + [ + -0.04005875065922738, + 0.025051304223799573, + 0.9988832215479543, + -0.00208346638828516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9970232248306274, + -0.06087898507141231, + 0.04731246223027606, + 0.07245003432035446 + ], + [ + 0.06219964101910591, + 0.9976995177889387, + -0.026960134183720962, + 0.0007587092113681138 + ], + [ + -0.04556231573224068, + 0.029822696469021154, + 0.9985162196823191, + -0.001522274687886238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.996251106262207, + -0.06799382104540659, + 0.05348416427882136, + 0.08023346215486526 + ], + [ + 0.06967084854841232, + 0.9971145774012599, + -0.030140378516351037, + 0.0012125890934839845 + ], + [ + -0.05128047987818718, + 0.033753674086403535, + 0.9981137494668745, + -0.0006971476832404733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9954705834388735, + -0.07437998738047735, + 0.05921108364833145, + 0.08753497898578644 + ], + [ + 0.07648171484470369, + 0.9964892430651621, + -0.03405513313756887, + 0.002469081664457917 + ], + [ + -0.05647018924355508, + 0.0384294464862637, + 0.997664395960618, + 0.0013058432377874851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.994618892669678, + -0.08088275304483991, + 0.0647393890267463, + 0.09410640597343445 + ], + [ + 0.08339744061231615, + 0.9958244514045435, + -0.037127956566715796, + 0.002892349846661091 + ], + [ + -0.061466056853532805, + 0.042327268257932954, + 0.9972112790701664, + 0.004125906154513359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9937976002693176, + -0.08678644606364469, + 0.06953012979014847, + 0.10021951049566269 + ], + [ + 0.08970342576503754, + 0.9951655553344311, + -0.039985170633049086, + 0.003041745163500309 + ], + [ + -0.06572382152080536, + 0.04597425826975329, + 0.9967781751204924, + 0.005592068191617727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9929464459419253, + -0.09227127724454132, + 0.07445349809147736, + 0.10495393723249435 + ], + [ + 0.09565320611000064, + 0.9944765776610789, + -0.04320669281152018, + 0.003919542767107487 + ], + [ + -0.07005552202463151, + 0.05002364692591397, + 0.9962880121428236, + 0.007595143746584654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9920786023139956, + -0.0975305411651997, + 0.07916970643837733, + 0.10875466465950012 + ], + [ + 0.10140794515609744, + 0.9937566448347709, + -0.04652079715148656, + 0.004940183367580175 + ], + [ + -0.07413821667432786, + 0.05418072403112622, + 0.9957750515063093, + 0.009131114929914474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9912728071212769, + -0.1022258735508985, + 0.08323501052822418, + 0.11202596873044968 + ], + [ + 0.10652104020118713, + 0.9931072724459268, + -0.04889950184539375, + 0.005076903849840164 + ], + [ + -0.07766249775886536, + 0.057339023819221145, + 0.9953294500908988, + 0.008174450136721134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9904168248176575, + -0.10697983189178689, + 0.08734899776112885, + 0.11429312825202942 + ], + [ + 0.11181765794754028, + 0.99234107778735, + -0.05249748189613489, + 0.006895174738019705 + ], + [ + -0.08106382191181183, + 0.061761549783035455, + 0.9947935522323615, + 0.007169403601437807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9896203279495241, + -0.11127907245694685, + 0.09093161164807492, + 0.11661750823259354 + ], + [ + 0.11657829582691195, + 0.9916467905180447, + -0.055192296543335025, + 0.00777662917971611 + ], + [ + -0.08403029292821886, + 0.06522007148268226, + 0.9943265187221788, + 0.004945794120430946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9887679815292358, + -0.11545095085806922, + 0.09491561977869702, + 0.11805124580860138 + ], + [ + 0.12130987644195557, + 0.9908922679120061, + -0.058450606222443635, + 0.009855330921709538 + ], + [ + -0.08730296790599823, + 0.06930828664598197, + 0.9937678768845354, + 0.0015390765620395541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9880070090293884, + -0.11934635561512875, + 0.09797259933219321, + 0.12084206193685532 + ], + [ + 0.1257130205631256, + 0.99015291341364, + -0.061590700129505356, + 0.01191176287829876 + ], + [ + -0.08965722471475601, + 0.07316847425498947, + 0.993281392086514, + -0.003170100972056389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9871285557746887, + -0.12319352454511273, + 0.10198335148259004, + 0.12307471036911011 + ], + [ + 0.13012224435806274, + 0.9894102274353104, + -0.06430907207025839, + 0.014002720825374126 + ], + [ + -0.09298091381788254, + 0.07675161774207419, + 0.9927052585108098, + -0.009000255726277828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9863113164901736, + -0.12707153110758593, + 0.10508457802829489, + 0.12665504217147827 + ], + [ + 0.13450668752193454, + 0.9886476587225618, + -0.06696042892677906, + 0.017136087641119957 + ], + [ + -0.09538286179304126, + 0.08017840609528243, + 0.9922064059559775, + -0.017992248758673668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9854454398155215, + -0.13060204588448004, + 0.10881335120422085, + 0.1301891803741455 + ], + [ + 0.13864803314208987, + 0.987867588853157, + -0.06995967607004734, + 0.02222551964223385 + ], + [ + -0.0983562991023064, + 0.08402820123713733, + 0.9915973280711183, + -0.02899676188826561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.984514594078064, + -0.1337797714256448, + 0.11328718246710942, + 0.13283680379390717 + ], + [ + 0.14246487617492676, + 0.9871510783139235, + -0.07236390628231967, + 0.028499435633420944 + ], + [ + -0.10215073823928833, + 0.08738276013115966, + 0.9909235690876625, + -0.04098907858133316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9835415482521057, + -0.13665283458467983, + 0.11820323307134215, + 0.13554413616657257 + ], + [ + 0.146053284406662, + 0.9864396448412492, + -0.07486852587373022, + 0.03697828948497772 + ], + [ + -0.10636936128139496, + 0.09090027268865623, + 0.9901629557141849, + -0.054117634892463684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9825727343559267, + -0.1397214278359237, + 0.12259184389631576, + 0.1392284333705902 + ], + [ + 0.1496468633413315, + 0.9858262921305194, + -0.07584401148598648, + 0.04498380422592163 + ], + [ + -0.11025723814964297, + 0.09286773660105781, + 0.9895548953866142, + -0.06701295077800751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9815168976783752, + -0.14300711068945657, + 0.12717546137852648, + 0.14315398037433624 + ], + [ + 0.15355730056762695, + 0.9851044874846653, + -0.07739029114775188, + 0.054915234446525574 + ], + [ + -0.11421375721693039, + 0.09548859861074828, + 0.9888564778054075, + -0.07957980781793594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9804078340530396, + -0.14622454699583814, + 0.1319807547823473, + 0.14725185930728912 + ], + [ + 0.1573057770729065, + 0.9844802744344937, + -0.07780403225212534, + 0.06458217650651932 + ], + [ + -0.11855559796094894, + 0.09704101478558128, + 0.9881941437586186, + -0.0921507328748703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9792719483375549, + -0.1489270629818462, + 0.13728519280458004, + 0.15159521996974945 + ], + [ + 0.1605307012796402, + 0.9839698460901936, + -0.07767373685716185, + 0.07503894716501236 + ], + [ + -0.12351676821708679, + 0.09810219462093404, + 0.9874813972820116, + -0.1026473417878151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9778348803520205, + -0.1535091283710286, + 0.14238631581017072, + 0.15775015950202942 + ], + [ + 0.165542408823967, + 0.9832038459989437, + -0.07684986903086974, + 0.08607316017150879 + ], + [ + -0.1281976252794266, + 0.09871745261801487, + 0.9868233002734931, + -0.11325498670339584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9764490723609924, + -0.15617847332441326, + 0.1488473450467111, + 0.1626487374305725 + ], + [ + 0.16890498995780945, + 0.9826190198933542, + -0.07701290785281108, + 0.09898416697978973 + ], + [ + -0.13423247635364532, + 0.10034023827995575, + 0.9858567214972354, + -0.12339235097169876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9747384190559387, + -0.1608940990642689, + 0.1549131956202378, + 0.16872014105319977 + ], + [ + 0.17388007044792175, + 0.9819672869271305, + -0.07420188534932068, + 0.10951558500528336 + ], + [ + -0.1401810497045517, + 0.0992637436279927, + 0.9851375190357778, + -0.13579361140727997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9727408289909365, + -0.16580370186217833, + 0.16212452084040893, + 0.17368267476558685 + ], + [ + 0.1792605817317963, + 0.9811533060328401, + -0.07213746614966146, + 0.12131074070930481 + ], + [ + -0.1471083462238312, + 0.09923359887179793, + 0.9841299758253266, + -0.14700846374034882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9704703688621521, + -0.17094443369797188, + 0.17019179050083832, + 0.17780724167823792 + ], + [ + 0.18495769798755646, + 0.9802438664840639, + -0.07009001380313358, + 0.13326042890548706 + ], + [ + -0.15484794974327087, + 0.09949856355241442, + 0.9829151144786487, + -0.15786133706569672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9679154753684998, + -0.17613862120577725, + 0.17920617356752488, + 0.1819501519203186 + ], + [ + 0.1904001086950302, + 0.9795102335272692, + -0.06563180182976562, + 0.14227786660194397 + ], + [ + -0.16397398710250854, + 0.09764690456062053, + 0.981619910583621, + -0.16838563978672028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9535432457923889, + -0.1966274540866649, + 0.22823885829757642, + 0.11822235584259033 + ], + [ + 0.2042618691921234, + 0.9788643902161807, + -0.010081124442859973, + 0.08016420155763626 + ], + [ + -0.2214326560497284, + 0.0562332780192003, + 0.9735529952673714, + -0.20551393926143646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9606420993804934, + -0.18952192225475578, + 0.20309651658347797, + 0.18365386128425598 + ], + [ + 0.19954980909824377, + 0.9794314592424016, + -0.02989824708300028, + 0.1268988996744156 + ], + [ + -0.19325275719165808, + 0.06924938323928113, + 0.9787021397319349, + -0.23122483491897583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9576839208602905, + -0.20169549713316975, + 0.2053301794536249, + 0.20774134993553162 + ], + [ + 0.21720202267169952, + 0.9745319564177761, + -0.05577450944834104, + 0.1740667074918747 + ], + [ + -0.18885134160518646, + 0.09801247748959346, + 0.9771022272163469, + -0.1962587535381317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.952888548374176, + -0.20725008776880766, + 0.2214741045326225, + 0.2130538672208786 + ], + [ + 0.22392362356185913, + 0.9731780896751373, + -0.05275113517039241, + 0.1832401603460312 + ], + [ + -0.20460106432437897, + 0.09985922634753157, + 0.9737384103658089, + -0.20344260334968567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9271285533905029, + -0.23104898802322602, + 0.2950407710280387, + 0.12131927162408829 + ], + [ + 0.23404096066951752, + 0.9718883434367543, + 0.025649883024552424, + 0.08614758402109146 + ], + [ + -0.2926730811595917, + 0.04527088437685473, + 0.9551402891872648, + -0.24970190227031708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9124606847763064, + -0.2698891248899059, + 0.30753100271515077, + 0.13158051669597626 + ], + [ + 0.27481245994567877, + 0.9610880750600214, + 0.02806767933496365, + 0.09224430471658707 + ], + [ + -0.30313956737518316, + 0.058902685378399884, + 0.9511240460979548, + -0.22583706676959991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9027099013328552, + -0.27854342508601987, + 0.3279151331010053, + 0.13676175475120544 + ], + [ + 0.2835652828216553, + 0.9583691763083186, + 0.03345452527377093, + 0.09447835385799408 + ], + [ + -0.32358232140541077, + 0.06278562703637776, + 0.9441146407543006, + -0.22945310175418854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8812745213508606, + -0.2878933208157248, + 0.37479682451680185, + 0.12483174353837967 + ], + [ + 0.2914339303970337, + 0.9553566524772115, + 0.04857959569503728, + 0.09040729701519012 + ], + [ + -0.37205037474632263, + 0.06641655070373921, + 0.9258333614051557, + -0.23217231035232544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8721312284469604, + -0.29917516897600976, + 0.3871451458218585, + 0.13744696974754333 + ], + [ + 0.3030738830566406, + 0.9515162991053725, + 0.05256386326798615, + 0.09357628226280212 + ], + [ + -0.38410070538520813, + 0.07149098783617974, + 0.9205192461224417, + -0.2364560067653656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.864270031452179, + -0.31032611894031853, + 0.3958977068852423, + 0.15354719758033752 + ], + [ + 0.3148517310619354, + 0.9475238680363958, + 0.055379213438890455, + 0.09712789952754974 + ], + [ + -0.39230814576148987, + 0.07678648393717691, + 0.9166232475779915, + -0.2403598129749298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.855633020401001, + -0.32125068733184764, + 0.40582033114225435, + 0.16908934712409973 + ], + [ + 0.3258659243583679, + 0.9435201976455663, + 0.05984148240918036, + 0.09971480071544647 + ], + [ + -0.4021237790584564, + 0.0810406610205215, + 0.9119917401945641, + -0.24380061030387878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8466073870658875, + -0.33167436545724127, + 0.4162308369387901, + 0.1841161698102951 + ], + [ + 0.3370571434497833, + 0.9393757367729418, + 0.06297414722955887, + 0.1030302569270134 + ], + [ + -0.411884069442749, + 0.08697919205329732, + 0.9070756066153297, + -0.247505784034729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8381093740463259, + -0.34159213275567085, + 0.425308741466447, + 0.19844238460063934 + ], + [ + 0.3481265008449555, + 0.9351850886126775, + 0.06509104070540564, + 0.10690587759017944 + ], + [ + -0.41997697949409496, + 0.09350780633987481, + 0.9027046363224783, + -0.25133177638053894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8278724551200867, + -0.35185086106387997, + 0.4368388974668307, + 0.20868928730487823 + ], + [ + 0.35846996307373047, + 0.9308811754631946, + 0.07042395521267855, + 0.10843333601951599 + ], + [ + -0.4314238429069519, + 0.09829156446118113, + 0.8967788057987915, + -0.25489985942840576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8132416605949402, + -0.3637946034880671, + 0.4541932812722905, + 0.21207892894744873 + ], + [ + 0.36699265241622925, + 0.9263445345899928, + 0.08486569484631631, + 0.10430467128753662 + ], + [ + -0.4516131579875946, + 0.09766926790117014, + 0.8868519051139387, + -0.2599865794181824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.800495445728302, + -0.37349697489171174, + 0.4687292063732483, + 0.21745067834854126 + ], + [ + 0.3771609365940094, + 0.9217305187315918, + 0.09034631156465878, + 0.10590384155511856 + ], + [ + -0.46578606963157654, + 0.10446452672545056, + 0.8787095771035127, + -0.2623228132724762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7912006378173828, + -0.38212173811079847, + 0.47747730237033276, + 0.2230232059955597 + ], + [ + 0.3861995339393616, + 0.917574283477468, + 0.09437884099617642, + 0.10826042294502258 + ], + [ + -0.4741850793361664, + 0.10972889821412442, + 0.8735605505783152, + -0.26601481437683105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7883719205856323, + -0.3912711950543407, + 0.47473844234043716, + 0.22540321946144104 + ], + [ + 0.39451298117637634, + 0.9136625308599249, + 0.09787890339376953, + 0.10748369991779327 + ], + [ + -0.47204792499542236, + 0.11012552764068591, + 0.8746674012584059, + -0.2796846330165863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7732312679290771, + -0.3976089418800168, + 0.49398441327857245, + 0.2174239456653595 + ], + [ + 0.3983771502971649, + 0.9106713031098852, + 0.10942330560999407, + 0.1015385165810585 + ], + [ + -0.4933651089668274, + 0.11218255683471842, + 0.8625577729920066, + -0.28014692664146423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.762651801109314, + -0.4043287086881762, + 0.5048569659710938, + 0.22007116675376892 + ], + [ + 0.4064124822616577, + 0.906765892971641, + 0.11226992374862535, + 0.10421906411647797 + ], + [ + -0.5031810402870178, + 0.11955731662049729, + 0.8558708670148817, + -0.27625954151153564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7619649171829226, + -0.4081458128134676, + 0.5028185374193805, + 0.23430222272872925 + ], + [ + 0.4107119441032411, + 0.9048486363184335, + 0.11209235330203152, + 0.11038193106651306 + ], + [ + -0.5007246732711793, + 0.12110312130825707, + 0.8570932754571015, + -0.27765560150146484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7553388476371765, + -0.4108834587268348, + 0.5105271908819601, + 0.23480463027954102 + ], + [ + 0.41277989745140076, + 0.9033710482151515, + 0.11633370926929651, + 0.1104709729552269 + ], + [ + -0.5089950561523438, + 0.12286398591081255, + 0.8519556866161136, + -0.27805477380752563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7476083040237427, + -0.415677176690911, + 0.5179714905255909, + 0.23683813214302063 + ], + [ + 0.41872766613960266, + 0.900386172579345, + 0.11820289277186281, + 0.11153404414653778 + ], + [ + -0.5155085921287537, + 0.12851947599640554, + 0.8471916399634556, + -0.2767796814441681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7409449815750122, + -0.4194184254126044, + 0.5244890421214917, + 0.2378537505865097 + ], + [ + 0.42371925711631775, + 0.8978861673091137, + 0.11942545177907317, + 0.11171302199363708 + ], + [ + -0.5210207104682922, + 0.1337484130734015, + 0.8429998826855624, + -0.2762657403945923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7370342016220093, + -0.42019578503115496, + 0.5293544201135949, + 0.2396860122680664 + ], + [ + 0.42591890692710876, + 0.8969095116429444, + 0.11893878250023018, + 0.11357267200946808 + ], + [ + -0.5247606039047241, + 0.13780008984237677, + 0.8400223487350966, + -0.27555471658706665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.733278751373291, + -0.4238060347661518, + 0.5316867258204141, + 0.24283260107040405 + ], + [ + 0.43025994300842285, + 0.8947222510424158, + 0.11978527457262106, + 0.1133243590593338 + ], + [ + -0.5264776945114136, + 0.1409274605900134, + 0.8384275195475518, + -0.27632519602775574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7299193739891052, + -0.42638379541396076, + 0.5342421296645744, + 0.2458227574825287 + ], + [ + 0.43289369344711304, + 0.8932271077024145, + 0.12144317620953642, + 0.1117095872759819 + ], + [ + -0.5289809107780457, + 0.14262628904443644, + 0.836562578498176, + -0.27529066801071167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7269030809402466, + -0.43044270390987893, + 0.5350991618084991, + 0.25001391768455505 + ], + [ + 0.4368501901626587, + 0.8910396410874855, + 0.12333001712249458, + 0.10901384055614471 + ], + [ + -0.5298810601234436, + 0.14410916671377588, + 0.8357383706244221, + -0.2752869725227356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7242805361747742, + -0.433402435848313, + 0.5362648979445463, + 0.2530765235424042 + ], + [ + 0.4403545558452606, + 0.8892307767507588, + 0.12392116206264403, + 0.10764682292938232 + ], + [ + -0.5305709838867188, + 0.14639299626592112, + 0.8349032915238979, + -0.2746416926383972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7222667932510376, + -0.43507893346785087, + 0.5376216266735615, + 0.2568269371986389 + ], + [ + 0.4425734877586365, + 0.8880988508748647, + 0.12413373679143698, + 0.1068543866276741 + ], + [ + -0.5314691066741943, + 0.1482793763491021, + 0.8339987124122475, + -0.27240392565727234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7200033068656922, + -0.4368781914445013, + 0.5391963795045079, + 0.2601013779640198 + ], + [ + 0.44539988040924083, + 0.8867426170115991, + 0.12371952146388965, + 0.10653837025165558 + ], + [ + -0.5321787595748902, + 0.15107950223640532, + 0.8330430751486523, + -0.2703864574432373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7186486721038818, + -0.4377256190363035, + 0.5403150483462493, + 0.2633276581764221 + ], + [ + 0.4471587836742401, + 0.8859577570468388, + 0.12299548126474141, + 0.1062699407339096 + ], + [ + -0.5325345993041992, + 0.15321605904417576, + 0.8324252385823796, + -0.2685992419719696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7161622643470765, + -0.43849142335014696, + 0.5429888165236508, + 0.2658412754535675 + ], + [ + 0.4491681456565858, + 0.8850379434571989, + 0.12229402710497386, + 0.10572203248739243 + ], + [ + -0.534190595149994, + 0.15631092825963944, + 0.8307871567431965, + -0.26549670100212097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7124788761138916, + -0.4418784963664858, + 0.5450846925724514, + 0.268365740776062 + ], + [ + 0.4538414478302002, + 0.8826480267233312, + 0.12231265743795243, + 0.10433481633663177 + ], + [ + -0.5351652503013611, + 0.1602368356458398, + 0.82941081980672, + -0.2629320025444031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7072316408157349, + -0.44461645297545876, + 0.5496722888066592, + 0.26862066984176636 + ], + [ + 0.46034589409828186, + 0.8796922690963349, + 0.11926095414662458, + 0.10638939589262009 + ], + [ + -0.5365678668022156, + 0.16869425566520657, + 0.826823573072533, + -0.2601923942565918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7088268995285034, + -0.4387160409860975, + 0.5523519868716495, + 0.2669178247451782 + ], + [ + 0.44815048575401306, + 0.8847960937911601, + 0.12765973433551178, + 0.0991496816277504 + ], + [ + -0.544725239276886, + 0.1570481381163224, + 0.8237780265509719, + -0.25056102871894836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7064495086669922, + -0.44641347387188385, + 0.5492214749364921, + 0.2716655731201172 + ], + [ + 0.45558616518974304, + 0.8806756097179135, + 0.1298144101061348, + 0.09217792004346848 + ], + [ + -0.5416368842124939, + 0.15851030609299196, + 0.8255325638594474, + -0.2563495934009552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7066060304641724, + -0.44965201828545626, + 0.5463707226355347, + 0.2793472409248352 + ], + [ + 0.45840588212013245, + 0.8790903949641822, + 0.13062994879609807, + 0.09012085199356079 + ], + [ + -0.5390472412109375, + 0.1581556211560648, + 0.8272937254195671, + -0.25699931383132935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7055343389511108, + -0.4493518628567043, + 0.5480002183407203, + 0.28360646963119507 + ], + [ + 0.4590679705142975, + 0.8788912805431665, + 0.12964089767799317, + 0.09101133793592453 + ], + [ + -0.539887011051178, + 0.16010321408687156, + 0.8263710132947115, + -0.25222840905189514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6304056644439698, + -0.4472921903384374, + 0.634443457212952, + 0.15951719880104065 + ], + [ + 0.4432392716407777, + 0.8783796389325783, + 0.17885248294762016, + 0.032867975533008575 + ], + [ + -0.6372814774513246, + 0.16846059598473873, + 0.7519929509455033, + -0.20992033183574677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.623478889465332, + -0.42235559145519097, + 0.6579437100590394, + 0.14928950369358063 + ], + [ + 0.4283827543258667, + 0.8885119917131518, + 0.16442204763385398, + 0.04059010371565819 + ], + [ + -0.6540354490280151, + 0.17933805150172114, + 0.7348983060398979, + -0.16900181770324707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.692449152469635, + -0.4456827226495636, + 0.5673456553169265, + 0.26734429597854614 + ], + [ + 0.45391494035720825, + 0.8803614008726006, + 0.13756837567415864, + 0.0765714943408966 + ], + [ + -0.5607810616493225, + 0.16226754866813897, + 0.8119075369261393, + -0.2361581027507782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7024346590042115, + -0.4475421987550844, + 0.5534362184158095, + 0.2909252345561981 + ], + [ + 0.46221312880516063, + 0.8781325913138536, + 0.1234593981668099, + 0.09398851543664932 + ], + [ + -0.5412436723709108, + 0.16908328818517368, + 0.8236905756150301, + -0.24186883866786957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7010699510574342, + -0.44413118745885016, + 0.5578964408731942, + 0.2898707091808319 + ], + [ + 0.4596215784549714, + 0.8796034512691486, + 0.1226615030427579, + 0.09643389284610748 + ], + [ + -0.5452054142951966, + 0.17042689715721865, + 0.8207957696345779, + -0.23476403951644897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6960209608078004, + -0.44983543009730614, + 0.559645413263793, + 0.29553478956222534 + ], + [ + 0.46947816014289867, + 0.8748462083363815, + 0.1193080072441333, + 0.09864049404859543 + ], + [ + -0.543272614479065, + 0.1797003746331525, + 0.8200991961079171, + -0.2340531051158905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6972241997718811, + -0.44653292232996794, + 0.5607912695769239, + 0.29371559619903564 + ], + [ + 0.4704066216945648, + 0.8752992509170384, + 0.11211129435954995, + 0.10217393189668655 + ], + [ + -0.5409215092658997, + 0.18563317377081434, + 0.8203317928851376, + -0.2366514950990677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7007420659065248, + -0.4391875731002504, + 0.562205335273074, + 0.29495003819465637 + ], + [ + 0.46397605538368236, + 0.8791785883976055, + 0.10849553360441276, + 0.10374057292938232 + ], + [ + -0.5419287681579591, + 0.18482242646638286, + 0.8198499153365383, + -0.2323884814977646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7012858390808105, + -0.4432608589019778, + 0.5583171302644676, + 0.2974950075149536 + ], + [ + 0.4691143035888672, + 0.8766607534114107, + 0.10676042962615666, + 0.10478869080543518 + ], + [ + -0.5367774367332458, + 0.18704491249430524, + 0.8227297773286021, + -0.2368689328432083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.7049028873443604, + -0.44365552223133603, + 0.5534272936982753, + 0.3015936017036438 + ], + [ + 0.46874839067459106, + 0.8769530850454429, + 0.10596340339231052, + 0.10355092585086823 + ], + [ + -0.5323410034179688, + 0.18472423758251397, + 0.8261295685531118, + -0.2396620362997055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.7034510374069214, + -0.44741159434804245, + 0.5522495964631108, + 0.3033750653266907 + ], + [ + 0.46564480662345886, + 0.8771380627228359, + 0.11748938356320472, + 0.09241411089897156 + ], + [ + -0.5369652509689331, + 0.17450407747133062, + 0.8253585463450738, + -0.23333197832107544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.7005684971809387, + -0.44125093433618934, + 0.5608042997293265, + 0.2930622398853302 + ], + [ + 0.4678799510002136, + 0.8774257428181821, + 0.10588896916609389, + 0.10100332647562027 + ], + [ + -0.5387877225875854, + 0.1882065518489941, + 0.8211492514342041, + -0.23135881125926971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.7061979770660402, + -0.4406438117795845, + 0.5541818985406757, + 0.2963617146015167 + ], + [ + 0.463513344526291, + 0.879411730750853, + 0.10858377661517558, + 0.09633652865886688 + ], + [ + -0.5352008342742921, + 0.1801890378635425, + 0.82528304149574, + -0.2331131547689438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.7053415775299072, + -0.43279675470779466, + 0.5614091853110693, + 0.2858860194683075 + ], + [ + 0.4630224406719208, + 0.880976032124176, + 0.09742385370595831, + 0.10407671332359314 + ], + [ + -0.5367527604103088, + 0.19122793860726753, + 0.8217836707875673, + -0.23278729617595673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.7119850516319275, + -0.43030305110774975, + 0.5549023090624614, + 0.2871711850166321 + ], + [ + 0.4578325152397156, + 0.8836437543255429, + 0.09779145453960031, + 0.1014736071228981 + ], + [ + -0.5324159264564514, + 0.18442625220615988, + 0.8261478735514292, + -0.234625443816185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.7145720720291138, + -0.4314901040035807, + 0.5506387680405515, + 0.28701651096343994 + ], + [ + 0.45987576246261597, + 0.8828811725689253, + 0.09505347727821518, + 0.10134755074977875 + ], + [ + -0.5271632075309753, + 0.18530283476153714, + 0.8293140594669229, + -0.23857621848583221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.7195661664009094, + -0.4275501143007892, + 0.5471977831242651, + 0.28353700041770935 + ], + [ + 0.45179399847984314, + 0.8866491440773032, + 0.09866868797860319, + 0.09632496535778046 + ], + [ + -0.5273582339286804, + 0.1762220289452086, + 0.8311673073981592, + -0.23751163482666016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.7255055904388428, + -0.4225442941887482, + 0.5432291373747503, + 0.27780091762542725 + ], + [ + 0.45057833194732666, + 0.8882728275218496, + 0.08916585116131333, + 0.10052674263715744 + ], + [ + -0.5202121734619141, + 0.1800769633741307, + 0.8348362493222213, + -0.2456474006175995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.7274364233016968, + -0.4201978880670161, + 0.5424666022053228, + 0.2711336612701416 + ], + [ + 0.4442753195762634, + 0.8909093155627166, + 0.09433977330392523, + 0.09289363026618958 + ], + [ + -0.5229299068450928, + 0.17237832672946884, + 0.8347634112548817, + -0.2432202845811844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.7286536693572998, + -0.4178844046846669, + 0.5426199970919269, + 0.26145073771476746 + ], + [ + 0.4420715570449829, + 0.8921040390420646, + 0.09339744222070323, + 0.09049591422080994 + ], + [ + -0.5231028199195862, + 0.17182247320157495, + 0.8347696844747632, + -0.24297313392162323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.7307535409927368, + -0.4126984557710521, + 0.543764087524033, + 0.24924099445343018 + ], + [ + 0.43856102228164673, + 0.8942505194822202, + 0.08933249046843508, + 0.091598279774189 + ], + [ + -0.5231286883354187, + 0.17319366985438917, + 0.83447011938509, + -0.24508418142795563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.7341200113296509, + -0.40794110644694714, + 0.5428183923160661, + 0.23917284607887268 + ], + [ + 0.43532487750053406, + 0.8962684501953441, + 0.08482396903253754, + 0.09242656081914902 + ], + [ + -0.5211141705513, + 0.17403140814331144, + 0.8355555246418046, + -0.24415647983551025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.735008955001831, + -0.4006986234691044, + 0.5469940270619293, + 0.2254822552204132 + ], + [ + 0.4309946596622467, + 0.8988614889171036, + 0.079320123791462, + 0.09445445984601974 + ], + [ + -0.5234553217887878, + 0.17745047103484735, + 0.8333701995909738, + -0.23797795176506042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.7425163984298706, + -0.40177578620177157, + 0.5359529696426032, + 0.21102631092071533 + ], + [ + 0.4290448725223541, + 0.8997270554960166, + 0.08007353546752634, + 0.08434729278087616 + ], + [ + -0.5143829584121704, + 0.17049197398487434, + 0.8404419543762096, + -0.25251683592796326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.7706372141838076, + -0.3919396392325252, + 0.5024954069127233, + 0.2310788780450821 + ], + [ + 0.4160093367099763, + 0.9067212618905711, + 0.06922997251812751, + 0.09197589755058289 + ], + [ + -0.48275727033615123, + 0.15569155961786188, + 0.8618036957303489, + -0.28087255358695984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.7728095054626465, + -0.3878409015733608, + 0.5023394900563463, + 0.2309739589691162 + ], + [ + 0.41932570934295654, + 0.9061957328415079, + 0.05454650736102046, + 0.1059429794549942 + ], + [ + -0.47637325525283813, + 0.16848976406390975, + 0.8629482720624464, + -0.264682799577713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.7804538607597351, + -0.38500250140991765, + 0.49261021257971355, + 0.2253877818584442 + ], + [ + 0.41482144594192505, + 0.9083734572400153, + 0.05273348577583158, + 0.1028033122420311 + ], + [ + -0.4677765667438507, + 0.16318923420568546, + 0.868650886117231, + -0.26786136627197266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.7834125161170962, + -0.3744217693300247, + 0.4960576819015288, + 0.20537710189819336 + ], + [ + 0.40902382135391246, + 0.9115532174619785, + 0.04207378725178841, + 0.10889390110969543 + ], + [ + -0.46793630719184887, + 0.16993826830155478, + 0.8672696204827701, + -0.262145459651947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.7882930040359497, + -0.3683835171772004, + 0.49283642774624425, + 0.19171470403671265 + ], + [ + 0.4036045968532562, + 0.9141547028112267, + 0.03774248462227389, + 0.10831698030233383 + ], + [ + -0.4644324779510498, + 0.1691588830776595, + 0.8693030477916083, + -0.2599313259124756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8005181550979614, + -0.3666739665448668, + 0.47404738834605065, + 0.20320338010787964 + ], + [ + 0.39876091480255127, + 0.9163704167369818, + 0.03542648662380078, + 0.10651469975709915 + ], + [ + -0.4473929703235626, + 0.16067202808050268, + 0.8797863575366708, + -0.26629942655563354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.7917172312736511, + -0.35231860022320416, + 0.4990545943988851, + 0.16552326083183289 + ], + [ + 0.39788469672203064, + 0.9172895195537568, + 0.016362942313585566, + 0.11927399039268494 + ], + [ + -0.46354252099990845, + 0.18561130492131675, + 0.8664160616943961, + -0.2409667819738388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8151552081108095, + -0.3538907281928109, + 0.4585666755566541, + 0.1928543895483017 + ], + [ + 0.3857618868350984, + 0.9222325095366248, + 0.02598033719218303, + 0.10519847273826599 + ], + [ + -0.43209928274154674, + 0.1557195187507114, + 0.88828013823305, + -0.26462268829345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.820561408996582, + -0.3472346742483894, + 0.45399026412621374, + 0.1853618621826172 + ], + [ + 0.3796986937522888, + 0.9248695166508015, + 0.021103259353768257, + 0.10436508059501648 + ], + [ + -0.4272094964981079, + 0.1550629503939774, + 0.8907567033383833, + -0.2616382837295532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.827160656452179, + -0.34077464252848155, + 0.44685331313221144, + 0.18084564805030823 + ], + [ + 0.37398338317871094, + 0.9273155635490256, + 0.014907165736183113, + 0.10501234978437424 + ], + [ + -0.41945403814315796, + 0.15478508216548229, + 0.8944829990010547, + -0.25998714566230774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8328419327735901, + -0.3346510344776641, + 0.4408888870005929, + 0.1760433465242386 + ], + [ + 0.36858171224594116, + 0.9295487735480189, + 0.009308863295196748, + 0.10619841516017914 + ], + [ + -0.41294291615486145, + 0.15475076986753764, + 0.8975134446343895, + -0.25732579827308655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.838611900806427, + -0.32963850978439974, + 0.4336687119092309, + 0.1724930852651596 + ], + [ + 0.3633940517902374, + 0.931619740966489, + 0.005421565022772444, + 0.10615725070238113 + ], + [ + -0.4058015048503876, + 0.15304602069259482, + 0.9010561170644672, + -0.2566915452480316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8444271087646484, + -0.32330472475013816, + 0.42710296859460906, + 0.1684279441833496 + ], + [ + 0.3558822274208069, + 0.9345231396407775, + 0.0037910721256806347, + 0.10430826246738434 + ], + [ + -0.4003632664680481, + 0.14879705590935688, + 0.9041950707063668, + -0.25874418020248413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.8497648835182192, + -0.31947907176530654, + 0.419324184188871, + 0.1663466840982437 + ], + [ + 0.3529582619667054, + 0.9356359534621193, + -0.0024215629261174023, + 0.10744962841272354 + ], + [ + -0.3915611505508424, + 0.15006168164769193, + 0.9078333132808065, + -0.2557542324066162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.8546483516693115, + -0.3109561189734027, + 0.4157913709847386, + 0.1598568707704544 + ], + [ + 0.3426940441131592, + 0.9394453280885495, + -0.001819824402663991, + 0.10272443294525146 + ], + [ + -0.3900473713874817, + 0.14404454237576472, + 0.9094581986250144, + -0.2611163854598999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8597441911697388, + -0.30459886855894025, + 0.4099505135595441, + 0.1560792475938797 + ], + [ + 0.3364899158477783, + 0.94166790857292, + -0.006011093173777293, + 0.10191802680492401 + ], + [ + -0.38420623540878296, + 0.1431121928026516, + 0.9120879707436433, + -0.26284000277519226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8646875619888308, + -0.29772175276243784, + 0.4045703658982337, + 0.1513632833957672 + ], + [ + 0.33014929294586187, + 0.9438641896132579, + -0.011041523107930443, + 0.10160987079143524 + ], + [ + -0.37857219576835643, + 0.14311603902172307, + 0.9144402438975394, + -0.26480361819267273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8691304326057434, + -0.29148370534443824, + 0.39956169098345673, + 0.14564616978168488 + ], + [ + 0.3241749405860901, + 0.9458762592909927, + -0.015123510644427341, + 0.10090168565511703 + ], + [ + -0.3735276460647583, + 0.14267217265625048, + 0.9165815457548366, + -0.2673978805541992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.873528003692627, + -0.2854047151371947, + 0.3943259365451621, + 0.14029258489608765 + ], + [ + 0.3183661103248596, + 0.9477717223705548, + -0.01928143877312765, + 0.10100743919610977 + ], + [ + -0.3682279884815216, + 0.1423828857211535, + 0.9187683270474057, + -0.2692123055458069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8780645132064819, + -0.2792611664248825, + 0.3886076798798785, + 0.1353786140680313 + ], + [ + 0.3122831881046295, + 0.9497074691791754, + -0.02312972924140581, + 0.10109670460224152 + ], + [ + -0.3626043498516083, + 0.14166503709019257, + 0.9211129512446024, + -0.27073952555656433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8825093507766726, + -0.27336166693479697, + 0.3826887960889416, + 0.13065767288208008 + ], + [ + 0.3063149452209473, + 0.9515564980773829, + -0.026671062869635633, + 0.10114109516143799 + ], + [ + -0.356859177350998, + 0.14076074304999778, + 0.9234922505188383, + -0.2722097635269165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.886790931224823, + -0.26740690581497667, + 0.37695539200108635, + 0.12598997354507446 + ], + [ + 0.300291508436203, + 0.9533714883690144, + -0.030129963423666126, + 0.10126476734876633 + ], + [ + -0.35132157802581787, + 0.13991547240473534, + 0.9257412111219387, + -0.27285853028297424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8911631107330322, + -0.26144824991802906, + 0.370773733381147, + 0.1218671053647995 + ], + [ + 0.2943502962589264, + 0.9550925667230147, + -0.034001428025037264, + 0.10170742869377136 + ], + [ + -0.34523361921310425, + 0.13943817021729574, + 0.9281006137161537, + -0.2732205390930176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8949630260467529, + -0.2555355268794191, + 0.36570855040540756, + 0.11752734333276749 + ], + [ + 0.2886522710323334, + 0.9566828668719888, + -0.03791717620792371, + 0.1018134206533432 + ], + [ + -0.3401779532432556, + 0.1394970765204692, + 0.9299567480383459, + -0.2728004455566406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8987240195274355, + -0.2500051740701336, + 0.36026735013145494, + 0.11404202878475189 + ], + [ + 0.2833696603775025, + 0.9580890776997514, + -0.04203517039824234, + 0.10213753581047058 + ], + [ + -0.33465921878814703, + 0.13986685316919314, + 0.9319015438703115, + -0.2715841233730316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9024629592895508, + -0.24450999195714676, + 0.3546483596700878, + 0.1116686686873436 + ], + [ + 0.27785009145736694, + 0.9595471030347471, + -0.04548331640206662, + 0.10213927179574966 + ], + [ + -0.32918068766593933, + 0.1395860906160836, + 0.9338928235823619, + -0.27050718665122986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9055334329605103, + -0.2383166251125269, + 0.35101907223278483, + 0.10828181356191635 + ], + [ + 0.2721077501773834, + 0.9609917655187206, + -0.04951966867837769, + 0.1022079735994339 + ], + [ + -0.32552510499954224, + 0.14035671369902705, + 0.9350579769923437, + -0.2696805000305176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.909050464630127, + -0.23281436968305988, + 0.34557877576890145, + 0.10739555954933167 + ], + [ + 0.26709476113319397, + 0.9621327813100952, + -0.054413835951874136, + 0.10319895297288895 + ], + [ + -0.31982433795928955, + 0.14176718370492236, + 0.9368107906938222, + -0.26806047558784485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.911984920501709, + -0.22762245310111234, + 0.34127929073154445, + 0.10622051358222961 + ], + [ + 0.26238763332366943, + 0.9631717838226086, + -0.05876141637338497, + 0.10327625274658203 + ], + [ + -0.31533512473106384, + 0.14313696954848043, + 0.9381234359864865, + -0.2660596966743469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9149344563484194, + -0.22198085338658458, + 0.33707483954569756, + 0.10527275502681732 + ], + [ + 0.2573364973068238, + 0.9642331535293577, + -0.063501353818196, + 0.10330268740653992 + ], + [ + -0.3109226524829865, + 0.14484122536206254, + 0.9393338912861007, + -0.2642897963523865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9177725315093994, + -0.21767446658151404, + 0.33213167957936174, + 0.10568107664585114 + ], + [ + 0.25344064831733704, + 0.9649647946658784, + -0.0679027132585876, + 0.10346075147390366 + ], + [ + -0.3057146668434143, + 0.14649490311174848, + 0.9407857287936625, + -0.2620333731174469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.919809877872467, + -0.21139707508307956, + 0.33054668416924265, + 0.10267828404903412 + ], + [ + 0.24788494408130646, + 0.9661162643476903, + -0.0719198689000502, + 0.10249630361795425 + ], + [ + -0.30414289236068726, + 0.1480901340496554, + 0.9410453857163841, + -0.26171180605888367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9224017858505249, + -0.20670536020782365, + 0.32626349201312704, + 0.10245561599731445 + ], + [ + 0.2437637746334076, + 0.9668016338112554, + -0.07664065274357262, + 0.10170188546180725 + ], + [ + -0.29959002137184143, + 0.15022469043650927, + 0.9421668140863158, + -0.2614426910877228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9238014817237856, + -0.19944951721096352, + 0.3268191602561071, + 0.0977783054113388 + ], + [ + 0.2381060272455216, + 0.9677324972752677, + -0.08245814431012641, + 0.10125052183866501 + ], + [ + -0.2998273074626923, + 0.1539925611100325, + 0.9414828020878514, + -0.26156020164489746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9269278645515442, + -0.19676067207743697, + 0.3195151456897902, + 0.0999370664358139 + ], + [ + 0.23559096455574036, + 0.9679135098737309, + -0.08740909949440442, + 0.10051094740629196 + ], + [ + -0.2920643389225006, + 0.1562968183412241, + 0.9435410785592927, + -0.26284757256507874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9285373687744141, + -0.19146320516063073, + 0.31805698223896656, + 0.09682188928127289 + ], + [ + 0.23132503032684326, + 0.9684858789738888, + -0.09232474584842833, + 0.10011593997478485 + ], + [ + -0.2903568744659424, + 0.1593015173901815, + 0.9435655554253771, + -0.2637745141983032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9306685328483582, + -0.18781409211328787, + 0.31397764262394207, + 0.09624986350536346 + ], + [ + 0.22844937443733215, + 0.9686374735038688, + -0.09773588597194749, + 0.10055144131183624 + ], + [ + -0.2857743203639984, + 0.162687702654317, + 0.9443864317362143, + -0.2645893394947052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9325607419013979, + -0.1833378145254387, + 0.3109946632988863, + 0.0952843725681305 + ], + [ + 0.2249161452054978, + 0.9688910837736879, + -0.10326097811960562, + 0.10110566020011902 + ], + [ + -0.2823882997035981, + 0.16624485126369098, + 0.9447854259242199, + -0.2649334669113159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9340623021125793, + -0.17993714656295587, + 0.3084643425680099, + 0.09379716217517853 + ], + [ + 0.22223544120788574, + 0.9690278293282305, + -0.10768712903469707, + 0.10009543597698212 + ], + [ + -0.27953359484672546, + 0.16913819328189708, + 0.9451207825659929, + -0.2668851613998413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9354463219642641, + -0.17562111235454989, + 0.30675299903654873, + 0.09228609502315521 + ], + [ + 0.21910120546817785, + 0.9690984148451945, + -0.11332659287302405, + 0.10007862001657486 + ], + [ + -0.2773712873458863, + 0.1732208844676207, + 0.9450183709592908, + -0.26787713170051575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9368312358856203, + -0.17184158851087958, + 0.30466001322331865, + 0.09058241546154022 + ], + [ + 0.21647104620933538, + 0.9689980798554343, + -0.11909232796325787, + 0.09899766743183136 + ], + [ + -0.27474996447563177, + 0.1775194791712705, + 0.9449864004216074, + -0.2700369954109192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9385542273521423, + -0.16764277024451255, + 0.3016816383164625, + 0.09000876545906067 + ], + [ + 0.21356543898582458, + 0.9687581737156139, + -0.12608474233270311, + 0.09808997064828873 + ], + [ + -0.2711193859577179, + 0.18276615478509606, + 0.9450348099825364, + -0.2733535170555115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9398833513259888, + -0.16317660690824043, + 0.29998788514309027, + 0.08824019879102707 + ], + [ + 0.21073001623153687, + 0.9683878573101843, + -0.13348331501668864, + 0.09661345928907394 + ], + [ + -0.2687232792377472, + 0.18867519382535797, + 0.9445578220698089, + -0.2787109315395355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9399502873420715, + -0.16403895863553014, + 0.2993069018280925, + 0.08698128163814545 + ], + [ + 0.21362799406051636, + 0.9666738423881481, + -0.14108437173060243, + 0.09342613816261292 + ], + [ + -0.2661888301372528, + 0.19655263197402975, + 0.9436686870797701, + -0.2857518196105957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9377308487892151, + -0.17584220098355866, + 0.29956706494748303, + 0.08445234596729279 + ], + [ + 0.22903086245059967, + 0.9613813507140823, + -0.15261315572764966, + 0.08809198439121246 + ], + [ + -0.26116234064102173, + 0.21172015737052224, + 0.9417902267014732, + -0.2962481379508972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.940376400947571, + -0.16337260348658394, + 0.29833137454359204, + 0.09484446048736572 + ], + [ + 0.2180586457252503, + 0.9627059723801082, + -0.16014886795472127, + 0.09024810791015625 + ], + [ + -0.2610414624214173, + 0.21565394033759927, + 0.9409307725448522, + -0.2794155776500702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9412107467651367, + -0.15093700251110861, + 0.30222559177140523, + 0.07909028977155685 + ], + [ + 0.20896519720554352, + 0.9630690110472394, + -0.16979878099776022, + 0.0860322117805481 + ], + [ + -0.2654351592063904, + 0.2229710699228113, + 0.9379915141712558, + -0.2932375371456146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9433553218841553, + -0.14855547674818134, + 0.2966681172992033, + 0.06901533901691437 + ], + [ + 0.2066613733768463, + 0.9626124041149061, + -0.1751242193191635, + 0.0760645866394043 + ], + [ + -0.259560763835907, + 0.22651418959852923, + 0.93878618052347, + -0.31487375497817993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9453468322753906, + -0.14415688080388558, + 0.2924690077432081, + 0.06578941643238068 + ], + [ + 0.20353031158447266, + 0.9616465849493914, + -0.18387848522474193, + 0.071404829621315 + ], + [ + -0.2547444701194763, + 0.23335524743044808, + 0.9384298585651007, + -0.3225727677345276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9462596774101257, + -0.14224553983829677, + 0.29044589537999815, + 0.06300818920135498 + ], + [ + 0.20378150045871735, + 0.9596145040530827, + -0.19394088366978204, + 0.06882098317146301 + ], + [ + -0.2511288821697235, + 0.2427059437857431, + 0.9370315568991028, + -0.32825788855552673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.948069155216217, + -0.14313130679566644, + 0.2840393399585471, + 0.06646282225847244 + ], + [ + 0.20583896338939667, + 0.9569038977154536, + -0.20485420309246288, + 0.06682495027780533 + ], + [ + -0.24247731268405914, + 0.25268230048343776, + 0.9366730250233007, + -0.33337265253067017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9483022689819338, + -0.1393619265528965, + 0.2851333834474802, + 0.059772856533527374 + ], + [ + 0.20344235002994543, + 0.9564945219577684, + -0.20911588530321468, + 0.05979239195585251 + ], + [ + -0.24358573555946356, + 0.25631326791494524, + 0.9353980309338727, + -0.3373747169971466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9496135711669922, + -0.130390420288939, + 0.28501292069126005, + 0.05076060816645622 + ], + [ + 0.19880951941013336, + 0.9535905522825021, + -0.22614109025928933, + 0.0652022436261177 + ], + [ + -0.24229899048805237, + 0.2714099409208873, + 0.9314654476048262, + -0.34497731924057007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9511950016021729, + -0.12647959045433413, + 0.2814799944213109, + 0.052561819553375244 + ], + [ + 0.19596697390079498, + 0.9521913290606275, + -0.2343684624970899, + 0.0645177885890007 + ], + [ + -0.23837998509407043, + 0.2780908990586063, + 0.9305054719574516, + -0.3414313793182373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9529887437820435, + -0.12180568786438967, + 0.27744508487160696, + 0.05379525199532509 + ], + [ + 0.19241276383399963, + 0.9506048378006304, + -0.24357294983479863, + 0.06755796074867249 + ], + [ + -0.23407207429409027, + 0.285506262100067, + 0.9293527104382637, + -0.33635950088500977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9534120559692383, + -0.1178925505370216, + 0.27768108830544497, + 0.05110540986061096 + ], + [ + 0.1888699233531952, + 0.9510222315777762, + -0.2447139329521681, + 0.06267041712999344 + ], + [ + -0.2352309376001358, + 0.2857588046710027, + 0.928982392636394, + -0.3327992260456085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 958.1605631510416, + "fy": 958.3050130208333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_048/move_left/transforms.json b/spatialvid_eval/camera_controls/scene_048/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d4f2939c3942eac4b40ee8eb57bea2d7adb78666 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_048/move_left/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999982151657, + 2.7186357431856174e-06, + 5.968481975468725e-05, + -0.0001096762495052533 + ], + [ + -2.713419573360956e-06, + 0.9999999961773618, + -8.739515837937331e-05, + 0.00010793123300873929 + ], + [ + -5.968505712213513e-05, + 8.739499627342927e-05, + 0.9999999943999043, + 0.0001736943102585283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999952629991712, + 0.0002995106337714307, + 0.0030633760133106365, + 0.0013291835193303793 + ], + [ + -0.0002987261997064795, + 0.9999999224793423, + -0.0002565228393546674, + -0.0003070200643025459 + ], + [ + -0.003063452607153905, + 0.0002556065135310365, + 0.9999952749505541, + 0.012169004501911905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999813535137944, + 0.00047963596807450734, + 0.0060879039133337415, + 0.002456570520389958 + ], + [ + -0.00047691113329507496, + 0.9999997854658758, + -0.00044902558202850577, + -0.0002768009704088379 + ], + [ + -0.006088117976090333, + 0.000446113820124485, + 0.9999813677274035, + 0.02421647146191747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999668353804232, + 0.0004438456308375882, + 0.008132105527950942, + 0.0023762024202419285 + ], + [ + -0.0004389199538421629, + 0.9999997191573159, + -0.0006074821509560032, + 0.0003362194226195971 + ], + [ + -0.008132372872407112, + 0.0006038926606585992, + 0.9999667493597568, + 0.032315258359038077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999308918822908, + 0.000461320937076142, + 0.011747282344420627, + 0.0029482111674490235 + ], + [ + -0.0004503882466899603, + 0.9999994630641657, + -0.0009332854909726138, + 0.0007760906553031778 + ], + [ + -0.011747706581021035, + 0.0009279301554705717, + 0.999930562757091, + 0.04460379031589663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998643309096055, + 0.0006217156533636038, + 0.01646004994929896, + 0.003655413834269119 + ], + [ + -0.000598158992284125, + 0.9999987900167708, + -0.0014360260493235081, + 0.0002576727684983269 + ], + [ + -0.016460922832788074, + 0.0014259854980849943, + 0.9998634929753423, + 0.057178269636003476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997895677600541, + 0.0006578818342334585, + 0.02050335069339095, + 0.004179065141050255 + ], + [ + -0.0006215641282036814, + 0.9999982268462415, + -0.0017776283096814253, + 9.385084938112635e-05 + ], + [ + -0.020504483807170567, + 0.0017645100920754362, + 0.9997882038951732, + 0.06555145592492151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9996099772844859, + 0.0006069842001675286, + 0.027919972841873746, + 0.00629296231280726 + ], + [ + -0.0005430104926823677, + 0.9999972102126388, + -0.002298848960875711, + 0.000119609430372889 + ], + [ + -0.027921290316084202, + 0.0022827915193528885, + 0.9996075181839943, + 0.07807849678553398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9993422594052929, + 0.0005275966348753062, + 0.036259760182815105, + 0.00873379271871039 + ], + [ + -0.0004272725257145732, + 0.999996059758648, + -0.0027745099327904634, + 0.0011694359495829584 + ], + [ + -0.036261081132712585, + 0.0027571922256621325, + 0.9993385471831443, + 0.09057842527141946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9989842218598646, + 0.00043600455379498153, + 0.045059231851755116, + 0.011339110007517132 + ], + [ + -0.0002909097245778895, + 0.9999947522037016, + -0.0032265983000179478, + 0.0027310591773019957 + ], + [ + -0.04506040220163707, + 0.0032102126232701053, + 0.9989791062321275, + 0.10307693083264662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9984772794708451, + 0.0007522624345133957, + 0.055159373471150776, + 0.014272086002103019 + ], + [ + -0.0005815048987357394, + 0.999994989585542, + -0.0031116966215716238, + 0.002382364293428263 + ], + [ + -0.05516143791230444, + 0.0030748829313607855, + 0.9984727141301387, + 0.11687243566355912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9980825279888126, + 0.0009623336798572347, + 0.06188975066479291, + 0.015812996897007724 + ], + [ + -0.0007758741675685962, + 0.999995088131071, + -0.0030367306446294636, + 0.0021506364448605157 + ], + [ + -0.06189236901862556, + 0.002982889139834797, + 0.9980783721880974, + 0.12610921535151284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.997508791206341, + 0.0009477443329276268, + 0.07053590041067136, + 0.01818801406070596 + ], + [ + -0.0007174107291115343, + 0.9999943281534629, + -0.0032907419756647936, + 0.0014341610335116806 + ], + [ + -0.07053861912392743, + 0.0032319408385751954, + 0.9975038134115105, + 0.13954483185546493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9969265206848993, + 0.0008927299470640779, + 0.07833719032708954, + 0.02041068410307063 + ], + [ + -0.0006193532669760329, + 0.999993634186582, + -0.003513970381643475, + 0.0012735559044150168 + ], + [ + -0.07833982867374502, + 0.003454651871606811, + 0.9969207273518864, + 0.15274524047002747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9965976615948053, + 0.0008001032954488991, + 0.0824163863469055, + 0.021271783561159906 + ], + [ + -0.0005033014112417184, + 0.9999933140207796, + -0.003621960992047764, + 0.0019079066743352714 + ], + [ + -0.0824187332555847, + 0.003568157571504563, + 0.9965914010566667, + 0.16124740106886565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9961133420280845, + 0.0007232818881667615, + 0.08807773099342771, + 0.02326390400608431 + ], + [ + -0.0004091145073511557, + 0.9999934904193155, + -0.0035849329581251472, + 0.0024916483439267577 + ], + [ + -0.0880797505614102, + 0.0035349656723406837, + 0.996107153653027, + 0.17385779590720746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9956819611605904, + 0.0007678987509498972, + 0.09282694948617548, + 0.025409241811418518 + ], + [ + -0.000477410382300677, + 0.9999949199890839, + -0.0031515195307787506, + 0.00234133883895043 + ], + [ + -0.09282889797217006, + 0.0030935945975996888, + 0.9956772696881948, + 0.18626799563704738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9951611108188589, + 0.0008368469003564671, + 0.0982530569551903, + 0.02779232356965026 + ], + [ + -0.0005401711793829225, + 0.9999952148293477, + -0.0030460685323072468, + 0.0013738374137086777 + ], + [ + -0.0982551358905552, + 0.002978255474587789, + 0.9951568008436944, + 0.1983867013477633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9945752486971748, + 0.0009188918371652373, + 0.10401552920955835, + 0.030295552355985904 + ], + [ + -0.0005991929013317396, + 0.999995000657544, + -0.003104774997587477, + -2.21375850493082e-06 + ], + [ + -0.1040178621527086, + 0.003025606998643704, + 0.9945708270683743, + 0.21036766611054103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9941169496925613, + 0.000822367432090171, + 0.10830888258016523, + 0.03187952781680775 + ], + [ + -0.0004898538354645599, + 0.9999950854835978, + -0.0030966194263565227, + 0.0003335838224532811 + ], + [ + -0.10831089685335112, + 0.003025346336941501, + 0.9941124669283472, + 0.21810601139298316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9933947366609964, + 0.0006775809474464158, + 0.114745100367246, + 0.0348794018359818 + ], + [ + -0.00032591379600418514, + 0.9999951928890956, + -0.003083501078054645, + 0.0008365657277299416 + ], + [ + -0.1147466380964047, + 0.0030257367301944216, + 0.993390182135304, + 0.2296618386160427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9927295577250461, + 0.0007521081973310725, + 0.12036386314959413, + 0.03844572179255534 + ], + [ + -0.0003911027927298841, + 0.9999953546096187, + -0.0030228790562406077, + 0.0021830443213169955 + ], + [ + -0.12036557754457972, + 0.0029538267455364786, + 0.9927252402603237, + 0.24195360854931636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.992268444830854, + 0.0008015664755861359, + 0.12410757786752484, + 0.04041122540354339 + ], + [ + -0.0004347522334849456, + 0.9999954573256679, + -0.0029826696974052957, + 0.0030809735528806717 + ], + [ + -0.12410940489525361, + 0.0029056529754181537, + 0.9922642857612746, + 0.250207580423483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9919738187897535, + 0.000860602354669618, + 0.1264405085376546, + 0.04395167097336888 + ], + [ + -0.0004890189375524042, + 0.9999954705298714, + -0.002969811478896151, + 0.0016810843153965507 + ], + [ + -0.12644249165589977, + 0.002884143430657591, + 0.9919697465248218, + 0.26256001076161173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9917669518722134, + 0.0009164525770610154, + 0.12805261921871525, + 0.04743170402173474 + ], + [ + -0.0005233555890306349, + 0.9999950474244697, + -0.003103421573153786, + 0.0004235466733591873 + ], + [ + -0.1280548291671451, + 0.0030108539000230725, + 0.9917625197020538, + 0.27513911416254627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9917447314197283, + 0.0009660648441128792, + 0.12822423491652424, + 0.05078945140965035 + ], + [ + -0.0005177326434398705, + 0.9999936363726595, + -0.003529754537551915, + -0.0005495262039293546 + ], + [ + -0.1282268289170443, + 0.003434229593725604, + 0.991738920489146, + 0.28816216349898904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9917251240210555, + 0.0010401509769359558, + 0.12837521751244405, + 0.053811544767880096 + ], + [ + -0.0005618429159653116, + 0.9999927657551425, + -0.0037620167355606232, + -8.790479111383418e-05 + ], + [ + -0.12837820188006968, + 0.0036587598070982725, + 0.9917185340401349, + 0.30038407953831486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9917129184547671, + 0.0010976912916680025, + 0.12846899409490492, + 0.05530118343655829 + ], + [ + -0.0006078353839203117, + 0.9999923956222033, + -0.0038521726224106673, + 0.0006984075397204536 + ], + [ + -0.1284722456644803, + 0.003742161353414903, + 0.991706044310677, + 0.3083185705476702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9914222160987521, + 0.001235427637714805, + 0.1306922459229747, + 0.058482265256595965 + ], + [ + -0.0007549848538043562, + 0.9999927748418211, + -0.003725622367542477, + 0.0008866464963281848 + ], + [ + -0.13069590438766568, + 0.003594994117794522, + 0.9914159856455732, + 0.3212532606380261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9909863421273151, + 0.0013980945311247858, + 0.13395564582654187, + 0.0618279481445238 + ], + [ + -0.0009419251619434451, + 0.9999935404645409, + -0.0034686894040527835, + 0.0005798168739164288 + ], + [ + -0.1339596300909837, + 0.0033112476311096405, + 0.9909812577163163, + 0.3347512149577406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9906661777734344, + 0.0012706920226574357, + 0.13630447372539736, + 0.06379649730266321 + ], + [ + -0.0007800141530293404, + 0.9999930227755275, + -0.0036532147739066967, + 7.348527866409511e-05 + ], + [ + -0.13630816480935784, + 0.003512796898024563, + 0.9906602568308966, + 0.34250306322073326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9901754556592177, + 0.0010804849664231607, + 0.13982631927608674, + 0.06737009394616436 + ], + [ + -0.0005363286709966372, + 0.9999921365179059, + -0.003929281602392422, + -0.0006871385243791116 + ], + [ + -0.139829465284029, + 0.003815685337074602, + 0.990168248927318, + 0.35405439183029835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9896273598087592, + 0.0010265828637641178, + 0.14365456778525676, + 0.07141861496850584 + ], + [ + -0.0004933079695541851, + 0.9999928554032556, + -0.0037477712965299646, + 0.00037167357514627695 + ], + [ + -0.14365738882908974, + 0.0036380310702006694, + 0.989620795741854, + 0.36549189631974727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9890572042213237, + 0.0009099242718368035, + 0.1475297218045184, + 0.07559877029607338 + ], + [ + -0.00037643039100280107, + 0.9999932895454269, + -0.0036440587642027054, + 0.0014007404494843021 + ], + [ + -0.14753204763053956, + 0.00354864790247713, + 0.9890509097210339, + 0.3770786052972079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9884569259395666, + 0.0006691306550722267, + 0.1515006858937257, + 0.08004033943001745 + ], + [ + -0.00011053028818630426, + 0.9999931654868679, + -0.0036955057312338916, + 0.0023699995180886547 + ], + [ + -0.15150212323646914, + 0.0036361028204152453, + 0.9884502442769295, + 0.3889544698355085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9880148430436835, + 0.00045189295159467504, + 0.15435823825804007, + 0.08253292938847301 + ], + [ + 0.00012834639235099246, + 0.9999929640227329, + -0.0037490575126455004, + 0.0022037171143203223 + ], + [ + -0.15435884636964975, + 0.003723935792928261, + 0.9880078333948781, + 0.39726823799482325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9872851317418342, + 4.1285630652252976e-05, + 0.15895932478783906, + 0.08680482899856096 + ], + [ + 0.0005792781052424572, + 0.9999923917358999, + -0.0038575778917541216, + 0.0007352663336992923 + ], + [ + -0.15895827464585097, + 0.0039006109535385746, + 0.987277596299948, + 0.4101436661642811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9867742596220537, + -0.00022917618914057401, + 0.16210030236129291, + 0.09031177231277704 + ], + [ + 0.0009001520952153352, + 0.9999913293276087, + -0.004065832732412048, + 0.0002628919284886313 + ], + [ + -0.1620979650506253, + 0.004157974011078567, + 0.986765909919151, + 0.42229268137639037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9865087848199073, + -0.0003626294717552276, + 0.1637079288642309, + 0.09198364271626852 + ], + [ + 0.0010708846063817315, + 0.999990445798915, + -0.004238103000979597, + 0.0002795131987298377 + ], + [ + -0.16370482790470686, + 0.004356238142401325, + 0.9864997478509242, + 0.43021823472616466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9863114509137473, + -0.0006348495768917242, + 0.1648918395871468, + 0.09493632353438942 + ], + [ + 0.0013234525385451114, + 0.9999908569713023, + -0.004066257146156258, + 0.0009193344250080468 + ], + [ + -0.16488775051469665, + 0.004228822509300755, + 0.9863032732331308, + 0.4424385878564142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9862157029863894, + -0.0009434352833724607, + 0.1654620715237418, + 0.09780297064275809 + ], + [ + 0.0015739110846906537, + 0.9999919926678594, + -0.003679321141377809, + 0.0018659737691408425 + ], + [ + -0.16545727541259478, + 0.003889026874423695, + 0.9862092909129435, + 0.4548753020357309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9858255223065492, + -0.0009573101937681515, + 0.1677710437656411, + 0.10123182966392022 + ], + [ + 0.001550359905880943, + 0.9999930047983431, + -0.003403929867573908, + 0.0005523032860908914 + ], + [ + -0.16776661155659664, + 0.003615786439217957, + 0.9858201104335639, + 0.4668039474969664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9854926248921712, + -0.0010356830579220935, + 0.16971509550933342, + 0.10499637490568495 + ], + [ + 0.0015915364953853174, + 0.9999938061759546, + -0.003139207115116038, + -0.0004333549272996493 + ], + [ + -0.1697107931002695, + 0.003363773228276793, + 0.9854881692516387, + 0.4784409542706432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9853525663943621, + -0.001173304141906597, + 0.17052549151793922, + 0.10754189480954199 + ], + [ + 0.0017059077091742686, + 0.9999941142002826, + -0.002976817710213025, + -0.0006540619963010095 + ], + [ + -0.17052099512650037, + 0.003224115721037777, + 0.9853487683550862, + 0.48587580522451873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9851144198864149, + -0.001332644563594278, + 0.1718947462557239, + 0.11188385289906058 + ], + [ + 0.0017985243133701962, + 0.9999951197736767, + -0.0025545526270874756, + -0.00024692378111532717 + ], + [ + -0.17189050305978745, + 0.002825683509784115, + 0.98511200909874, + 0.49726240402133304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9848203007009814, + -0.0013983395479190144, + 0.17357136853103844, + 0.11604108367496152 + ], + [ + 0.0017327762231864983, + 0.9999969229271974, + -0.0017752810192570067, + 0.0016353305196474893 + ], + [ + -0.17356835199364312, + 0.0020490931276299544, + 0.9848196933467391, + 0.5093285276916426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9845775092305092, + -0.0014740063701354483, + 0.1749427209765171, + 0.11841109895310756 + ], + [ + 0.0017287862419692423, + 0.9999976554694012, + -0.0013039761617647393, + 0.0024401209732537207 + ], + [ + -0.17494038874878579, + 0.0015863041706031533, + 0.9845777491003451, + 0.5175562966803291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9841411246831351, + -0.0016354402117833328, + 0.1773797396624756, + 0.12259517549555976 + ], + [ + 0.0017824012288794031, + 0.999998187627413, + -0.0006691694468348729, + 0.0029741869837842595 + ], + [ + -0.1773783237976761, + 0.0009747190379643683, + 0.9841422560633822, + 0.5299570686172532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9837201103064114, + -0.001629525593683276, + 0.1796999978438554, + 0.12665722073358715 + ], + [ + 0.0016387817882322455, + 0.9999986524971697, + 9.694377637166739e-05, + 0.002036171482902375 + ], + [ + -0.17969991366996443, + 0.00019912354142602725, + 0.9837214551776448, + 0.5420680109930408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9833044406893459, + -0.0015410758629724882, + 0.1819615399082925, + 0.13065889111325021 + ], + [ + 0.0013954749866165559, + 0.9999985955449195, + 0.000928201352191354, + 0.00036273011168213676 + ], + [ + -0.18196271478018317, + -0.0006587817339953617, + 0.9833052102152477, + 0.5540366846877509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.982980723259868, + -0.0019801818546537567, + 0.1836980581806171, + 0.13423473912212028 + ], + [ + 0.0017057910230226165, + 0.9999971810556285, + 0.0016517135896557701, + 0.0010134965408725319 + ], + [ + -0.18370081103928929, + -0.0013102521203867989, + 0.9829813300683224, + 0.5655106700494357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.982763130400084, + -0.002273557961645993, + 0.18485524190680266, + 0.13620971557644956 + ], + [ + 0.0019119574019353877, + 0.9999958944575795, + 0.0021343586574548946, + 0.0014461582122374276 + ], + [ + -0.18485933556388404, + -0.0017441336475466248, + 0.9827634425703363, + 0.5732394193030214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9824608743619624, + -0.0024424458439925504, + 0.18645284874795506, + 0.14072329379167975 + ], + [ + 0.0019333690701599797, + 0.9999938908271252, + 0.002912111341719895, + 0.0027305293970882015 + ], + [ + -0.18645882234951286, + -0.0025005532842130025, + 0.9824595944878883, + 0.5847468894431117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9821486897379662, + -0.002618485131209189, + 0.18808799744165994, + 0.14559853582120552 + ], + [ + 0.001980257720493569, + 0.9999916272349422, + 0.0035810667925849303, + 0.003096141490232249 + ], + [ + -0.1880957995951974, + -0.0031446773491354088, + 0.9821456517131322, + 0.5962945975609973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9819292212579289, + -0.0027442574590138204, + 0.18922862756675118, + 0.14892108854937602 + ], + [ + 0.002046630485138023, + 0.9999903706594081, + 0.003881995893515802, + 0.002113919174883771 + ], + [ + -0.1892374586160332, + -0.003424564126807507, + 0.9819253824079948, + 0.604122576549816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9815316183840744, + -0.002922559798691875, + 0.1912776535734448, + 0.15504526320050596 + ], + [ + 0.002118891444666231, + 0.9999880487388868, + 0.004405982119754466, + 0.0013166862218177866 + ], + [ + -0.19128824431047878, + -0.003919314176861293, + 0.9815260804303662, + 0.615341762931929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9809961660017321, + -0.0030803687940137063, + 0.19400266394561483, + 0.16222230988084302 + ], + [ + 0.0021363663012146624, + 0.9999848402663883, + 0.005074955806032024, + 0.001869494690330654 + ], + [ + -0.19401535565240535, + -0.004564051434746361, + 0.9809878751572682, + 0.6257493233920465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.980453560981116, + -0.0031962950328677485, + 0.19672467678843003, + 0.16962562769091133 + ], + [ + 0.0020264919170618918, + 0.999979051133086, + 0.006147408029681575, + 0.0037581185629392577 + ], + [ + -0.1967402045591075, + -0.005628587126106839, + 0.9804394988560002, + 0.6374761762368001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.979903618215364, + -0.003293630169075472, + 0.19944435567031762, + 0.17714304543670284 + ], + [ + 0.0018506135295755812, + 0.9999707502874806, + 0.007421172350633446, + 0.0063151951406684986 + ], + [ + -0.19946296457739457, + -0.006902939214784555, + 0.9798810515527865, + 0.6498660076618058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9796939467299941, + -0.003458236869717133, + 0.20046897849383288, + 0.18105020500478347 + ], + [ + 0.0018087108040590947, + 0.9999629919226215, + 0.008410906632865896, + 0.005743517105944454 + ], + [ + -0.2004906464297903, + -0.007877523907449389, + 0.9796639450909953, + 0.6569244193557738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9793774348211579, + -0.0037070575210419545, + 0.20200519272450576, + 0.18752418969273937 + ], + [ + 0.0017439103495089999, + 0.9999495185576238, + 0.009895408686336373, + 0.004887433610802261 + ], + [ + -0.20203167806020397, + -0.009339061029484294, + 0.9793344592115945, + 0.6673905472135401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9792830609175838, + -0.0037306426001512748, + 0.20246177146730146, + 0.19283550194557042 + ], + [ + 0.0015955023561817195, + 0.9999413940496711, + 0.010708073507020771, + 0.002605374282130449 + ], + [ + -0.20248985399797018, + -0.010163206767072983, + 0.9792316213522163, + 0.6784778644441544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9792200278417253, + -0.0037465794584109605, + 0.20276612196324234, + 0.19596850854027575 + ], + [ + 0.0014963524918467888, + 0.9999355993060614, + 0.011249807538264264, + 0.0010836003185204241 + ], + [ + -0.2027952119821146, + -0.010712627258971378, + 0.9791625715959222, + 0.685954536483946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9789751189212202, + -0.0037697808122711795, + 0.20394485844416377, + 0.20060255158135185 + ], + [ + 0.0014147721385988918, + 0.9999306471295671, + 0.011691849761304452, + 0.0023601041675342877 + ], + [ + -0.20397478999371077, + -0.01115749450694477, + 0.9789125575675026, + 0.6973223753276194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9787438438960642, + -0.0038919519420940814, + 0.20504960557298682, + 0.20528464734624968 + ], + [ + 0.0013937055386017403, + 0.9999230528603836, + 0.012326635519982159, + 0.0035001852805974106 + ], + [ + -0.20508180226540998, + -0.011778839860157922, + 0.9786739565918368, + 0.7089990997399168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9785415516177892, + -0.004211805049989711, + 0.20600653498292334, + 0.21006202877682328 + ], + [ + 0.0014938849353447693, + 0.9999098071022456, + 0.013347133345768323, + 0.004366896649777786 + ], + [ + -0.20604417018020552, + -0.012752974514624106, + 0.9784595860717906, + 0.7212903230944685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9783057154793233, + -0.0043430293783619555, + 0.20712089502584682, + 0.21484068478564758 + ], + [ + 0.001478878680755591, + 0.9999011641923807, + 0.01398122900782533, + 0.003830041812163246 + ], + [ + -0.2071611449532387, + -0.013371609571788087, + 0.9782154466573929, + 0.7331606120131267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9781368800574018, + -0.00436766344248642, + 0.20791625089834867, + 0.21761952741219626 + ], + [ + 0.0014304631552806406, + 0.9998970823589755, + 0.0142750994802034, + 0.0030038248242588647 + ], + [ + -0.2079572014784131, + -0.01366558473178102, + 0.9780424602987363, + 0.7410212568959117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9779090292445435, + -0.004341478156116236, + 0.20898584183962068, + 0.22259299807318145 + ], + [ + 0.0012573733718399024, + 0.999888375895949, + 0.014888074434442523, + 0.003478959124498754 + ], + [ + -0.20902715023220972, + -0.014296409184885507, + 0.9778053298843384, + 0.7520815259932551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9776933651712473, + -0.004284213601449737, + 0.20999364088928868, + 0.22766368587265967 + ], + [ + 0.0010335844888304804, + 0.9998779817706963, + 0.01558695843529998, + 0.004811321212689781 + ], + [ + -0.21003479569639605, + -0.015022219675416589, + 0.9775784968547523, + 0.7628425169912578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9775669247396019, + -0.004340753664215511, + 0.2105803065644651, + 0.23052855815409856 + ], + [ + 0.0009055371173910811, + 0.9998649896941644, + 0.01640677867278401, + 0.0063973300936079796 + ], + [ + -0.21062309383751474, + -0.015848035888251035, + 0.9774388738436784, + 0.7712741724648152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9773766127376782, + -0.004426493027500602, + 0.211460074323501, + 0.2354373778635459 + ], + [ + 0.0007125411218510107, + 0.999844213709776, + 0.01763634305148652, + 0.008777471641607856 + ], + [ + -0.21150519889253966, + -0.01708667523415641, + 0.9772275049193356, + 0.7837921919931292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9772066421507911, + -0.004350824568499986, + 0.21224572754698776, + 0.2397443175057492 + ], + [ + 0.00037815668954279584, + 0.9998240509792407, + 0.018754308331136917, + 0.007839143344128215 + ], + [ + -0.21228997982451778, + -0.018246572528432137, + 0.9770363488924405, + 0.7966125921362336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9770372767107143, + -0.004325000377903586, + 0.21302453917199868, + 0.24360206348868196 + ], + [ + 0.00011128403945907242, + 0.9998041833173273, + 0.019788447059702268, + 0.006860715386640629 + ], + [ + -0.21306841045442146, + -0.01931034419432268, + 0.976846437815854, + 0.8095448272933782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9768698250038875, + -0.004397765588881725, + 0.21378962709799493, + 0.24656092913270655 + ], + [ + -1.952249660312419e-05, + 0.9997866554339925, + 0.020655343981244596, + 0.005800818153309801 + ], + [ + -0.21383485360377202, + -0.020181755967622308, + 0.9766613292796623, + 0.8226988047386957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9767816663108504, + -0.004457229134827004, + 0.21419082489088695, + 0.2483645265191013 + ], + [ + -7.875046437798294e-05, + 0.9997760125712896, + 0.0211640847999025, + 0.005836802846640093 + ], + [ + -0.2142371820141483, + -0.020689557643718565, + 0.9765625284881375, + 0.8314520808489747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9766849081541729, + -0.004562594749776966, + 0.21462938501757983, + 0.25203732787459765 + ], + [ + -0.00012537274613797725, + 0.9997618318767955, + 0.02182346911077261, + 0.007004411139046958 + ], + [ + -0.21467783878535235, + -0.021341561599461933, + 0.9764517209176022, + 0.8442897865432265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9766831863845559, + -0.0046625869411200515, + 0.2146350710315717, + 0.2556630954442154 + ], + [ + -0.00014690581246870138, + 0.9997493831554457, + 0.022386364130617665, + 0.007376074925730242 + ], + [ + -0.21468565823639363, + -0.021895916590150753, + 0.976437728165132, + 0.8569359035103811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9767137411322705, + -0.004727343700284966, + 0.21449456894043625, + 0.2576575248866504 + ], + [ + -0.00015278313613494498, + 0.9997416405649211, + 0.02272946937070128, + 0.007358572530983168 + ], + [ + -0.21454660225861769, + -0.022232956215935632, + 0.9764606756634816, + 0.8653917040640304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9768013798057721, + -0.004896297160054628, + 0.21409131389119973, + 0.2608242328364158 + ], + [ + -0.0001143949509519568, + 0.9997265079575716, + 0.02338581195415082, + 0.0068391412507047885 + ], + [ + -0.21414726550515412, + -0.022867784350044662, + 0.9765336722896886, + 0.8772335326365729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9769097126979642, + -0.005100888805040873, + 0.21359165285605095, + 0.2637730826052345 + ], + [ + -5.2125180169073325e-05, + 0.9997092389190889, + 0.024112961302624726, + 0.006073004428000186 + ], + [ + -0.21365254625055782, + -0.023567319601831983, + 0.9766253994891995, + 0.8887206134501651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_048/orbit_left/transforms.json b/spatialvid_eval/camera_controls/scene_048/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..4228b72f7943368a7818abe99e463e0d886b35c8 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_048/orbit_left/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999982151657, + 2.7186357431856174e-06, + 5.968481975468725e-05, + -0.0001096762495052533 + ], + [ + -2.713419573360956e-06, + 0.9999999961773618, + -8.739515837937331e-05, + 0.00010793123300873929 + ], + [ + -5.968505712213513e-05, + 8.739499627342927e-05, + 0.9999999943999043, + 0.0001736943102585283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999798835695642, + 0.0002995106337714307, + 0.0063358306149179635, + -0.000654740365296533 + ], + [ + -0.0002978851326172733, + 0.9999999224793423, + -0.00025749904323559236, + -0.00030653628172760223 + ], + [ + -0.006335907247461843, + 0.0002556065135310365, + 0.9999798952702309, + 0.01260101134349392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999200906238364, + 0.00047963596807450734, + 0.01263258944781931, + -0.0015086455643577579 + ], + [ + -0.0004739620740721109, + 0.9999997854658758, + -0.00045213731843113104, + -0.00027528991053118806 + ], + [ + -0.012632803599018224, + 0.000446113820124485, + 0.9999201034361136, + 0.025092482659794288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998388104611374, + 0.0004438456308375882, + 0.017948707382811232, + -0.003568923197992323 + ], + [ + -0.00043293495556526195, + 0.9999997191573159, + -0.0006117618931092745, + 0.00033805727495488547 + ], + [ + -0.017948973869891444, + 0.0006038926606585992, + 0.9998387218200105, + 0.03364143147467008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9996914582020071, + 0.000461320937076142, + 0.024834966900276288, + -0.004972178356452084 + ], + [ + -0.00043813333120679257, + 0.9999994630641657, + -0.0009391009341397166, + 0.0007780771202693481 + ], + [ + -0.024835386792415558, + 0.0009279301554705717, + 0.9996911235519188, + 0.04640066867767649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9994611720602863, + 0.0006217156533636038, + 0.032817358417843764, + -0.0062343758948478385 + ], + [ + -0.0005745830486433281, + 0.9999987900167708, + -0.0014456207367763445, + 0.00026055199593057556 + ], + [ + -0.03281821747443133, + 0.0014259854980849943, + 0.9994603199563052, + 0.05947100903554538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9991942923230096, + 0.0006578818342334585, + 0.04012895937614064, + -0.007677459088094569 + ], + [ + -0.0005865429082603714, + 0.9999982268462415, + -0.0017894892538430928, + 9.671172479315646e-05 + ], + [ + -0.04013006549379816, + 0.0017645100920754362, + 0.9991929064738192, + 0.06835071538533946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9987081961872644, + 0.0006069842001675286, + 0.05080915703455365, + -0.007515040992675142 + ], + [ + -0.0004902118723188396, + 0.9999972102126388, + -0.002310683721395064, + 0.00012030147041917306 + ], + [ + -0.05081041783631998, + 0.0022827915193528885, + 0.998705707554622, + 0.0814468296628302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9980506399041633, + 0.0005275966348753063, + 0.0624070655349337, + -0.007014113481505428 + ], + [ + -0.0003544979070010438, + 0.9999960597586482, + -0.0027847438683504333, + 0.0011667679376949505 + ], + [ + -0.06240828885752735, + 0.002757192225662133, + 0.9980468943756634, + 0.09455948382468256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9972240588302385, + 0.00043600455379498153, + 0.07445795048330653, + -0.006337155953155805 + ], + [ + -0.0001957661337631488, + 0.9999947522037016, + -0.0032337657117367247, + 0.0027238882398430532 + ], + [ + -0.0744589696797258, + 0.0032102126232701053, + 0.9972189109564396, + 0.10771146256815285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9961379181218522, + 0.0007522624345133957, + 0.0877991012544668, + -0.0053151262489820016 + ], + [ + -0.0004793816942529587, + 0.999994989585542, + -0.003129056887173687, + 0.002380654988618325 + ], + [ + -0.08780101521653214, + 0.0030748829313607855, + 0.9961332876788653, + 0.12222028811388537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9952085432161659, + 0.0009623336798572347, + 0.0977702890629149, + -0.005692782991114302 + ], + [ + -0.0006660806788139878, + 0.999995088131071, + -0.0030626867716504473, + 0.0021533520020612655 + ], + [ + -0.09777275615470107, + 0.002982889139834797, + 0.9952042958741152, + 0.132136992983451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9939705216242378, + 0.000947744332927627, + 0.10964353114853896, + -0.00521497711589064 + ], + [ + -0.0005876637077636396, + 0.9999943281534631, + -0.003316370345908923, + 0.0014344324094957516 + ], + [ + -0.10964605233845771, + 0.0032319408385751962, + 0.9939654409309252, + 0.1463236310076069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9926928631487164, + 0.0008927299470640779, + 0.12066516683303928, + -0.004884332887894277 + ], + [ + -0.0004693452353585195, + 0.999993634186582, + -0.0035371317988488536, + 0.001270083191217016 + ], + [ + -0.12066755640458471, + 0.003454651871606811, + 0.9926869628497154, + 0.16028704532880977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9917773359790867, + 0.0008001032954488991, + 0.12797294898900455, + -0.005935539711494166 + ], + [ + -0.00033689157816472613, + 0.9999933140207796, + -0.0036412110352237494, + 0.00190029741560038 + ], + [ + -0.12797500670947556, + 0.003568157571504563, + 0.991770974524489, + 0.16948074734957713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9905917104631161, + 0.0007232818881667615, + 0.13684860256892709, + -0.005836207348074364 + ], + [ + -0.00023271738813503988, + 0.9999934904193155, + -0.003600689046784893, + 0.0024809273839963637 + ], + [ + -0.13685031605507955, + 0.0035349656723406837, + 0.9905854304467234, + 0.1828447215444524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9894592264708478, + 0.0007678987509498975, + 0.14480970092925494, + -0.005584809527677932 + ], + [ + -0.00031181831970230884, + 0.9999949199890841, + -0.0031721862116695526, + 0.002335026126369205 + ], + [ + -0.14481140121222316, + 0.0030935945975996896, + 0.9894544394520743, + 0.1960019710732956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9881582844471184, + 0.0008368469003564671, + 0.15343566914441092, + -0.0050819886231321665 + ], + [ + -0.0003699628778288592, + 0.9999952148293477, + -0.0030713915210498566, + 0.0013700118192603826 + ], + [ + -0.1534375052130241, + 0.002978255474587789, + 0.9881538655433835, + 0.2089084120167887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9867267897185303, + 0.0009188918371652373, + 0.1623865699174498, + -0.004447428459711536 + ], + [ + -0.0004153730680021861, + 0.999995000657544, + -0.0031346650750963996, + -4.60537309530423e-06 + ], + [ + -0.16238863850952628, + 0.003025606998643704, + 0.9867222384163197, + 0.22170973536130262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9854659075586056, + 0.000822367432090171, + 0.16987132998684606, + -0.004741587318538069 + ], + [ + -0.00029649167959997386, + 0.9999950854835978, + -0.0031210737472440356, + 0.0003270011228610492 + ], + [ + -0.16987306182081147, + 0.003025346336941501, + 0.9854613082953405, + 0.23023641749144014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9837631136475934, + 0.0006775809474464158, + 0.17947054663774867, + -0.00358563791501261 + ], + [ + -0.0001235453700600487, + 0.9999951928890956, + -0.0030982148476706296, + 0.0008232391193538523 + ], + [ + -0.17947178319427876, + 0.0030257367301944216, + 0.9837584683011911, + 0.24268006389604468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9821210915779246, + 0.0007521081973310725, + 0.1882487604502239, + -0.0018645817780783003 + ], + [ + -0.0001826037722382091, + 0.9999953546096187, + -0.0030426000469177014, + 0.002172311343644308 + ], + [ + -0.18825017432567928, + 0.0029538267455364786, + 0.9821166665798463, + 0.2558510511221502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9807705774759822, + 0.0008015664755861359, + 0.19516257799233394, + -0.001763397121188684 + ], + [ + -0.00021907465923348498, + 0.9999954573256679, + -0.003006215947336731, + 0.003072012658406972 + ], + [ + -0.19516410111422203, + 0.0029056529754181537, + 0.9807662977575566, + 0.26492599919730264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9796574393576516, + 0.0008606023546696182, + 0.20067526223926305, + -0.00010367293590884952 + ], + [ + -0.0002643156367838498, + 0.9999954705298716, + -0.0029981756095365355, + 0.0016743199143341183 + ], + [ + -0.20067693352364643, + 0.0028841434306575912, + 0.9796532294992029, + 0.2780510930193334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9786627726355962, + 0.0009164525770610156, + 0.20547101394572015, + 0.0014872461009794447 + ], + [ + -0.00027825060811881915, + 0.9999950474244699, + -0.0031349167664178, + 0.0004167583660942926 + ], + [ + -0.2054728693375537, + 0.0030108539000230734, + 0.9786581807377825, + 0.2913784243821697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9779489604194018, + 0.0009660648441128792, + 0.20884180025399152, + 0.002933571292450296 + ], + [ + -0.0002275456194088068, + 0.9999936363726595, + -0.0035602580210624384, + -0.0005614160993105949 + ], + [ + -0.2088439107027117, + 0.003434229593725604, + 0.977942956940483, + 0.30508639686704164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9772279246241315, + 0.0010401509769359558, + 0.2121897768997319, + 0.004044113502540858 + ], + [ + -0.00024010605970945482, + 0.9999927657551425, + -0.0037961541671735904, + -0.00010056557442423612 + ], + [ + -0.21219219044039514, + 0.0036587598070982725, + 0.9772211048645958, + 0.3179928697749516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.976507870758701, + 0.0010976912916680025, + 0.21547893962087405, + 0.0036213528691062397 + ], + [ + -0.00026553939444400504, + 0.9999923956222033, + -0.00389078226026517, + 0.0006866882694221693 + ], + [ + -0.21548157191541484, + 0.003742161353414903, + 0.9765007365042113, + 0.3266095191960585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9753045760494208, + 0.001235427637714805, + 0.22086072003779103, + 0.004931040479203827 + ], + [ + -0.00041091716050389935, + 0.9999927748418211, + -0.0037790754480706264, + 0.0008841819607634695 + ], + [ + -0.2208637930584068, + 0.003594994117794522, + 0.9752980369780031, + 0.34034179837494555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9738334379460123, + 0.0013980945311247858, + 0.2272586202323953, + 0.006429582869466946 + ], + [ + -0.0006089940315764444, + 0.9999935404645409, + -0.003542337570305025, + 0.0005912004358510918 + ], + [ + -0.22726210477006395, + 0.0033112476311096405, + 0.9738279988656137, + 0.35470401537696766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9725356746221561, + 0.0012706920226574357, + 0.23275039619517537, + 0.006536924532396501 + ], + [ + -0.0004181805065349126, + 0.9999930227755275, + -0.003712078302941688, + 7.32605892170198e-05 + ], + [ + -0.2327534891517021, + 0.003512796898024563, + 0.9725294204010806, + 0.36327966156616004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9709239263428758, + 0.0010804849664231607, + 0.2393858011812137, + 0.008278570498155877 + ], + [ + -0.00013563972350231945, + 0.9999921365179059, + -0.003963395541658793, + -0.0007060128032691018 + ], + [ + -0.23938820116455123, + 0.003815685337074602, + 0.9709164380566482, + 0.37573375632015743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9691900863733356, + 0.0010265828637641178, + 0.24631184016053845, + 0.010507910330476974 + ], + [ + -9.88568025764042e-05, + 0.9999928554032556, + -0.0037788053372069773, + 0.0003519313713379783 + ], + [ + -0.24631395961857175, + 0.0036380310702006694, + 0.969183263385699, + 0.38810631240687365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.967394336784286, + 0.0009099242718368035, + 0.25327330928368946, + 0.012876426260936782 + ], + [ + 1.852813252124276e-05, + 0.9999932895454269, + -0.003663402902294306, + 0.0013741820593440204 + ], + [ + -0.2532749431238712, + 0.00354864790247713, + 0.9673878282693371, + 0.4006455517635231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.965522839627989, + 0.0006691306550722268, + 0.2603174954183297, + 0.01551534155397101 + ], + [ + 0.000300484799176272, + 0.9999931654868681, + -0.0036849271959772945, + 0.0023239435475889154 + ], + [ + -0.2603181819727372, + 0.003636102820415246, + 0.9655160396858713, + 0.4134948401809068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9639000168918517, + 0.00045189295159467504, + 0.26626406672446185, + 0.016183453671824374 + ], + [ + 0.0005559738430326603, + 0.9999929640227329, + -0.0037098245397075963, + 0.0021389102881393313 + ], + [ + -0.2662638697401024, + 0.003723935792928261, + 0.9638929836725839, + 0.42272228336262885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9617580570161868, + 4.1285630652252976e-05, + 0.27390041631940987, + 0.01868235559894839 + ], + [ + 0.001028672480008572, + 0.9999923917358999, + -0.003762752083653198, + 0.0006347164550795744 + ], + [ + -0.2738984877602982, + 0.0039006109535385746, + 0.9617506972374966, + 0.43664248753271634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9599700520907024, + -0.00022917618914057401, + 0.28010256437106945, + 0.02038403311283049 + ], + [ + 0.0013846596264756263, + 0.9999913293276087, + -0.003927338452601476, + 0.0001326976294951498 + ], + [ + -0.2800992356410377, + 0.004157974011078567, + 0.9599620458358916, + 0.4497501395115588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9585854541205225, + -0.00036262947175522766, + 0.28480483782481336, + 0.020212011593693152 + ], + [ + 0.0015882859222440453, + 0.9999904457989153, + -0.004072549412382741, + 0.00013013200271098853 + ], + [ + -0.2848006399156807, + 0.004356238142401326, + 0.9585768715616217, + 0.458534698630931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9573018830171184, + -0.0006348495768917242, + 0.2890894355349121, + 0.021310909843569092 + ], + [ + 0.0018302457886245037, + 0.9999908569713023, + -0.00386473468088957, + 0.0007493218123867244 + ], + [ + -0.28908433885672985, + 0.004228822509300755, + 0.9572942923092941, + 0.47158854512937004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9561813567791801, + -0.0009434352833724609, + 0.2927735009829145, + 0.022307044219888578 + ], + [ + 0.0020406938357146087, + 0.9999919926678597, + -0.00344240741818545, + 0.0016783053275126161 + ], + [ + -0.2927679089596321, + 0.003889026874423696, + 0.956175625580037, + 0.48481631862582864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9545225944077413, + -0.0009573101937681515, + 0.2981370495632969, + 0.023920585358159052 + ], + [ + 0.0019917695439559797, + 0.9999930047983431, + -0.003165945114005339, + 0.0003666692376606879 + ], + [ + -0.2981319332429832, + 0.003615786439217957, + 0.9545178240709953, + 0.4976746611002669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.952945716796935, + -0.0010356830579220935, + 0.30313922246878483, + 0.025862024508205544 + ], + [ + 0.00200663737439246, + 0.9999938061759546, + -0.0028915421794312238, + -0.000622214329673581 + ], + [ + -0.30313435015653306, + 0.003363773228276793, + 0.9529418926591723, + 0.5102207798864287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9516962603674642, + -0.001173304141906597, + 0.3070388434058048, + 0.026550191635170778 + ], + [ + 0.0021065542538368023, + 0.9999941142002826, + -0.002708134776502121, + -0.0008542072362786282 + ], + [ + -0.30703385877091693, + 0.003224115721037777, + 0.9516931305027152, + 0.5184789033336733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.950254223969903, + -0.001332644563594278, + 0.3114725250898137, + 0.029055084877517068 + ], + [ + 0.002146471535430947, + 0.9999951197736767, + -0.002270041580660577, + -0.0004519000823220464 + ], + [ + -0.3114679798748261, + 0.002825683509784115, + 0.9502524469978478, + 0.5307389038258296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9486928987334371, + -0.0013983395479190144, + 0.3161958705284704, + 0.03138825435427228 + ], + [ + 0.0019745093632487533, + 0.9999969229271974, + -0.00150181520548224, + 0.0014465054014719619 + ], + [ + -0.31619279752316143, + 0.0020490931276299544, + 0.9486927405708507, + 0.5437101461327818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9472073691159562, + -0.0014740063701354483, + 0.3206181953627242, + 0.03192613602380778 + ], + [ + 0.0019047885415059594, + 0.9999976554694012, + -0.0010299690835265092, + 0.0022566982212813016 + ], + [ + -0.3206159254825644, + 0.0015863041706031533, + 0.9472079560297396, + 0.5528225064591119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9453484907139923, + -0.0016354402117833328, + 0.32605759681395335, + 0.03431960770189538 + ], + [ + 0.0018638776661591314, + 0.999998187627413, + -0.0003882034709804716, + 0.002794482097718219 + ], + [ + -0.3260563709925363, + 0.0009747190379643683, + 0.9453498256507876, + 0.5662086916078759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9434976103281711, + -0.001629525593683276, + 0.3313753218804477, + 0.036591004958812096 + ], + [ + 0.0016034403172209574, + 0.9999986524971697, + 0.0003521121899753425, + 0.001881991595105076 + ], + [ + -0.331375449127089, + 0.00019912354142602725, + 0.9434989518095056, + 0.5793035696576185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.941636708988057, + -0.0015410758629724886, + 0.33662729148321613, + 0.03880393015581882 + ], + [ + 0.0012293705747152977, + 0.9999985955449198, + 0.0011391032343499488, + 0.0002463549213627041 + ], + [ + -0.3366285741498063, + -0.0006587817339953618, + 0.9416372810549164, + 0.592259414691752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9399277940233222, + -0.0019801818546537567, + 0.34136757447401744, + 0.04057430144867638 + ], + [ + 0.001413950671696257, + 0.9999971810556285, + 0.0019075178359553547, + 0.0008793519623436152 + ], + [ + -0.34137038941002096, + -0.0013102521203867989, + 0.9399279442986211, + 0.6046790850426664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.938398835634865, + -0.002273557961645993, + 0.345546604980174, + 0.04072323648010165 + ], + [ + 0.0015308238371529363, + 0.9999958944575795, + 0.002422322514669039, + 0.0012989411397246425 + ], + [ + -0.34555069361456786, + -0.0017441336475466248, + 0.9383984634153608, + 0.6133037668778127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9366945700882254, + -0.0024424458439925504, + 0.3501389964364636, + 0.043431117537927694 + ], + [ + 0.001412278990618268, + 0.9999938908271252, + 0.0031974640702724334, + 0.0025954411698985596 + ], + [ + -0.35014466700963387, + -0.0025005532842130025, + 0.9366922970741168, + 0.625755201595089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9349540446846848, + -0.002618485131209189, + 0.35475918291619446, + 0.046505115575946915 + ], + [ + 0.0013325487361335083, + 0.9999916272349422, + 0.003869079202905763, + 0.0029686229945068885 + ], + [ + -0.35476634372726806, + -0.0031446773491354088, + 0.9349497057931809, + 0.6382566829578341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9333715246068046, + -0.0027442574590138204, + 0.3589011926758788, + 0.048007743347008636 + ], + [ + 0.0013323169878320554, + 0.9999903706594081, + 0.004181329920480321, + 0.0019838007094718506 + ], + [ + -0.3589092113398784, + -0.003424564126807507, + 0.9333661930753268, + 0.6469937223051153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.931434037263235, + -0.0029225597986918756, + 0.36389846505822754, + 0.052354566317824425 + ], + [ + 0.0012959177949085174, + 0.999988048738887, + 0.004714125206516609, + 0.0011885430172038987 + ], + [ + -0.36390789332546747, + -0.003919314176861294, + 0.9314266928490956, + 0.6592213861280756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9292151171116214, + -0.0030803687940137063, + 0.36952642322211404, + 0.05778903417746914 + ], + [ + 0.0011757554118619, + 0.9999848402663883, + 0.005379297037496742, + 0.0017530351791639974 + ], + [ + -0.3695373915187035, + -0.004564051434746361, + 0.929204652218258, + 0.6707171027425037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9269628753273739, + -0.0031962950328677485, + 0.37513945601985227, + 0.0634549570884182 + ], + [ + 0.0008512883501484352, + 0.999979051133086, + 0.006416588121284724, + 0.0036780494786927227 + ], + [ + -0.3751521065820539, + -0.005628587126106839, + 0.9269461774741895, + 0.6835419782549316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9246770930322424, + -0.003293630169075472, + 0.38073800128402174, + 0.06924024033209975 + ], + [ + 0.000417248535656524, + 0.9999707502874806, + 0.007637046101284647, + 0.006285439431258604 + ], + [ + -0.3807520184123807, + -0.006902939214784555, + 0.9246514207554627, + 0.6970396948440717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.923023802029968, + -0.003458236869717133, + 0.38472730795187376, + 0.07133731379708333 + ], + [ + 0.00016122017458771682, + 0.9999629919226215, + 0.008601673861221055, + 0.005743028121988678 + ], + [ + -0.3847428165595796, + -0.007877523907449389, + 0.922990200231232, + 0.7050263615460074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.921149713934112, + -0.0037070575210419545, + 0.38919077872380237, + 0.07602871796835375 + ], + [ + -0.0002200968659572756, + 0.9999495185576238, + 0.010045491214785951, + 0.00493259238435136 + ], + [ + -0.38920837102569317, + -0.009339061029484294, + 0.9211023970561658, + 0.716482915219234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9196881211317502, + -0.0037306426001512748, + 0.3926319423517921, + 0.07950506362055196 + ], + [ + -0.0005595807966439616, + 0.9999413940496711, + 0.010811814617924636, + 0.002690372136671986 + ], + [ + -0.39264926679987966, + -0.010163206767072983, + 0.9196321343394469, + 0.7284412515825299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9182752454883154, + -0.0037465794584109605, + 0.3959249129137187, + 0.08079598971919599 + ], + [ + -0.0008012376531093296, + 0.9999355993060614, + 0.011320567947372753, + 0.0011965012508660718 + ], + [ + -0.3959418284819086, + -0.010712627258971378, + 0.9182131060247468, + 0.7367727570264236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9164936484580287, + -0.0037697808122711795, + 0.4000314751225441, + 0.08363467176855965 + ], + [ + -0.0010086227623390107, + 0.9999306471295671, + 0.011733865994136897, + 0.0024968908382814025 + ], + [ + -0.40004796589435937, + -0.01115749450694477, + 0.9164262847060385, + 0.7491010656787171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9147237324437234, + -0.0038919519420940823, + 0.4040610671845341, + 0.08651963389993644 + ], + [ + -0.001199601904341032, + 0.9999230528603839, + 0.012347036634023421, + 0.0036591236303449223 + ], + [ + -0.40407802991439074, + -0.011778839860157925, + 0.9146486782760112, + 0.761733821665494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.912996798212335, + -0.004211805049989711, + 0.40794498054547224, + 0.08949390873230742 + ], + [ + -0.0013575183209267108, + 0.9999098071022456, + 0.013361691687736215, + 0.004543643968287057 + ], + [ + -0.40796446364607936, + -0.012752974514624106, + 0.9129087347829443, + 0.7749672745572607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9111877407863433, + -0.0043430293783619555, + 0.41196849289296145, + 0.09247989717519323 + ], + [ + -0.0015517871095006817, + 0.9999011641923807, + 0.013973324711336145, + 0.004029299711117271 + ], + [ + -0.4119884622139874, + -0.013371609571788087, + 0.9110909433530844, + 0.7878028520940763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9094969135710415, + -0.004367663442486421, + 0.4156877286146454, + 0.09344994260058073 + ], + [ + -0.0017086808801203973, + 0.9998970823589757, + 0.01424447611034642, + 0.003220927794415979 + ], + [ + -0.41570716209177805, + -0.013665584731781023, + 0.9093958473511625, + 0.7965923574076863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9076734225797867, + -0.004341478156116236, + 0.4196547503719175, + 0.09663187348096597 + ], + [ + -0.002059390377854707, + 0.999888375895949, + 0.014798468144822037, + 0.003740422521309151 + ], + [ + -0.41967215401259117, + -0.014296409184885507, + 0.9075631635488798, + 0.8086196168996395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9058594242709127, + -0.004284213601449737, + 0.4235567836469959, + 0.09990935195443049 + ], + [ + -0.002482386885399513, + 0.9998779817706963, + 0.015422688660234204, + 0.005127824064167842 + ], + [ + -0.4235711760907748, + -0.015022219675416589, + 0.9057382578323065, + 0.8203434127337658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9042121346235447, + -0.004340753664215511, + 0.4270615569881693, + 0.10095777453474764 + ], + [ + -0.0028437082369395152, + 0.9998649896941644, + 0.01618381003817876, + 0.006760657119071751 + ], + [ + -0.42707414920947384, + -0.015848035888251035, + 0.9040777128297594, + 0.8296860055064225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9024219645600062, + -0.004426493027500602, + 0.4308305978446016, + 0.10406901279488687 + ], + [ + -0.003367586254657721, + 0.999844213709776, + 0.017326502067569378, + 0.00921037525222939 + ], + [ + -0.4308401759846414, + -0.01708667523415641, + 0.9022664729928549, + 0.8431564222066769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9006585637461777, + -0.004350824568499986, + 0.4345057213389104, + 0.10657408231979804 + ], + [ + -0.0040103981421195185, + 0.9998240509792407, + 0.01832440422504595, + 0.008360224512142309 + ], + [ + -0.4345089967508318, + -0.018246572528432137, + 0.9004826452150816, + 0.8569192504753905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.898882984159024, + -0.004325000377903586, + 0.43816740540699617, + 0.10863100188873528 + ], + [ + -0.004574341003381036, + 0.9998041833173273, + 0.019252803057135982, + 0.007459863760541723 + ], + [ + -0.4381648732997119, + -0.01931034419432268, + 0.8986871838483869, + 0.8707959852829725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8970982369110457, + -0.004397765588881726, + 0.4418092495511147, + 0.10978966332034884 + ], + [ + -0.004972196559431334, + 0.9997866554339927, + 0.020047964422499114, + 0.006454713902218465 + ], + [ + -0.44180315819657545, + -0.02018175596762231, + 0.8968849793220954, + 0.8848957816595878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8954646187033531, + -0.004457229134827005, + 0.44511037929810054, + 0.1097709426354902 + ], + [ + -0.00521884354381847, + 0.9997760125712898, + 0.020510688899163, + 0.006524605136132585 + ], + [ + -0.44510210100888586, + -0.02068955764371857, + 0.8952407843044148, + 0.8945463051379435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8938014721242621, + -0.004562594749776967, + 0.44843964048425944, + 0.11162462462059466 + ], + [ + -0.005493433927724934, + 0.9997618318767957, + 0.021121119904873444, + 0.007729762983462134 + ], + [ + -0.4484292035675021, + -0.021341561599461937, + 0.8935635327923318, + 0.9082881657167012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8923260884490407, + -0.004662586941120052, + 0.4513672696998001, + 0.11340330629726442 + ], + [ + -0.005723719257087575, + 0.9997493831554459, + 0.02164277981619707, + 0.008132723415441901 + ], + [ + -0.4513550608014733, + -0.021895916590150756, + 0.8920757691617771, + 0.9217771030158831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8909092574424213, + -0.004727343700284966, + 0.454156743013833, + 0.11354080684621562 + ], + [ + -0.005886832389978223, + 0.9997416405649211, + 0.02195443747793685, + 0.008137356471479383 + ], + [ + -0.45414319350597526, + -0.022232956215935632, + 0.8906512535499486, + 0.9310542268195567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8896060862481436, + -0.004896297160054629, + 0.456702351192088, + 0.11483255103256934 + ], + [ + -0.0060893323795474215, + 0.9997265079575718, + 0.022579400304948365, + 0.0076439738125293 + ], + [ + -0.4566880021868675, + -0.022867784350044666, + 0.8893329708818222, + 0.9436777093120526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8883407338135251, + -0.005100888805040873, + 0.45915653276529383, + 0.11589917396578805 + ], + [ + -0.006291242676664645, + 0.9997092389190889, + 0.02327784108115696, + 0.006902912131451044 + ], + [ + -0.4591417655944959, + -0.023567319601831983, + 0.8880503479722048, + 0.9559304103421038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_048/orbit_right/transforms.json b/spatialvid_eval/camera_controls/scene_048/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..849185c1aa7623aaa5757cda34412cf899cda101 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_048/orbit_right/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999982151657, + 2.7186357431856174e-06, + 5.968481975468725e-05, + -0.0001096762495052533 + ], + [ + -2.713419573360956e-06, + 0.9999999961773618, + -8.739515837937331e-05, + 0.00010793123300873929 + ], + [ + -5.968505712213513e-05, + 8.739499627342927e-05, + 0.9999999943999043, + 0.0001736943102585283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999332829003, + 0.0002995106337714307, + -0.00020911139459269925, + 0.005815705111615707 + ], + [ + -0.00029956406767808134, + 0.9999999224793423, + -0.00025554388832022153, + -0.0003084691824714806 + ], + [ + 0.0002090348402702988, + 0.0002556065135310365, + 0.9999999454848715, + 0.012581189346531409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999997805307643, + 0.00047963596807450734, + -0.0004570424066933564, + 0.011432065387480567 + ], + [ + -0.00047983976323237213, + 0.9999997854658758, + -0.0004458946108644196, + -0.00028146159473709767 + ], + [ + 0.00045682844154882316, + 0.000446113820124485, + 0.9999997961450965, + 0.02501369661574213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.99999848141484, + 0.0004438456308375882, + -0.001685280116165841, + 0.015841861412058983 + ], + [ + -0.00044486264810036913, + 0.9999997191573159, + -0.0006031438584086435, + 0.00032953721170514514 + ], + [ + 0.0016850119401009272, + 0.0006038926606585992, + 0.999998398022925, + 0.033483570501076025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999989925519088, + 0.000461320937076142, + -0.001342415047789572, + 0.020907937504096558 + ], + [ + -0.00046256599046566284, + 0.9999994630641657, + -0.0009273101341411997, + 0.0007664202146759787 + ], + [ + 0.001341986539418785, + 0.0009279301554705717, + 0.9999986690079916, + 0.04609661565773204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999998018999442, + 0.0006217156533636038, + 9.833472736429162e-05, + 0.026113615524914025 + ], + [ + -0.0006215747942986787, + 0.9999987900167708, + -0.0014260469029728992, + 0.00024120012853026765 + ], + [ + -9.922120406293394e-05, + 0.0014259854980849943, + 0.9999989783597341, + 0.05893845899440932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999994052868625, + 0.0006578818342334585, + 0.0008698375786498331, + 0.031137228096573308 + ], + [ + -0.0006563457233435548, + 0.9999982268462415, + -0.0017650820559676735, + 7.258082967340782e-05 + ], + [ + -0.000870997251714615, + 0.0017645100920754362, + 0.999998063932087, + 0.06755467274744567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999872348821282, + 0.0006069842001675286, + 0.00501613825334349, + 0.0377606264715764 + ], + [ + -0.0005955241801516646, + 0.9999972102126388, + -0.0022858079295813923, + 9.57067154097506e-05 + ], + [ + -0.005017511708682263, + 0.0022827915193528885, + 0.9999848066041468, + 0.08018218136574336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999489796400862, + 0.0005275966348753063, + 0.010087604202282661, + 0.044715648380469264 + ], + [ + -0.0004997543131817169, + 0.9999960597586482, + -0.0027623744867124236, + 0.001144650684274153 + ], + [ + -0.010089021874170892, + 0.002757192225662133, + 0.9999453032684605, + 0.09268247214605181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998778829622198, + 0.00043600455379498153, + 0.015621429608684593, + 0.05183797608105155 + ], + [ + -0.00038580098524417276, + 0.9999947522037016, + -0.0032166321917989505, + 0.0027069473199896384 + ], + [ + -0.015622750096887622, + 0.0032102126232701053, + 0.999872804017753, + 0.10508740225745612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9997474463398519, + 0.0007522624345133957, + 0.022460579649130202, + 0.05929110775831971 + ], + [ + -0.0006830054132078446, + 0.999994989585542, + -0.0030910042732876807, + 0.0023430288529650194 + ], + [ + -0.0224627923587169, + 0.0030748829313607855, + 0.9997429509901072, + 0.11865108044214921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9996633231560179, + 0.0009623336798572347, + 0.025929023324375387, + 0.06534597788646865 + ], + [ + -0.0008846623763183019, + 0.999995088131071, + -0.0030068399045939903, + 0.002098128973989566 + ], + [ + -0.025931789547721483, + 0.002982889139834797, + 0.9996592642812013, + 0.12773178892510428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9995089745332837, + 0.000947744332927627, + 0.031319508426914576, + 0.07223730473052785 + ], + [ + -0.0008460515551141062, + 0.9999943281534631, + -0.0032600395198119267, + 0.0013787285415392664 + ], + [ + -0.03132242047144919, + 0.0032319408385751962, + 0.9995041073123343, + 0.1408466095942553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993561570432745, + 0.0008927299470640779, + 0.035867456181606916, + 0.07897332740144503 + ], + [ + -0.0007682405275166553, + 0.999993634186582, + -0.0034844501437475616, + 0.0012179855543465604 + ], + [ + -0.03587033852906546, + 0.003454651871606811, + 0.9993504811597661, + 0.1536973974422888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9993264902024683, + 0.0008001032954488991, + 0.03668686160374806, + 0.08434291958238627 + ], + [ + -0.0006686549972128547, + 0.9999933140207796, + -0.003595109766498904, + 0.0018547050188706636 + ], + [ + -0.036689492775325405, + 0.003568157571504563, + 0.9993203437193873, + 0.16201470910565768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9992352493028831, + 0.0007232818881667615, + 0.03909467244926708, + 0.0908437066510217 + ], + [ + -0.0005845260338848639, + 0.9999934904193155, + -0.003560540451966236, + 0.0024412198991975334 + ], + [ + -0.03909699323376342, + 0.0035349656723406837, + 0.9992291674774983, + 0.17429595269451276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9991756008037967, + 0.0007678987509498975, + 0.0405897658268766, + 0.09749577223767772 + ], + [ + -0.000641693896225548, + 0.9999949199890841, + -0.0031222147539135218, + 0.0022856009666615685 + ], + [ + -0.04059195717523286, + 0.0030935945975996896, + 0.9991710177367787, + 0.18639161638086504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.999084747067617, + 0.0008368469003564671, + 0.04276643384829995, + 0.10438383695762073 + ], + [ + -0.0007087081035668359, + 0.9999952148293477, + -0.00301132051274637, + 0.0013105940190034718 + ], + [ + -0.04276874921785288, + 0.002978255474587789, + 0.999080559356786, + 0.1981005343265536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9989737453120713, + 0.0009188918371652373, + 0.045283681552682024, + 0.11138932880797066 + ], + [ + -0.0007809342665303727, + 0.999995000657544, + -0.0030641151398094254, + -7.439251364500464e-05 + ], + [ + -0.04528627075444037, + 0.003025606998643704, + 0.9989694686943368, + 0.20959492367111626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.998925950435948, + 0.000822367432090171, + 0.04632784537882499, + 0.11747420251030014 + ], + [ + -0.000681322814966178, + 0.9999950854835978, + -0.0030601973586052425, + 0.00026677895944204546 + ], + [ + -0.0463301343065125, + 0.003025346336941501, + 0.9989216014956739, + 0.21692077911499372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9987724909032828, + 0.0006775809474464158, + 0.0495282979609825, + 0.12496910066122195 + ], + [ + -0.0005268866090386355, + 0.9999951928890956, + -0.0030555832834347333, + 0.000781062770620082 + ], + [ + -0.049530130277977494, + 0.0030257367301944216, + 0.9987680467014783, + 0.22783075624562668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9986514454080839, + 0.0007521081973310725, + 0.05191073990615723, + 0.1330275092140299 + ], + [ + -0.0005977554554583721, + 0.9999953546096187, + -0.0029888873512745467, + 0.002119168296684887 + ], + [ + -0.051912746727183164, + 0.0029538267455364786, + 0.9986472558590431, + 0.23949577660441684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9986253521817127, + 0.0008015664755861359, + 0.05240957423158357, + 0.13948648713587802 + ], + [ + -0.0006481773488825097, + 0.9999954573256679, + -0.002943670184095968, + 0.0030101254715472533 + ], + [ + -0.0524116956992907, + 0.0029056529754181537, + 0.998621335309191, + 0.2472589664825252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9986731503879771, + 0.0008606023546696182, + 0.051489785955473856, + 0.14752281407796353 + ], + [ + -0.000710953170517077, + 0.9999954705298716, + -0.0029246308024774587, + 0.0016015436510228597 + ], + [ + -0.05149206967818158, + 0.0028841434306575912, + 0.9986692387757465, + 0.2592338011726444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9987565580545611, + 0.0009164525770610156, + 0.04984473751241013, + 0.15550015136966183 + ], + [ + -0.0007652339087026834, + 0.9999950474244699, + -0.0030527927538988855, + 0.0003354857298131069 + ], + [ + -0.049847288392369356, + 0.0030108539000230734, + 0.9987523129378583, + 0.27149260721868557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9989062048340942, + 0.0009660648441128792, + 0.04674891081793853, + 0.163360086524644 + ], + [ + -0.0008044562838826705, + 0.9999936363726595, + -0.003475638685590499, + -0.0006451655170565395 + ], + [ + -0.0467519710176365, + 0.003434229593725604, + 0.998900625324193, + 0.28434418098152053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9990471356338682, + 0.0010401509769359558, + 0.04363185611120383, + 0.17088439074469142 + ], + [ + -0.0008795148067084684, + 0.9999927657551425, + -0.0037006608984935623, + -0.00019508574497927866 + ], + [ + -0.04363538971372202, + 0.0036587598070982725, + 0.9990408231104502, + 0.2963954994202757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9991806879133046, + 0.0010976912916680025, + 0.04045674202062896, + 0.17687643150405657 + ], + [ + -0.0009453890821543762, + 0.9999923956222033, + -0.0037835085899385955, + 0.0005804976922112684 + ], + [ + -0.04046058749670934, + 0.003742161353414903, + 0.9991741275112292, + 0.3041650510331449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9992216801468361, + 0.001235427637714805, + 0.03942724493400436, + 0.18455030636407666 + ], + [ + -0.0010927181148213277, + 0.9999927748418211, + -0.003640910775691725, + 0.0007473988395135126 + ], + [ + -0.03943145814772187, + 0.003594994117794522, + 0.9992158105863005, + 0.31666318595424736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9992206816416513, + 0.0013980945311247858, + 0.03944711283827181, + 0.1923820334842649 + ], + [ + -0.0012663792627984121, + 0.9999935404645409, + -0.0033638241266814753, + 0.00041445401189621803 + ], + [ + -0.03945156097236283, + 0.0033112476311096405, + 0.9992159976581485, + 0.3295673203087021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9992560240795345, + 0.0012706920226574357, + 0.038545864662039075, + 0.19883938014240976 + ], + [ + -0.001134335836830986, + 0.9999930227755275, + -0.0035591687895486475, + -7.815129947310923e-05 + ], + [ + -0.03855011832627701, + 0.003512796898024563, + 0.999250493437448, + 0.3368202997744338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9992452842289224, + 0.0010804849664231607, + 0.038829041946688195, + 0.20689267658435173 + ], + [ + -0.0009315026988888591, + 0.9999921365179059, + -0.003854763945586727, + -0.0008135921609976535 + ], + [ + -0.03883290162970439, + 0.003815685337074602, + 0.9992384331561844, + 0.3476860965916009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9992220687972793, + 0.0010265828637641178, + 0.03942338590366889, + 0.21541543694890236 + ], + [ + -0.0008823543511862011, + 0.9999928554032556, + -0.0036756758892566065, + 0.0002497893732407963 + ], + [ + -0.03942687762535494, + 0.0036380310702006694, + 0.9992158355683961, + 0.3583612978479404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.999196570360494, + 0.0009099242718368035, + 0.040067266161370074, + 0.22406557020831058 + ], + [ + -0.0007670031256353999, + 0.9999932895454269, + -0.0035822577128814446, + 0.0012938044920078168 + ], + [ + -0.04007025687504153, + 0.00354864790247713, + 0.9991905632120596, + 0.36914366621947453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9991666904367781, + 0.0006691306550722268, + 0.040810255889704536, + 0.23297209759612497 + ], + [ + -0.0005201784390870415, + 0.9999931654868681, + -0.0036603816666705754, + 0.0022996273054921223 + ], + [ + -0.040812426245057126, + 0.003636102820415246, + 0.9991602096862504, + 0.3801649505438996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9991822860281332, + 0.00045189295159467504, + 0.040429631217146475, + 0.23993587961754703 + ], + [ + -0.00030096296618015687, + 0.9999929640227329, + -0.0037391611790000743, + 0.002167976467511139 + ], + [ + -0.04043103645576195, + 0.003723935792928261, + 0.999175391807326, + 0.3877651502946743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9991253876906223, + 4.1285630652252976e-05, + 0.04181456645190275, + 0.24865773113615253 + ], + [ + 0.00012185314823322887, + 0.9999923917358999, + -0.0038989257654422093, + 0.0007696518405224597 + ], + [ + -0.04181440928524704, + 0.0039006109535385746, + 0.9991177810500197, + 0.39961520156323127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9991291315218584, + -0.00022917618914057401, + 0.04172440559974387, + 0.2566253068494228 + ], + [ + 0.0004024636366898884, + 0.9999913293276087, + -0.00414479102291251, + 0.0003482008972960162 + ], + [ + -0.04172309393368077, + 0.004157974011078567, + 0.9991205606355648, + 0.410942652023654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9991963004300624, + -0.00036262947175522766, + 0.04008268587236914, + 0.2627729101824129 + ], + [ + 0.0005369443604097251, + 0.9999904457989153, + -0.004338202581821395, + 0.0003934390673877617 + ], + [ + -0.040080729754217684, + 0.004356238142401326, + 0.9991869486195346, + 0.4182832677558107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9992770805987631, + -0.0006348495768917242, + 0.03801201331194836, + 0.27020519304526747 + ], + [ + 0.0007951312095462772, + 0.9999908569713023, + -0.004201635414937118, + 0.0010832931665948583 + ], + [ + -0.038008998360554345, + 0.004228822509300755, + 0.9992684489684502, + 0.42997935724548647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9993756250848518, + -0.0009434352833724609, + 0.03531954014604491, + 0.2775584507319371 + ], + [ + 0.0010801982786370493, + 0.9999919926678597, + -0.0038532806597406546, + 0.002085663491528524 + ], + [ + -0.03531562200982475, + 0.003889026874423696, + 0.9993686418494577, + 0.44199282459827605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9994080538316175, + -0.0009573101937681515, + 0.03438932237907735, + 0.2854497661872608 + ], + [ + 0.0010810822613153816, + 0.9999930047983431, + -0.0035807283512428183, + 0.000777963474826161 + ], + [ + -0.03438565395108074, + 0.003615786439217957, + 0.9994020977018122, + 0.45316793704202396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9994518421059603, + -0.0010356830579220935, + 0.0330899179752134, + 0.2936794976448823 + ], + [ + 0.0011464171386589726, + 0.9999938061759546, + -0.0033276624636413336, + -0.00018969837589306868 + ], + [ + -0.03308626661844768, + 0.003363773228276793, + 0.9994468390019161, + 0.4641001752019353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.999529763300243, + -0.001173304141906597, + 0.03064107756510357, + 0.3007053027329407 + ], + [ + 0.0012715376389933668, + 0.9999941142002826, + -0.003186652918766224, + -0.00037957172663300186 + ], + [ + -0.030637158304789518, + 0.003224115721037777, + 0.9995253721686232, + 0.47103476612045797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995854796633876, + -0.001332644563594278, + 0.02875922294817122, + 0.3095180956964152 + ], + [ + 0.0014133526264804724, + 0.9999951197736767, + -0.0027861915195413266, + 6.0141497596108624e-05 + ], + [ + -0.028755369593672704, + 0.002825683509784115, + 0.9995824849567112, + 0.48180151437529084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9996293172462885, + -0.0013983395479190144, + 0.02718957057821637, + 0.3181397854074033 + ], + [ + 0.0014535337107543958, + 0.9999969229271974, + -0.0020103173601884895, + 0.001951040324866129 + ], + [ + -0.027186675807659617, + 0.0020490931276299544, + 0.9996282738477756, + 0.49317200161939223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9996785536612458, + -0.0014740063701354483, + 0.025310406061159616, + 0.32497765840753534 + ], + [ + 0.0015136823929066104, + 0.9999976554694012, + -0.0015484900110357043, + 0.0027712574462640848 + ], + [ + -0.025308064235997782, + 0.0015863041706031533, + 0.9996784410617772, + 0.5007529164384138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9996981504758656, + -0.0016354402117833328, + 0.024513940328865925, + 0.33360910541241195 + ], + [ + 0.0016588422329821475, + 0.999998187627413, + -0.0009343363074198174, + 0.0033365323739747675 + ], + [ + -0.024512367849303968, + 0.0009747190379643683, + 0.9996990515876353, + 0.5122657477529156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9997201563890394, + -0.001629525593683276, + 0.023599863470247024, + 0.34211760447599426 + ], + [ + 0.0016337710128123204, + 0.9999986524971697, + -0.00016061171474422592, + 0.0023909691201790813 + ], + [ + -0.023599569948464367, + 0.00019912354142602725, + 0.9997214715349787, + 0.5234918575843398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9997427874591861, + -0.0015410758629724886, + 0.022627063630115133, + 0.3505638777265676 + ], + [ + 0.0015257746424903976, + 0.9999985955449198, + 0.0006934839066738573, + 0.0006887949131508777 + ], + [ + -0.022628100562730593, + -0.0006587817339953618, + 0.999743734699823, + 0.5345675299892572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9997749583213189, + -0.0019801818546537567, + 0.021121353967674655, + 0.3585919666340567 + ], + [ + 0.0019520640058947611, + 0.9999971810556285, + 0.0013517865635403368, + 0.0014312159669975723 + ], + [ + -0.021123971210977293, + -0.0013102521203867989, + 0.9997760054530509, + 0.5452474994204821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9998163901418865, + -0.002273557961645993, + 0.019026742701835225, + 0.36502945056954683 + ], + [ + 0.002239957577855072, + 0.9999958944575795, + 0.0017870808697084235, + 0.0019298761507577998 + ], + [ + -0.01903072761867536, + -0.0017441336475466248, + 0.9998173780266689, + 0.5523012430739258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9998459649416322, + -0.0024424458439925504, + 0.017380473187909203, + 0.37399457849676365 + ], + [ + 0.0023986082123650314, + 0.9999938908271252, + 0.002542633884695148, + 0.00324595172743898 + ], + [ + -0.017386577253158328, + -0.0025005532842130025, + 0.9998457151804437, + 0.563018378938215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9998721715924249, + -0.002618485131209189, + 0.015772888469328134, + 0.3833185070612878 + ], + [ + 0.002568545459306823, + 0.9999916272349422, + 0.0031855979401053123, + 0.0036477231407713163 + ], + [ + -0.015781097847478883, + -0.0031446773491354088, + 0.9998705255957383, + 0.5737520057661272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999029021734411, + -0.0027442574590138204, + 0.013662184163915512, + 0.39109942094273126 + ], + [ + 0.002697197861433093, + 0.9999903706594081, + 0.003461749869105306, + 0.0026989050890573784 + ], + [ + -0.013671552538990476, + -0.003424564126807507, + 0.9999006755731868, + 0.5808730735506655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9999178876133894, + -0.0029225597986918756, + 0.012477045924446243, + 0.4016582961039591 + ], + [ + 0.002873407974747336, + 0.999988048738887, + 0.003955490614896492, + 0.0019426060252324688 + ], + [ + -0.012488456965867707, + -0.003919314176861294, + 0.9999143350402548, + 0.5911464551218838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9999234719336325, + -0.0030803687940137063, + 0.011981719587898888, + 0.41324972148479233 + ], + [ + 0.003025429888185241, + 0.9999848402663883, + 0.0046006533664056035, + 0.002527140379661414 + ], + [ + -0.011995709657283712, + -0.004564051434746361, + 0.9999176327999819, + 0.6004162860232496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9999289385317612, + -0.0031962950328677485, + 0.011484841522997944, + 0.4250630346376286 + ], + [ + 0.003131389505527662, + 0.999979051133086, + 0.0056649531982163725, + 0.004425454430299481 + ], + [ + -0.011502707790350201, + -0.005628587126106839, + 0.9999179999982268, + 0.6109808188298321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9999342154486116, + -0.003293630169075472, + 0.010987118615890037, + 0.43698593253265783 + ], + [ + 0.003217508659276126, + 0.9999707502874806, + 0.006938746826418852, + 0.006979951769797512 + ], + [ + -0.011009650911712203, + -0.006902939214784555, + 0.9999155649438606, + 0.6221837145074749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.999955645223937, + -0.003458236869717133, + 0.008760604005052701, + 0.4453434051805143 + ], + [ + 0.0033889841661055306, + 0.9999629919226215, + 0.007907564193947062, + 0.006433518106669129 + ], + [ + -0.008787626021986978, + -0.007877523907449389, + 0.9999303586980374, + 0.6284874349961128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9999682301292199, + -0.0037070575210419545, + 0.007056660454623631, + 0.4562510166814063 + ], + [ + 0.003640900068239836, + 0.9999495185576238, + 0.009365051151480014, + 0.0056096282014578445 + ], + [ + -0.00709102100753156, + -0.009339061029484294, + 0.9999312473166138, + 0.6380484462252313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9999840077936144, + -0.0037306426001512748, + 0.004250466187432897, + 0.46602715135599004 + ], + [ + 0.0036872172554293595, + 0.9999413940496711, + 0.010179041944682492, + 0.0033201153910077923 + ], + [ + -0.0042881914523301805, + -0.010163206767072983, + 0.999939158470293, + 0.6485186998341071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9999921510141525, + -0.0037465794584109605, + 0.0012888182378255283, + 0.4736292181736476 + ], + [ + 0.0037325545350888646, + 0.9999355993060614, + 0.010717521965008098, + 0.001796792261634745 + ], + [ + -0.0013288892846757838, + -0.010712627258971378, + 0.9999417351378425, + 0.6554174991957337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9999925903514796, + -0.0037697808122711795, + -0.0007797401909171805, + 0.4827040853654088 + ], + [ + 0.0037782450768097677, + 0.9999306471295671, + 0.011154631109303141, + 0.0030736085472523635 + ], + [ + 0.0007376355993729409, + -0.01115749450694477, + 0.9999374811507218, + 0.665952783094141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9999881528361121, + -0.0038919519420940823, + -0.0029235077392735414, + 0.4918277092233764 + ], + [ + 0.00392610136176645, + 0.9999230528603839, + 0.011767501283957893, + 0.004236271688992917 + ], + [ + 0.002877484234239631, + -0.011778839860157925, + 0.9999264868059207, + 0.6768072996971142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9999775170050078, + -0.004211805049989711, + -0.005217871474091651, + 0.5010498424544472 + ], + [ + 0.004277949759407808, + 0.9999098071022456, + 0.012730938952243602, + 0.0051719435110328905 + ], + [ + 0.005163780626173096, + -0.012752974514624106, + 0.9999053440254603, + 0.6883090220729149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9999635479764724, + -0.0043430293783619555, + -0.007351245753183095, + 0.510266746488043 + ], + [ + 0.00444082358545045, + 0.9999011641923807, + 0.013339450236218764, + 0.004660856958277074 + ], + [ + 0.00729258556260497, + -0.013371609571788087, + 0.999884002398914, + 0.6993343900574918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9999423367809893, + -0.004367663442486421, + -0.009810536633039001, + 0.5174937018379069 + ], + [ + 0.00450111469031982, + 0.9998970823589757, + 0.013622211881809284, + 0.0038410649001553035 + ], + [ + 0.009750029718909545, + -0.013665584731781023, + 0.9998590844286105, + 0.7064383561903871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9999187010794135, + -0.004341478156116236, + -0.01198927850535618, + 0.5269043914295158 + ], + [ + 0.004512129302326594, + 0.999888375895949, + 0.014243469988763231, + 0.00429365721955195 + ], + [ + 0.011926102499061291, + -0.014296409184885507, + 0.9998266753610852, + 0.7166492642795166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9998895569137155, + -0.004284213601449737, + -0.01423093421779717, + 0.5364131209342248 + ], + [ + 0.004497080506862221, + 0.9998779817706963, + 0.014959874233232045, + 0.005589281143662838 + ], + [ + 0.014165106487736591, + -0.015022219675416589, + 0.9997868186139558, + 0.7265706786594994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9998477127901274, + -0.004340753664215511, + -0.01690293128357699, + 0.5437304160083428 + ], + [ + 0.004607471741956176, + 0.9998649896941644, + 0.01577255806886659, + 0.007170805060120837 + ], + [ + 0.01683218442442338, + -0.015848035888251035, + 0.9997327229444813, + 0.7342877864651851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9998044234537533, + -0.004426493027500602, + -0.01927488007189228, + 0.5530795476602731 + ], + [ + 0.0047543746296458845, + 0.999844213709776, + 0.016998359713837837, + 0.009537719354867311 + ], + [ + 0.019196634189079072, + -0.01708667523415641, + 0.9996697128378221, + 0.745990129046112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9997541259343135, + -0.004350824568499986, + -0.021742998939687556, + 0.5618295243005533 + ], + [ + 0.004745814522336673, + 0.9998240509792407, + 0.018147846373076225, + 0.008536397988058183 + ], + [ + 0.02166021518445041, + -0.018246572528432137, + 0.9995988683812763, + 0.7580188087219634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9996973506112261, + -0.004325000377903586, + -0.02421779413213259, + 0.5701294372415331 + ], + [ + 0.004790588319555185, + 0.9998041833173273, + 0.019200137622543727, + 0.007512428193152729 + ], + [ + 0.024130011281550706, + -0.01931034419432268, + 0.9995223124886452, + 0.7701542386560039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9996336510611062, + -0.004397765588881726, + -0.02670624129427913, + 0.5775298166197483 + ], + [ + 0.004934290851943823, + 0.9997866554339927, + 0.020057327586192397, + 0.006445366233450114 + ], + [ + 0.02661233623775702, + -0.02018175596762231, + 0.9994420845081682, + 0.7825083963137615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9995528690345855, + -0.004457229134827005, + -0.02956679071474009, + 0.583789126663409 + ], + [ + 0.0050660627205180156, + 0.9997760125712898, + 0.020548958503167056, + 0.0064863886611481675 + ], + [ + 0.029468576708781998, + -0.02068955764371857, + 0.9993515623599468, + 0.7905800622485245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994649319299919, + -0.004562594749776967, + -0.03238877230347909, + 0.5919154696801565 + ], + [ + 0.005250403646141443, + 0.9997618318767957, + 0.021182841733509348, + 0.007668110160031241 + ], + [ + 0.03228440960788803, + -0.021341561599461937, + 0.9992508467070553, + 0.8027190105624155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9993533386384281, + -0.004662586941120052, + -0.0356533986492786, + 0.6000129099076601 + ], + [ + 0.0054391861484596625, + 0.9997493831554459, + 0.02171603403821119, + 0.00805953102289332 + ], + [ + 0.03554321041029199, + -0.021895916590150756, + 0.9991282445364097, + 0.8148149841716302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9992254013883359, + -0.004727343700284966, + -0.03906724256789043, + 0.6064854365920271 + ], + [ + 0.0055911667422739696, + 0.9997416405649211, + 0.022031590387904917, + 0.008060247259945063 + ], + [ + 0.038952998277143, + -0.022232956215935632, + 0.998993673444993, + 0.8227731707027535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9990738352996675, + -0.004896297160054629, + -0.04274924436447467, + 0.6141417817754746 + ], + [ + 0.0058681457069483635, + 0.9997265079575718, + 0.02263789197168611, + 0.007585498818388678 + ], + [ + 0.042626710940150574, + -0.022867784350044666, + 0.9988293287410743, + 0.8342125625425667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9989039090816695, + -0.005100888805040873, + -0.04652914521843617, + 0.621584851949518 + ], + [ + 0.0061905445612140874, + 0.9997092389190889, + 0.02330482305987127, + 0.006875930152736731 + ], + [ + 0.04639674104282903, + -0.023567319601831983, + 0.9986450439807878, + 0.8453357143335208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_048/push_in/transforms.json b/spatialvid_eval/camera_controls/scene_048/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7edcc1ba5ef628de121fe42f377a2aa4868d50bc --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_048/push_in/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999982151657, + 2.7186357431856174e-06, + 5.968481975468725e-05, + -0.0001096762495052533 + ], + [ + -2.713419573360956e-06, + 0.9999999961773618, + -8.739515837937331e-05, + 0.00010793123300873929 + ], + [ + -5.968505712213513e-05, + 8.739499627342927e-05, + 0.9999999943999043, + 0.0001736943102585283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999952629991712, + 0.0002995106337714307, + 0.0030633760133106365, + 0.002583006818095982 + ], + [ + -0.0002987261997064795, + 0.9999999224793423, + -0.0002565228393546674, + -0.00030771412560137235 + ], + [ + -0.003063452607153905, + 0.0002556065135310365, + 0.9999952749505541, + 0.013415169279841157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999813535137944, + 0.00047963596807450734, + 0.0060879039133337415, + 0.004971743663957779 + ], + [ + -0.00047691113329507496, + 0.9999997854658758, + -0.00044902558202850577, + -0.00027911581219714686 + ], + [ + -0.006088117976090333, + 0.000446113820124485, + 0.9999813677274035, + 0.026701204586295754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999668353804232, + 0.0004438456308375882, + 0.008132105527950942, + 0.006156573448648332 + ], + [ + -0.0004389199538421629, + 0.9999997191573159, + -0.0006074821509560032, + 0.000332295414726604 + ], + [ + -0.008132372872407112, + 0.0006038926606585992, + 0.9999667493597568, + 0.036034637270865644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999308918822908, + 0.000461320937076142, + 0.011747282344420627, + 0.008006602038582581 + ], + [ + -0.0004503882466899603, + 0.9999994630641657, + -0.0009332854909726138, + 0.000769172286614865 + ], + [ + -0.011747706581021035, + 0.0009279301554705717, + 0.999930562757091, + 0.049544704596776984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998643309096055, + 0.0006217156533636038, + 0.01646004994929896, + 0.010007441214637272 + ], + [ + -0.000598158992284125, + 0.9999987900167708, + -0.0014360260493235081, + 0.00024495911198827916 + ], + [ + -0.016460922832788074, + 0.0014259854980849943, + 0.9998634929753423, + 0.06332453569939443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997895677600541, + 0.0006578818342334585, + 0.02050335069339095, + 0.011831262029451095 + ], + [ + -0.0006215641282036814, + 0.9999982268462415, + -0.0017776283096814253, + 7.585690609698805e-05 + ], + [ + -0.020504483807170567, + 0.0017645100920754362, + 0.9997882038951732, + 0.07289608382558152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9996099772844859, + 0.0006069842001675286, + 0.027919972841873746, + 0.015283849376412908 + ], + [ + -0.0005430104926823677, + 0.9999972102126388, + -0.002298848960875711, + 9.474316015425582e-05 + ], + [ + -0.027921290316084202, + 0.0022827915193528885, + 0.9996075181839943, + 0.0865807512793782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9993422594052929, + 0.0005275966348753062, + 0.036259760182815105, + 0.019089812914591473 + ], + [ + -0.0004272725257145732, + 0.999996059758648, + -0.0027745099327904634, + 0.001137418124997908 + ], + [ + -0.036261081132712585, + 0.0027571922256621325, + 0.9993385471831443, + 0.10020919993192377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9989842218598646, + 0.00043600455379498153, + 0.045059231851755116, + 0.023084598861772856 + ], + [ + -0.0002909097245778895, + 0.9999947522037016, + -0.0032265983000179478, + 0.0026914872120252925 + ], + [ + -0.04506040220163707, + 0.0032102126232701053, + 0.9989791062321275, + 0.11380851625298964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9984772794708451, + 0.0007522624345133957, + 0.055159373471150776, + 0.02744254416387797 + ], + [ + -0.0005815048987357394, + 0.999994989585542, + -0.0031116966215716238, + 0.002336199274424421 + ], + [ + -0.05516143791230444, + 0.0030748829313607855, + 0.9984727141301387, + 0.12866382661628206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9980825279888126, + 0.0009623336798572347, + 0.06188975066479291, + 0.030387615728494802 + ], + [ + -0.0007758741675685962, + 0.999995088131071, + -0.0030367306446294636, + 0.0020982131286927923 + ], + [ + -0.06189236901862556, + 0.002982889139834797, + 0.9980783721880974, + 0.13898177289509306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.997508791206341, + 0.0009477443329276268, + 0.07053590041067136, + 0.03420868443496115 + ], + [ + -0.0007174107291115343, + 0.9999943281534629, + -0.0032907419756647936, + 0.0013740387429400356 + ], + [ + -0.07053861912392743, + 0.0032319408385751954, + 0.9975038134115105, + 0.15344930976977866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9969265206848993, + 0.0008927299470640779, + 0.07833719032708954, + 0.03788371940701545 + ], + [ + -0.0006193532669760329, + 0.999993634186582, + -0.003513970381643475, + 0.0012063893951249499 + ], + [ + -0.07833982867374502, + 0.003454651871606811, + 0.9969207273518864, + 0.16767218007354726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9965976615948053, + 0.0008001032954488991, + 0.0824163863469055, + 0.040154529400139846 + ], + [ + -0.0005033014112417184, + 0.9999933140207796, + -0.003621960992047764, + 0.0018357145822777054 + ], + [ + -0.0824187332555847, + 0.003568157571504563, + 0.9965914010566667, + 0.17724542275538457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9961133420280845, + 0.0007232818881667615, + 0.08807773099342771, + 0.04359248662523767 + ], + [ + -0.0004091145073511557, + 0.9999934904193155, + -0.0035849329581251472, + 0.002416759953949077 + ], + [ + -0.0880797505614102, + 0.0035349656723406837, + 0.996107153653027, + 0.19088330971517528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9956819611605904, + 0.0007678987509498972, + 0.09282694948617548, + 0.04717942002435384 + ], + [ + -0.000477410382300677, + 0.9999949199890839, + -0.0031515195307787506, + 0.0022687602406888416 + ], + [ + -0.09282889797217006, + 0.0030935945975996888, + 0.9956772696881948, + 0.20432496307136788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9951611108188589, + 0.0008368469003564671, + 0.0982530569551903, + 0.05102737463484881 + ], + [ + -0.0005401711793829225, + 0.9999952148293477, + -0.0030460685323072468, + 0.0012976298198352615 + ], + [ + -0.0982551358905552, + 0.002978255474587789, + 0.9951568008436944, + 0.2174458617280175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9945752486971748, + 0.0009188918371652373, + 0.10401552920955835, + 0.055013844858887405 + ], + [ + -0.0005991929013317396, + 0.999995000657544, + -0.003104774997587477, + -8.55530362306132e-05 + ], + [ + -0.1040178621527086, + 0.003025606998643704, + 0.9945708270683743, + 0.23040510782114348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9941169496925613, + 0.000822367432090171, + 0.10830888258016523, + 0.058062141333285015 + ], + [ + -0.0004898538354645599, + 0.9999950854835978, + -0.0030966194263565227, + 0.00024840508248503035 + ], + [ + -0.10831089685335112, + 0.003025346336941501, + 0.9941124669283472, + 0.23914379868226432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9933947366609964, + 0.0006775809474464158, + 0.114745100367246, + 0.06258289776168786 + ], + [ + -0.00032591379600418514, + 0.9999951928890956, + -0.003083501078054645, + 0.0007513303558784708 + ], + [ + -0.1147466380964047, + 0.0030257367301944216, + 0.993390182135304, + 0.25162792721701516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9927295577250461, + 0.0007521081973310725, + 0.12036386314959413, + 0.06766442409051465 + ], + [ + -0.0003911027927298841, + 0.9999953546096187, + -0.0030228790562406077, + 0.00209342729778152 + ], + [ + -0.12036557754457972, + 0.0029538267455364786, + 0.9927252402603237, + 0.26485304969560464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.992268444830854, + 0.0008015664755861359, + 0.12410757786752484, + 0.07111156602774882 + ], + [ + -0.0004347522334849456, + 0.9999954573256679, + -0.0029826696974052957, + 0.00298699444978119 + ], + [ + -0.12410940489525361, + 0.0029056529754181537, + 0.9922642857612746, + 0.2740818396472986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9919738187897535, + 0.000860602354669618, + 0.1264405085376546, + 0.07610608288403187 + ], + [ + -0.0004890189375524042, + 0.9999954705298714, + -0.002969811478896151, + 0.0015816429409236548 + ], + [ + -0.12644249165589977, + 0.002884143430657591, + 0.9919697465248218, + 0.28744391933909325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9917669518722134, + 0.0009164525770610154, + 0.12805261921871525, + 0.08102629115446261 + ], + [ + -0.0005233555890306349, + 0.9999950474244697, + -0.003103421573153786, + 0.0003147433584936547 + ], + [ + -0.1280548291671451, + 0.0030108539000230725, + 0.9917625197020538, + 0.3010503448785935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9917447314197283, + 0.0009660648441128792, + 0.12822423491652424, + 0.08578848160765824 + ], + [ + -0.0005177326434398705, + 0.9999936363726595, + -0.003529754537551915, + -0.0006760101783353479 + ], + [ + -0.1282268289170443, + 0.003434229593725604, + 0.991738920489146, + 0.3151469163606172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9917251240210555, + 0.0010401509769359558, + 0.12837521751244405, + 0.09021480586771884 + ], + [ + -0.0005618429159653116, + 0.9999927657551425, + -0.0037620167355606232, + -0.00022843022978842706 + ], + [ + -0.12837820188006968, + 0.0036587598070982725, + 0.9917185340401349, + 0.328442640333517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9917129184547671, + 0.0010976912916680025, + 0.12846899409490492, + 0.09310732298510972 + ], + [ + -0.0006078353839203117, + 0.9999923956222033, + -0.0038521726224106673, + 0.0005478822695067831 + ], + [ + -0.1284722456644803, + 0.003742161353414903, + 0.991706044310677, + 0.3374527112519793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9914222160987521, + 0.001235427637714805, + 0.1306922459229747, + 0.0977562714273564 + ], + [ + -0.0007549848538043562, + 0.9999927748418211, + -0.003725622367542477, + 0.0007298252435810456 + ], + [ + -0.13069590438766568, + 0.003594994117794522, + 0.9914159856455732, + 0.35137846348205287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9909863421273151, + 0.0013980945311247858, + 0.13395564582654187, + 0.10260709520785112 + ], + [ + -0.0009419251619434451, + 0.9999935404645409, + -0.0034686894040527835, + 0.0004199320958990655 + ], + [ + -0.1339596300909837, + 0.0033112476311096405, + 0.9909812577163163, + 0.36581824895915893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9906661777734344, + 0.0012706920226574357, + 0.13630447372539736, + 0.10605789673386941 + ], + [ + -0.0007800141530293404, + 0.9999930227755275, + -0.0036532147739066967, + -9.27608060960063e-05 + ], + [ + -0.13630816480935784, + 0.003512796898024563, + 0.9906602568308966, + 0.374541266671541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9901754556592177, + 0.0010804849664231607, + 0.13982631927608674, + 0.11115766272490742 + ], + [ + -0.0005363286709966372, + 0.9999921365179059, + -0.003929281602392422, + -0.0008601809224729377 + ], + [ + -0.139829465284029, + 0.003815685337074602, + 0.990168248927318, + 0.3870050196964758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9896273598087592, + 0.0010265828637641178, + 0.14365456778525676, + 0.11674989207226648 + ], + [ + -0.0004933079695541851, + 0.9999928554032556, + -0.0037477712965299646, + 0.00020203040450291095 + ], + [ + -0.14365738882908974, + 0.0036380310702006694, + 0.989620795741854, + 0.39933043259625783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9890572042213237, + 0.0009099242718368035, + 0.1475297218045184, + 0.12248298099463938 + ], + [ + -0.00037643039100280107, + 0.9999932895454269, + -0.0036440587642027054, + 0.001234895271832075 + ], + [ + -0.14753204763053956, + 0.00354864790247713, + 0.9890509097210339, + 0.41179125835844077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9884569259395666, + 0.0006691306550722267, + 0.1515006858937257, + 0.12848853793293238 + ], + [ + -0.00011053028818630426, + 0.9999931654868679, + -0.0036955057312338916, + 0.0022082429872632967 + ], + [ + -0.15150212323646914, + 0.0036361028204152453, + 0.9884502442769295, + 0.42452476497972813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9880148430436835, + 0.00045189295159467504, + 0.15435823825804007, + 0.1325117516954234 + ], + [ + 0.00012834639235099246, + 0.9999929640227329, + -0.0037490575126455004, + 0.0020453110028074376 + ], + [ + -0.15435884636964975, + 0.003723935792928261, + 0.9880078333948781, + 0.43374038117717695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9872851317418342, + 4.1285630652252976e-05, + 0.15895932478783906, + 0.13838582954239625 + ], + [ + 0.0005792781052424572, + 0.9999923917358999, + -0.0038575778917541216, + 0.0005877428433062673 + ], + [ + -0.15895827464585097, + 0.0039006109535385746, + 0.987277596299948, + 0.44741803563871546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9867742596220537, + -0.00022917618914057401, + 0.16210030236129291, + 0.14344722080450684 + ], + [ + 0.0009001520952153352, + 0.9999913293276087, + -0.004065832732412048, + 0.00011647919901828333 + ], + [ + -0.1620979650506253, + 0.004157974011078567, + 0.986765909919151, + 0.4604335738265597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9865087848199073, + -0.0003626294717552276, + 0.1637079288642309, + 0.1466189366162651 + ], + [ + 0.0010708846063817315, + 0.999990445798915, + -0.004238103000979597, + 0.00012907032498643908 + ], + [ + -0.16370482790470686, + 0.004356238142401325, + 0.9864997478509242, + 0.46930099342361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9863114509137473, + -0.0006348495768917242, + 0.1648918395871468, + 0.15105748394630802 + ], + [ + 0.0013234525385451114, + 0.9999908569713023, + -0.004066257146156258, + 0.0007856227003870034 + ], + [ + -0.16488775051469665, + 0.004228822509300755, + 0.9863032732331308, + 0.4824825945889379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9862157029863894, + -0.0009434352833724607, + 0.1654620715237418, + 0.15538685936826466 + ], + [ + 0.0015739110846906537, + 0.9999919926678594, + -0.003679321141377809, + 0.0017607032663064849 + ], + [ + -0.16545727541259478, + 0.003889026874423695, + 0.9862092909129435, + 0.49591290281074835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9858255223065492, + -0.0009573101937681515, + 0.1677710437656411, + 0.16035365367511997 + ], + [ + 0.001550359905880943, + 0.9999930047983431, + -0.003403929867573908, + 0.00045730782555412696 + ], + [ + -0.16776661155659664, + 0.003615786439217957, + 0.9858201104335639, + 0.508729189314411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9854926248921712, + -0.0010356830579220935, + 0.16971509550933342, + 0.16564478022676393 + ], + [ + 0.0015915364953853174, + 0.9999938061759546, + -0.003139207115116038, + -0.0005146076348355121 + ], + [ + -0.1697107931002695, + 0.003363773228276793, + 0.9854881692516387, + 0.5212692665185901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9853525663943621, + -0.001173304141906597, + 0.17052549151793922, + 0.1696703404223282 + ], + [ + 0.0017059077091742686, + 0.9999941142002826, + -0.002976817710213025, + -0.0007223734088568427 + ], + [ + -0.17052099512650037, + 0.003224115721037777, + 0.9853487683550862, + 0.5296727980355552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9851144198864149, + -0.001332644563594278, + 0.1718947462557239, + 0.17551935703687824 + ], + [ + 0.0017985243133701962, + 0.9999951197736767, + -0.0025545526270874756, + -0.0002885053383697775 + ], + [ + -0.17189050305978745, + 0.002825683509784115, + 0.98511200909874, + 0.5419895868534754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9848203007009814, + -0.0013983395479190144, + 0.17357136853103844, + 0.18120061506926263 + ], + [ + 0.0017327762231864983, + 0.9999969229271974, + -0.0017752810192570067, + 0.0016329396248685232 + ], + [ + -0.17356835199364312, + 0.0020490931276299544, + 0.9848196933467391, + 0.5549614156427543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9845775092305092, + -0.0014740063701354483, + 0.1749427209765171, + 0.1850835121900116 + ], + [ + 0.0017287862419692423, + 0.9999976554694012, + -0.0013039761617647393, + 0.00246454755286548 + ], + [ + -0.17494038874878579, + 0.0015863041706031533, + 0.9845777491003451, + 0.5641104449005439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9841411246831351, + -0.0016354402117833328, + 0.1773797396624756, + 0.1908345262758644 + ], + [ + 0.0017824012288794031, + 0.999998187627413, + -0.0006691694468348729, + 0.0030395893509793754 + ], + [ + -0.1773783237976761, + 0.0009747190379643683, + 0.9841422560633822, + 0.5773544496378634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9837201103064114, + -0.001629525593683276, + 0.1796999978438554, + 0.19646242722260318 + ], + [ + 0.0016387817882322455, + 0.9999986524971697, + 9.694377637166739e-05, + 0.0021403150167786096 + ], + [ + -0.17969991366996443, + 0.00019912354142602725, + 0.9837214551776448, + 0.5903093034835016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9833044406893459, + -0.0015410758629724882, + 0.1819615399082925, + 0.20203143242485555 + ], + [ + 0.0013954749866165559, + 0.9999985955449195, + 0.000928201352191354, + 0.0005050552874341212 + ], + [ + -0.18196271478018317, + -0.0006587817339953617, + 0.9833052102152477, + 0.6031189125331486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.982980723259868, + -0.0019801818546537567, + 0.1836980581806171, + 0.20715216296215058 + ], + [ + 0.0017057910230226165, + 0.9999971810556285, + 0.0016517135896557701, + 0.0012233405791649311 + ], + [ + -0.18370081103928929, + -0.0013102521203867989, + 0.9829813300683224, + 0.6154657024887502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.982763130400084, + -0.002273557961645993, + 0.18485524190680266, + 0.2106453868110136 + ], + [ + 0.0019119574019353877, + 0.9999958944575795, + 0.0021343586574548946, + 0.0017041108610235582 + ], + [ + -0.18485933556388404, + -0.0017441336475466248, + 0.9827634425703363, + 0.6241058061246827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9824608743619624, + -0.0024424458439925504, + 0.18645284874795506, + 0.2167026857938244 + ], + [ + 0.0019333690701599797, + 0.9999938908271252, + 0.002912111341719895, + 0.0030454856238603936 + ], + [ + -0.18645882234951286, + -0.0025005532842130025, + 0.9824595944878883, + 0.6364869396321061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9821486897379662, + -0.002618485131209189, + 0.18808799744165994, + 0.22312671634685577 + ], + [ + 0.001980257720493569, + 0.9999916272349422, + 0.0035810667925849303, + 0.0034645792392236996 + ], + [ + -0.1880957995951974, + -0.0031446773491354088, + 0.9821456517131322, + 0.6489004002638106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9819292212579289, + -0.0027442574590138204, + 0.18922862756675118, + 0.22797424334504196 + ], + [ + 0.002046630485138023, + 0.9999903706594081, + 0.003881995893515802, + 0.0025141014554429042 + ], + [ + -0.1892374586160332, + -0.003424564126807507, + 0.9819253824079948, + 0.6576290114057735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9815316183840744, + -0.002922559798691875, + 0.1912776535734448, + 0.23567590064758542 + ], + [ + 0.002118891444666231, + 0.9999880487388868, + 0.004405982119754466, + 0.0017652712793717097 + ], + [ + -0.19128824431047878, + -0.003919314176861293, + 0.9815260804303662, + 0.6696706141651713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9809961660017321, + -0.0030803687940137063, + 0.19400266394561483, + 0.2444722279771573 + ], + [ + 0.0021363663012146624, + 0.9999848402663883, + 0.005074955806032024, + 0.0023742872378379218 + ], + [ + -0.19401535565240535, + -0.004564051434746361, + 0.9809878751572682, + 0.6808373997573869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.980453560981116, + -0.0031962950328677485, + 0.19672467678843003, + 0.2534995771319915 + ], + [ + 0.0020264919170618918, + 0.999979051133086, + 0.006147408029681575, + 0.00434050893414473 + ], + [ + -0.1967402045591075, + -0.005628587126106839, + 0.9804394988560002, + 0.6933147509554537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.979903618215364, + -0.003293630169075472, + 0.19944435567031762, + 0.26264577354341473 + ], + [ + 0.0018506135295755812, + 0.9999707502874806, + 0.007421172350633446, + 0.0069873996169836534 + ], + [ + -0.19946296457739457, + -0.006902939214784555, + 0.9798810515527865, + 0.7064463189675217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9796939467299941, + -0.003458236869717133, + 0.20046897849383288, + 0.2680872207400407 + ], + [ + 0.0018087108040590947, + 0.9999629919226215, + 0.008410906632865896, + 0.006497213891917672 + ], + [ + -0.2004906464297903, + -0.007877523907449389, + 0.9796639450909953, + 0.7143884501320377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9793774348211579, + -0.0037070575210419545, + 0.20200519272450576, + 0.2761278867586642 + ], + [ + 0.0017439103495089999, + 0.9999495185576238, + 0.009895408686336373, + 0.005760382538490665 + ], + [ + -0.20203167806020397, + -0.009339061029484294, + 0.9793344592115945, + 0.7256882557998943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9792830609175838, + -0.0037306426001512748, + 0.20246177146730146, + 0.2829435454149179 + ], + [ + 0.0015955023561817195, + 0.9999413940496711, + 0.010708073507020771, + 0.0035435219416996393 + ], + [ + -0.20248985399797018, + -0.010163206767072983, + 0.9792316213522163, + 0.7377044242049156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9792200278417253, + -0.0037465794584109605, + 0.20276612196324234, + 0.2875724351501608 + ], + [ + 0.0014963524918467888, + 0.9999355993060614, + 0.011249807538264264, + 0.002071427720854031 + ], + [ + -0.2027952119821146, + -0.010712627258971378, + 0.9791625715959222, + 0.7461230068540161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9789751189212202, + -0.0037697808122711795, + 0.20394485844416377, + 0.29375749979887583 + ], + [ + 0.0014147721385988918, + 0.9999306471295671, + 0.011691849761304452, + 0.0033922506421516763 + ], + [ + -0.20397478999371077, + -0.01115749450694477, + 0.9789125575675026, + 0.7583487245240554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9787438438960642, + -0.0038919519420940814, + 0.20504960557298682, + 0.2999881233037738 + ], + [ + 0.0013937055386017403, + 0.9999230528603836, + 0.012326635519982159, + 0.004597812565284123 + ], + [ + -0.20508180226540998, + -0.011778839860157922, + 0.9786739565918368, + 0.770886472086031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9785415516177892, + -0.004211805049989711, + 0.20600653498292334, + 0.3063065608131312 + ], + [ + 0.0014938849353447693, + 0.9999098071022456, + 0.013347133345768323, + 0.005572729385118224 + ], + [ + -0.20604417018020552, + -0.012752974514624106, + 0.9784595860717906, + 0.7840490756356598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9783057154793233, + -0.0043430293783619555, + 0.20712089502584682, + 0.31263838015232415 + ], + [ + 0.001478878680755591, + 0.9999011641923807, + 0.01398122900782533, + 0.005105500696471173 + ], + [ + -0.2071611449532387, + -0.013371609571788087, + 0.9782154466573929, + 0.7967725919037194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9781368800574018, + -0.00436766344248642, + 0.20791625089834867, + 0.31695147712974037 + ], + [ + 0.0014304631552806406, + 0.9998970823589755, + 0.0142750994802034, + 0.004319165694980653 + ], + [ + -0.2079572014784131, + -0.01366558473178102, + 0.9780424602987363, + 0.8055158973221137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9779090292445435, + -0.004341478156116236, + 0.20898584183962068, + 0.32347906211533545 + ], + [ + 0.0012573733718399024, + 0.999888375895949, + 0.014888074434442523, + 0.00485132218803276 + ], + [ + -0.20902715023220972, + -0.014296409184885507, + 0.9778053298843384, + 0.8174276712636861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9776933651712473, + -0.004284213601449737, + 0.20999364088928868, + 0.3301016901453809 + ], + [ + 0.0010335844888304804, + 0.9998779817706963, + 0.01558695843529998, + 0.006244843039896034 + ], + [ + -0.21003479569639605, + -0.015022219675416589, + 0.9775784968547523, + 0.829043161216166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9775669247396019, + -0.004340753664215511, + 0.2105803065644651, + 0.3344914408932045 + ], + [ + 0.0009055371173910811, + 0.9998649896941644, + 0.01640677867278401, + 0.0079121577252483 + ], + [ + -0.21062309383751474, + -0.015848035888251035, + 0.9774388738436784, + 0.8383705532153546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9773766127376782, + -0.004426493027500602, + 0.211460074323501, + 0.34094663384022555 + ], + [ + 0.0007125411218510107, + 0.999844213709776, + 0.01763634305148652, + 0.010405935111991562 + ], + [ + -0.21150519889253966, + -0.01708667523415641, + 0.9772275049193356, + 0.8517500466530074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9772066421507911, + -0.004350824568499986, + 0.21224572754698776, + 0.34679503077854934 + ], + [ + 0.00037815668954279584, + 0.9998240509792407, + 0.018754308331136917, + 0.00956106519598939 + ], + [ + -0.21228997982451778, + -0.018246572528432137, + 0.9770363488924405, + 0.8654397653523467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9770372767107143, + -0.004325000377903586, + 0.21302453917199868, + 0.35219520418797956 + ], + [ + 0.00011128403945907242, + 0.9998041833173273, + 0.019788447059702268, + 0.008676565849439101 + ], + [ + -0.21306841045442146, + -0.01931034419432268, + 0.976846437815854, + 0.8792395722901089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9768698250038875, + -0.004397765588881725, + 0.21378962709799493, + 0.3566969284521307 + ], + [ + -1.952249660312419e-05, + 0.9997866554339925, + 0.020655343981244596, + 0.007709631640639137 + ], + [ + -0.21383485360377202, + -0.020181755967622308, + 0.9766613292796623, + 0.8932602537387155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9767816663108504, + -0.004457229134827004, + 0.21419082489088695, + 0.3600181975692642 + ], + [ + -7.875046437798294e-05, + 0.9997760125712896, + 0.0211640847999025, + 0.007813552940595518 + ], + [ + -0.2142371820141483, + -0.020689557643718565, + 0.9765625284881375, + 0.9029200820809111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9766849081541729, + -0.004562594749776966, + 0.21462938501757983, + 0.3652121857259142 + ], + [ + -0.00012537274613797725, + 0.9997618318767955, + 0.02182346911077261, + 0.00906573029368725 + ], + [ + -0.21467783878535235, + -0.021341561599461933, + 0.9764517209176022, + 0.9166583053457903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9766831863845559, + -0.0046625869411200515, + 0.2146350710315717, + 0.37032747772051766 + ], + [ + -0.00014690581246870138, + 0.9997493831554457, + 0.022386364130617665, + 0.00951662278885208 + ], + [ + -0.21468565823639363, + -0.021895916590150753, + 0.976437728165132, + 0.9302545402410222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9767137411322705, + -0.004727343700284966, + 0.21449456894043625, + 0.3738003351187393 + ], + [ + -0.00015278313613494498, + 0.9997416405649211, + 0.02272946937070128, + 0.009559799438853387 + ], + [ + -0.21454660225861769, + -0.022232956215935632, + 0.9764606756634816, + 0.9396783262210047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9768013798057721, + -0.004896297160054628, + 0.21409131389119973, + 0.37842488633899174 + ], + [ + -0.0001143949509519568, + 0.9997265079575716, + 0.02338581195415082, + 0.009137193679770676 + ], + [ + -0.21414726550515412, + -0.022867784350044662, + 0.9765336722896886, + 0.9525191903065456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9769097126979642, + -0.005100888805040873, + 0.21359165285605095, + 0.38282321916063605 + ], + [ + -5.2125180169073325e-05, + 0.9997092389190889, + 0.024112961302624726, + 0.008479088040245752 + ], + [ + -0.21365254625055782, + -0.023567319601831983, + 0.9766253994891995, + 0.9650178987740292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 762.5608317057291, + "fy": 762.5607490539551, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_054/pan_left/transforms.json b/spatialvid_eval/camera_controls/scene_054/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..52843ce1336ce3745ddf97ce4d2e6308287773d4 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_054/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": [ + [ + 0.9999999818762293, + -8.733332950537723e-05, + 0.00016917573916680652, + -9.984406700530425e-05 + ], + [ + 8.732998540302716e-05, + 0.999999995991225, + 1.9774318797244754e-05, + -6.20064741827174e-05 + ], + [ + -0.00016917746544571833, + -1.975954432402755e-05, + 0.9999999854942727, + -8.743778851565111e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999870067773743, + 0.0003789840468333489, + 0.005083566417339278, + 0.0020379803008391748 + ], + [ + -0.0003674320676539005, + 0.9999973488701689, + -0.002273157783633189, + 7.737692524103945e-05 + ], + [ + -0.005084414430680634, + 0.0022712603826682645, + 0.9999844949328819, + 0.021542700201298202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999526126218305, + 0.0007405045316532134, + 0.009706913197002502, + 0.006948647880961174 + ], + [ + -0.0006897209608665169, + 0.9999860646932707, + -0.005233995057523169, + -0.0017245820932581092 + ], + [ + -0.00971065372524845, + 0.0052270519707227564, + 0.999939188716956, + 0.0425536724381478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999895534915948, + 0.0008330032105063311, + 0.0144300159667874, + 0.012620941539701322 + ], + [ + -0.0007231118930331201, + 0.9999707134554947, + -0.007619011779705958, + -0.00013610624070817105 + ], + [ + -0.014435940022755953, + 0.007607781342837756, + 0.9998668537853924, + 0.062351249581498416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998190053919888, + 0.0003393749516658699, + 0.019022126106630906, + 0.019088834589534327 + ], + [ + -0.00016113155669325967, + 0.9999560775883557, + -0.009371068814809544, + 0.0002061178233668302 + ], + [ + -0.019024470915003786, + 0.009366307637091583, + 0.9997751456140784, + 0.08265650735541083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9997592180031478, + -0.000220159840319135, + 0.021942140902362576, + 0.02445097848933704 + ], + [ + 0.0004405356447448209, + 0.9999495092385077, + -0.010039168392530424, + -0.00040770263220867015 + ], + [ + -0.021938822805249406, + 0.010046417436707639, + 0.9997088363871789, + 0.10206910872864608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997260934674996, + -0.0002758596514207104, + 0.02340217813933031, + 0.02809158174912964 + ], + [ + 0.0005144734437023989, + 0.9999479399622132, + -0.010190813628058385, + 0.00019456197442138613 + ], + [ + -0.023398148586756953, + 0.010200062096811645, + 0.999674189611762, + 0.12096370177268861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997032329927481, + 0.0003859289851116409, + 0.02435768877923129, + 0.031156882777096526 + ], + [ + -0.00010686061338904362, + 0.9999343566142489, + -0.011457357603638413, + 0.00028099402342567504 + ], + [ + -0.02436051158446277, + 0.011451354560347677, + 0.9996376503283961, + 0.14098159795567505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9996802947307069, + 0.001126849169161269, + 0.025259424737664155, + 0.035181703191210494 + ], + [ + -0.0007799312122946263, + 0.9999052996930989, + -0.013739845448865235, + -0.0008685537357367273 + ], + [ + -0.0252725153958178, + 0.013715752134118443, + 0.9995865035648311, + 0.1614403368168033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999670949094134, + 0.0010286412640100125, + 0.025630751732708523, + 0.040573264015879226 + ], + [ + -0.0006451975540570873, + 0.9998878237206924, + -0.014964080165988984, + -0.00022458161535155656 + ], + [ + -0.025643269240679972, + 0.014942619323528321, + 0.9995594734033602, + 0.18064282263327586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9997067192851526, + 0.0003486372033259302, + 0.02421474485138705, + 0.046228532376053434 + ], + [ + 2.2128289252628613e-05, + 0.9998828009075116, + -0.015309603511803917, + 0.0010979253231855764 + ], + [ + -0.024217244402618014, + 0.015305649331220191, + 0.9995895468501529, + 0.1999955347664256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9997712759910015, + -0.0002723328527808964, + 0.021385077464024457, + 0.051047698337023294 + ], + [ + 0.0006442800275782581, + 0.9998486119048098, + -0.01738787437473233, + -0.0009796220154844092 + ], + [ + -0.021377104728449413, + 0.01739767532869566, + 0.9996200979805211, + 0.21756277793412374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.999828816339807, + -0.00040498623318052857, + 0.01849794590466868, + 0.05426746936755949 + ], + [ + 0.0007367230632804225, + 0.9998389656799996, + -0.017930419601255892, + -2.4496669344820934e-05 + ], + [ + -0.01848770552743486, + 0.01794097806977103, + 0.999668107948949, + 0.23639068548456146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998772752893307, + 0.00015461127435686462, + 0.015665581870391236, + 0.05522857243290334 + ], + [ + 0.0001361684131042554, + 0.9998277590626394, + -0.018558924159127764, + 0.0017150141046619882 + ], + [ + -0.015665753034800518, + 0.01855877967795365, + 0.9997050344370173, + 0.2567830988966914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.999917516452046, + 0.0009159806630669759, + 0.012810982468070553, + 0.05597902012335632 + ], + [ + -0.000643516586642702, + 0.9997738589839242, + -0.02125598218843462, + -2.4904657443600934e-05 + ], + [ + -0.012827555448137396, + 0.02124598483989908, + 0.9996919835376333, + 0.2772338907725447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999499308936703, + 0.0014560151517241937, + 0.009900289168631109, + 0.05801146680093293 + ], + [ + -0.0012128976962489726, + 0.9996986426822775, + -0.024518415495112012, + 9.93578682307539e-05 + ], + [ + -0.00993300482849973, + 0.02450517984203471, + 0.9996503546620623, + 0.2970060757967704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999737240247422, + 0.0015291911232512513, + 0.007086101509158122, + 0.060080988759366065 + ], + [ + -0.0013300712318801999, + 0.9996064758382287, + -0.028020070892048977, + 0.001196684318984285 + ], + [ + -0.007126161000682504, + 0.028009909617595974, + 0.9995822441363226, + 0.3173403200554877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999900265398061, + 0.001105764157523919, + 0.004327136067455288, + 0.061679359444314165 + ], + [ + -0.0009731301784927079, + 0.9995332353775799, + -0.03053464251114695, + 0.0010386452088071534 + ], + [ + -0.004358880426674229, + 0.030530127108411634, + 0.9995243426251161, + 0.3380493140948352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999986749282741, + 0.0006378945315817413, + 0.0014977423887620558, + 0.06162562643365991 + ], + [ + -0.00059059410650709, + 0.9995076044994748, + -0.03137195796126161, + 0.001385961285340168 + ], + [ + -0.0015170169075773812, + 0.03137103183333925, + 0.9995066568169589, + 0.35856492774542587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.999998628452995, + 0.0009273322774451825, + -0.001372278024544318, + 0.05917550965126112 + ], + [ + -0.0009700126021584696, + 0.9995053238212426, + -0.031435119349941754, + 0.0029702257216560335 + ], + [ + 0.001342448390476398, + 0.03143640736217542, + 0.9995048524767044, + 0.37932338614800704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999892976514015, + 0.001933840657504897, + -0.004202956455663447, + 0.05615831167868661 + ], + [ + -0.0020664310031017273, + 0.9994929116804736, + -0.03177498014788384, + 0.0028349027402528827 + ], + [ + 0.004139377437035909, + 0.031783325200494254, + 0.9994862109072008, + 0.40053456529098375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999766062107894, + 0.002301559015479014, + -0.006441262085189543, + 0.054925498558687606 + ], + [ + -0.002507333035390908, + 0.9994807897820875, + -0.03212264213330186, + 0.001720976911465621 + ], + [ + 0.006363985559495752, + 0.03213804105219871, + 0.9994631789141237, + 0.4210341600230294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999809869798334, + 0.0021999661858156895, + -0.005760714158852954, + 0.0552639211091871 + ], + [ + -0.002384653693049268, + 0.9994769334363129, + -0.03225171244303821, + 0.00380323873511864 + ], + [ + 0.005686748245084176, + 0.032264836548872626, + 0.999463176518711, + 0.4411738764352815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999870282667718, + 0.0015748522425358075, + -0.004843876402740998, + 0.055731060882606175 + ], + [ + -0.001740086393130956, + 0.9994100980263767, + -0.03429909710550958, + 0.00405196665158725 + ], + [ + 0.004787002980497468, + 0.034307080950190375, + 0.9993998743241577, + 0.4626395824096941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999871278892114, + 0.0011093481510458137, + -0.004951101146841455, + 0.05381446625393622 + ], + [ + -0.0012784695518872013, + 0.9994112122473063, + -0.03428694139136755, + 0.003886492209750607 + ], + [ + 0.004910149844086324, + 0.034292829878123904, + 0.9993997659832923, + 0.4825903417314405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999899635163977, + 0.0012957232232694087, + -0.004288818928603206, + 0.050412445181549095 + ], + [ + -0.0014414477981779584, + 0.9994156464677175, + -0.03415095641061254, + 0.006247651523564291 + ], + [ + 0.004242062554794853, + 0.03415679576369993, + 0.999407483566357, + 0.5038115231709827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999991705780561, + 0.0021563412354945214, + -0.0034552225052455862, + 0.0478834326398659 + ], + [ + -0.0022720856646568375, + 0.9994242655869805, + -0.03385225225383924, + 0.0051771594462104355 + ], + [ + 0.0033802362072953567, + 0.03385982203735289, + 0.9994208755348181, + 0.5259758670208914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999936676237879, + 0.0024384142822948037, + -0.002592074094881314, + 0.047187873373642095 + ], + [ + -0.002524065325509729, + 0.9994331644485019, + -0.03357050632156776, + 0.005266246845604998 + ], + [ + 0.002508746013053846, + 0.03357683630483614, + 0.9994329903786449, + 0.5472582783304173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999966202193354, + 0.0019030554270251284, + -0.001771420319431741, + 0.04858060118120644 + ], + [ + -0.0019613009841308883, + 0.9994374178175814, + -0.03348135547696639, + 0.007388939076047403 + ], + [ + 0.0017067068746778654, + 0.03348471660574433, + 0.999437772402803, + 0.5682425487175985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.999996813188632, + 0.000916737048953554, + -0.0023522767191522633, + 0.04986016205889962 + ], + [ + -0.0009951050375333727, + 0.9994370873908361, + -0.03353383535604768, + 0.007598776913030677 + ], + [ + 0.0023202108836624193, + 0.03353606925245285, + 0.9994348146230199, + 0.5896173500335757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999895236928532, + 0.00021534236355140197, + -0.004572322408528473, + 0.04994555846070981 + ], + [ + -0.000368619110508492, + 0.9994370258993756, + -0.03354840355907501, + 0.007267974210227671 + ], + [ + 0.0045625239169169675, + 0.033549737541114226, + 0.9994266348694286, + 0.6092937631025964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999732271373016, + 6.246838936316431e-05, + -0.007317178849186056, + 0.04949962651086835 + ], + [ + -0.0003070645390966218, + 0.9994409704642653, + -0.033431306717154746, + 0.009061955001312771 + ], + [ + 0.00731099993020617, + 0.03343265851152098, + 0.999414231750215, + 0.6312449688375914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999481385006775, + 0.0002107995875798795, + -0.010182134970813515, + 0.04939181467901618 + ], + [ + -0.0005492052634199387, + 0.9994471183491354, + -0.0332438866137521, + 0.009540178723160885 + ], + [ + 0.010169497657633806, + 0.033247754618067824, + 0.9993954012953273, + 0.6538032893989865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.999915447715738, + 0.00018785027914490992, + -0.013002389461486307, + 0.050487842469907715 + ], + [ + -0.0006173960473744479, + 0.9994538465505632, + -0.03303978567430665, + 0.008056009308006543 + ], + [ + 0.01298908162866916, + 0.0330450197088163, + 0.9993694564228426, + 0.6752187902950559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9998756430501072, + -6.518506872432371e-05, + -0.015770040774884794, + 0.05269973081185962 + ], + [ + -0.0004554005342144313, + 0.9994550760112343, + -0.03300520634281531, + 0.010721961128432 + ], + [ + 0.01576359874800646, + 0.03300828360101741, + 0.9993307571411114, + 0.6962358535236414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998278199930949, + -0.0008455642646942266, + -0.018536865671680787, + 0.05486295955061443 + ], + [ + 0.00022783657361269977, + 0.9994453387682254, + -0.03330109465112032, + 0.009771577357485945 + ], + [ + 0.018554742206546283, + 0.03329113749245319, + 0.9992734469133598, + 0.7186952956512981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9997760077586402, + -0.0012436728215938723, + -0.021127886503595317, + 0.05475915256792064 + ], + [ + 0.0005397129162241301, + 0.999445519466396, + -0.03329207606194291, + 0.009639918769872045 + ], + [ + 0.02115757595198555, + 0.03327321590196776, + 0.999222322650659, + 0.7389780844374615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9997130525006388, + -0.0010436443287156123, + -0.023931641531041006, + 0.05386196988463297 + ], + [ + 0.00024450112753115143, + 0.9994429902876725, + -0.033371385707428584, + 0.011683217836689977 + ], + [ + 0.023953139231711232, + 0.03335595855841161, + 0.9991564577930705, + 0.7607006642216422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9996363604569586, + -0.0006122625627444379, + -0.026958708925317234, + 0.05357732981503646 + ], + [ + -0.0002862599627690099, + 0.9994449231487854, + -0.03331311524538756, + 0.010959176912154521 + ], + [ + 0.026964141143367284, + 0.03330871847839571, + 0.9990813101873779, + 0.7829378632313028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995549443181586, + -0.0004352111260018546, + -0.029828239646327415, + 0.055092259891207605 + ], + [ + -0.000557219182470014, + 0.9994467403790696, + -0.03325511468083619, + 0.010416362191845165 + ], + [ + 0.029826209881673216, + 0.03325693517040743, + 0.9990016884205781, + 0.8040752548332181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9994690681981311, + -0.0008575845509435371, + -0.03257063499378095, + 0.05780100342873729 + ], + [ + -0.00022975363740846268, + 0.9994431870450722, + -0.03336559728905791, + 0.01149135745427551 + ], + [ + 0.03258111306303427, + 0.03335536565423131, + 0.9989123538397384, + 0.8246545467959736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9993749119465793, + -0.001550244160672629, + -0.0353182971674585, + 0.060493796561068174 + ], + [ + 0.00036516680965770795, + 0.9994374442987941, + -0.033535974515374066, + 0.01157436211379716 + ], + [ + 0.03535041760669499, + 0.0335021145084455, + 0.998813273989936, + 0.8456303034856687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9992698658369644, + -0.0020240562407518132, + -0.03815282986240088, + 0.061356243165086866 + ], + [ + 0.0007399777315338576, + 0.9994337310033831, + -0.03364029972539291, + 0.011045926119162051 + ], + [ + 0.03819931495631653, + 0.033587505548815476, + 0.998705508049233, + 0.8666075639232782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9991465353575297, + -0.0019229312332401244, + -0.04126140107312246, + 0.05941574405361779 + ], + [ + 0.000532727768592852, + 0.9994326213492623, + -0.033677167102752856, + 0.01259291376212985 + ], + [ + 0.04130274911152298, + 0.033626443737249385, + 0.9985806653432743, + 0.8874871775943457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9990025422386208, + -0.0009077541106338378, + -0.04464411028621376, + 0.05730988520842184 + ], + [ + -0.0005908878481322334, + 0.999437067361906, + -0.03354398954484377, + 0.012656318853642419 + ], + [ + 0.044649428353831365, + 0.03353691049438345, + 0.9984396347211824, + 0.9097646725318612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9988647716374088, + -0.00041790820975270613, + -0.04763395148920319, + 0.05694826590615028 + ], + [ + -0.0011744507956689288, + 0.9994415017313039, + -0.03339618664466404, + 0.011011755534637704 + ], + [ + 0.04762130455033854, + 0.033414218078609975, + 0.9983064165791581, + 0.9316572441987466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.998728842588163, + -0.0008525190775798143, + -0.050398136808128026, + 0.0574864647339893 + ], + [ + -0.0008260503780907852, + 0.9994458601210103, + -0.033275972228421415, + 0.013988663981906388 + ], + [ + 0.0503985775918456, + 0.033275304629652606, + 0.9981747028844813, + 0.9533123717800375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9985619599460371, + -0.0017517183686496776, + -0.05358118729074532, + 0.05912014367321461 + ], + [ + -3.369223027974689e-05, + 0.9994453154726732, + -0.03330255612655406, + 0.013880892457227682 + ], + [ + 0.05360980333448923, + 0.033256470986645595, + 0.9980080140579793, + 0.9771218253729859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.99833425820892, + -0.002221074164030638, + -0.0576521961073786, + 0.05875897022887726 + ], + [ + 0.0003072403815868777, + 0.9994492169355723, + -0.033183857072671706, + 0.013678993259308764 + ], + [ + 0.05769414606174258, + 0.033110868252425166, + 0.9977850750105342, + 0.999281233259121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9980368498342642, + -0.0024139267200860184, + -0.06258289966667215, + 0.0572044627903395 + ], + [ + 0.0003456990561995476, + 0.9994540499019284, + -0.03303759414358756, + 0.01649779074875833 + ], + [ + 0.06262848285773207, + 0.03295110153582006, + 0.9974928060104068, + 1.0224026851675534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9977501802730034, + -0.0023544168896470485, + -0.06700025735994738, + 0.054955691449870274 + ], + [ + 0.00015134874250981054, + 0.9994597035551871, + -0.032867583770881774, + 0.015789289922068624 + ], + [ + 0.06704144135344632, + 0.032783497227836064, + 0.997211455735826, + 1.046542385996894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9974703482641892, + -0.002195321472711087, + -0.07104987612479348, + 0.05438280990259127 + ], + [ + -0.0001282430828761771, + 0.9994657854747407, + -0.03268221563895759, + 0.015508038887728663 + ], + [ + 0.07108366821871771, + 0.03260865267058857, + 0.9969372035808375, + 1.0680578287339129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9971635086782926, + -0.002327304044365372, + -0.07522978543290922, + 0.05549180219517979 + ], + [ + -0.00012646932193534629, + 0.9994686064753037, + -0.032595838320638185, + 0.017244536839031974 + ], + [ + 0.07526566923841897, + 0.03251289476807097, + 0.9966333281141531, + 1.0908596435883853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9968433476878089, + -0.00297157032202353, + -0.07933794766934446, + 0.05689431018396885 + ], + [ + 0.0003759170960821579, + 0.9994647707151066, + -0.03271132503792038, + 0.01795594153378616 + ], + [ + 0.07939268767902524, + 0.03257824226720761, + 0.9963109249997614, + 1.1136592319445644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9965500769934967, + -0.003650486562372236, + -0.08291331613265732, + 0.057212017609682815 + ], + [ + 0.0009254600291380354, + 0.999458856718211, + -0.03288065162464344, + 0.016591425085146414 + ], + [ + 0.08298847852557908, + 0.032690482948170695, + 0.9960141789937658, + 1.1370183780515872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9963062482900457, + -0.003786889815668451, + -0.08578763945778341, + 0.05631311339443124 + ], + [ + 0.0009572522587434483, + 0.9994548482785739, + -0.03300136240470792, + 0.018275849244233363 + ], + [ + 0.08586584470164944, + 0.032797343154251465, + 0.995766735232552, + 1.1603300518689568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9960661705784644, + -0.0034399688307752856, + -0.08854575339109774, + 0.05564086876953375 + ], + [ + 0.0005148154954327873, + 0.99945399142808, + -0.03303716064502377, + 0.01856473502244891 + ], + [ + 0.08861105345361525, + 0.03286161336457386, + 0.9955240808603867, + 1.1856685068490818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9958124487942202, + -0.0034044071180590663, + -0.09135631800063482, + 0.056687384257017075 + ], + [ + 0.0004173301558447234, + 0.9994652493345626, + -0.03269619562184086, + 0.017720952739448174 + ], + [ + 0.09141877630990053, + 0.03252115288201161, + 0.9952813581863297, + 1.2107890611030554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9955542187825185, + -0.004005107831574258, + -0.09410502949145302, + 0.05944371742047565 + ], + [ + 0.0009839975515675999, + 0.9994832751103709, + -0.03212809554681496, + 0.02240432640034499 + ], + [ + 0.09418507956756363, + 0.03189266194446968, + 0.9950437321549982, + 1.2368490526068578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.995371864175061, + -0.004889911487777167, + -0.09597364624888564, + 0.06267843391830552 + ], + [ + 0.0018413897768832033, + 0.9994916947968998, + -0.031827053204947546, + 0.021125231306114697 + ], + [ + 0.09608049381822578, + 0.03150302838875457, + 0.9948749157105046, + 1.263922399847028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9951379984025348, + -0.005511097457280408, + -0.09833611717071844, + 0.06320103474972721 + ], + [ + 0.002589033646307235, + 0.9995519926440788, + -0.029817962808180373, + 0.02148282062667221 + ], + [ + 0.09845639156588669, + 0.029418392309371634, + 0.9947064376758388, + 1.2893397712907388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.994855059541166, + -0.005354230442314074, + -0.10116690526903473, + 0.06226309212538546 + ], + [ + 0.002422036903215449, + 0.999574026338832, + -0.029084353285156, + 0.02309964392145117 + ], + [ + 0.10127953516176266, + 0.028689686041274476, + 0.9944442456328413, + 1.3156897071318512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9945715762754347, + -0.004797052543526771, + -0.10394406164804017, + 0.06218869391071995 + ], + [ + 0.0017855422408630582, + 0.9995764777920212, + -0.029046116501231865, + 0.022522959745900788 + ], + [ + 0.10403937477658651, + 0.028702845360550646, + 0.9941589184654056, + 1.3431527921692217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9942843577949344, + -0.004495020571279501, + -0.1066696331407327, + 0.06415929241258142 + ], + [ + 0.0014204895056073197, + 0.9995818354792744, + -0.02888141945004049, + 0.0231747211049258 + ], + [ + 0.10675485025927013, + 0.02856482049564624, + 0.9938749684825412, + 1.3700391449339024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9939805107012988, + -0.004810946291902159, + -0.10945135513899303, + 0.06659375754087608 + ], + [ + 0.0016716664151027883, + 0.9995850726117603, + -0.028755662801245183, + 0.023865869878767522 + ], + [ + 0.10954428272339074, + 0.02839960224226268, + 0.9935761232613731, + 1.3962995898097974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.993655630997096, + -0.005385873629235793, + -0.1123364560283665, + 0.06735826031141841 + ], + [ + 0.002137102563363922, + 0.9995765349229708, + -0.02902040013543266, + 0.02264163435008336 + ], + [ + 0.11244518567016056, + 0.028596209480224104, + 0.9932463627031144, + 1.4221063462404249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9932311585536463, + -0.005508238366458111, + -0.11602381216060784, + 0.06581975614816574 + ], + [ + 0.002092821744701662, + 0.9995614530058553, + -0.02953847934421479, + 0.02320905433192659 + ], + [ + 0.11613563525174622, + 0.02909572090397451, + 0.9928071077756, + 1.447088490848545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9925673819631705, + -0.005041470228547029, + -0.12159184117658905, + 0.06255573194707982 + ], + [ + 0.0014207968714943769, + 0.9995535107823996, + -0.0298456097077935, + 0.024460547698900503 + ], + [ + 0.12168801748335015, + 0.029451021383216234, + 0.9921313742345101, + 1.4727846015801107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9918049548561606, + -0.004247246960662756, + -0.1276906120904131, + 0.06127235657280425 + ], + [ + 0.00044012513982969175, + 0.9995549299751489, + -0.029828648179833897, + 0.022130514063984735 + ], + [ + 0.12776047046183925, + 0.029528001212919222, + 0.9913654015204179, + 1.4982239391173653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.991194910136475, + -0.004235607595686567, + -0.1323431514958031, + 0.060970458304265215 + ], + [ + 0.00030622609543180606, + 0.9995588965702729, + -0.029697112869726348, + 0.024826226769511357 + ], + [ + 0.13241055979461838, + 0.029395100195681454, + 0.9907589877156613, + 1.5227126052196305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9905239086483767, + -0.005017333032898901, + -0.13724872591459422, + 0.06008961199625617 + ], + [ + 0.0009259382028471266, + 0.9995537308905017, + -0.029857690823689564, + 0.024268630037589906 + ], + [ + 0.13733728202635634, + 0.029447672779279337, + 0.9900865141660589, + 1.5440722314938486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9896816480468384, + -0.005615200168235638, + -0.1431736883870939, + 0.058199195766388066 + ], + [ + 0.001279747045677399, + 0.9995383555182283, + -0.030355198820222723, + 0.023537682591904842 + ], + [ + 0.1432780435614372, + 0.029858757090455344, + 0.989231953011133, + 1.5667893963992148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9888605710105549, + -0.005598562456539501, + -0.14873946080008263, + 0.053886197862437625 + ], + [ + 0.0010161946448126594, + 0.9995230097519439, + -0.03086616796525816, + 0.025871642397040814 + ], + [ + 0.14884131969692743, + 0.030371188235495523, + 0.9883945833906826, + 1.589427145142964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9879001817738688, + -0.005170333047683124, + -0.15500483381924932, + 0.04922408501516986 + ], + [ + 0.0003473891077196315, + 0.9995154160692926, + -0.031125750764233098, + 0.0256060409452147 + ], + [ + 0.15509065146540876, + 0.030695287846921313, + 0.9874232573380222, + 1.6130395136223092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9869904963490037, + -0.0048294937342428625, + -0.16070605497932805, + 0.04563587932668511 + ], + [ + -0.00018394393075054583, + 0.9995141794093206, + -0.031166830514882334, + 0.024856416236549578 + ], + [ + 0.16077850068146, + 0.030790926422957297, + 0.9865101076870112, + 1.6361176087179754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9862645525004695, + -0.004887945758705853, + -0.16510100080650347, + 0.042260375010427675 + ], + [ + -0.00027165345956343175, + 0.9995126830566957, + -0.031214141237647874, + 0.025721140614197516 + ], + [ + 0.16517311732072812, + 0.0308302512974817, + 0.9857826012460797, + 1.6576439086425152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9854597679644844, + -0.005234010542528198, + -0.16982829816325004, + 0.03863734277215181 + ], + [ + -0.00011062311152924561, + 0.9995054431695177, + -0.031446094145918584, + 0.025793463212082344 + ], + [ + 0.16990889760666525, + 0.03100764757519479, + 0.9849718231025397, + 1.678744834570999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.984302429314984, + -0.0056300585676519015, + -0.17640019865393042, + 0.03511795902257097 + ], + [ + 8.720080304331831e-06, + 0.9994926108031916, + -0.03185154429192425, + 0.02497409268834193 + ], + [ + 0.17649002115865223, + 0.03135001420007689, + 0.9838030539905199, + 1.7002623742113947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9827447193159525, + -0.0060414944158818885, + -0.18486837750635648, + 0.030556296661102884 + ], + [ + 6.086125366120366e-05, + 0.9994769445508298, + -0.03233935075486054, + 0.026328149641760012 + ], + [ + 0.1849670591011212, + 0.031770074859228205, + 0.982231057028295, + 1.7212186845593398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9804039892661641, + -0.006175666940381781, + -0.19690068300753338, + 0.026490266005157095 + ], + [ + -0.00036126462296862355, + 0.9994504570425115, + -0.033145941009236485, + 0.025761678536312893 + ], + [ + 0.19699717591596047, + 0.03256754604444537, + 0.9798629841083802, + 1.7423398621131096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9779792179916349, + -0.006363575025523229, + -0.2086052590165561, + 0.024689543888529356 + ], + [ + -0.0010240937614497904, + 0.9993766787390199, + -0.03528746554420535, + 0.02500365568427592 + ], + [ + 0.20869978535790995, + 0.03472403930219319, + 0.9773631058547799, + 1.7635760975169155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 625.8327229817708, + "fy": 625.8327484130859, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_110/move_left/transforms.json b/spatialvid_eval/camera_controls/scene_110/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..df106da12353e6ebc4d29d1009fb17caee86c704 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_110/move_left/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999919295234, + -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, + -0.0008925782298317278 + ], + [ + 0.0004583019670282232, + 0.9999998486276601, + -0.0003044732563439886, + -0.0028696535798761985 + ], + [ + -3.314680587935362e-05, + 0.0003044884793998429, + 0.9999999530940265, + 0.05932742052356786 + ], + [ + 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, + 0.0018588079813995095 + ], + [ + 0.0015166781618130233, + 0.999998689627092, + -0.0005660666503320535, + 0.0014274301656346613 + ], + [ + -0.0003387541338317847, + 0.0005665810504245118, + 0.9999997821157515, + 0.11939649443303585 + ], + [ + 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, + 0.0053405301402735215 + ], + [ + 0.0015773563974593636, + 0.9999987501873269, + -0.0001075666303384926, + -0.0001265884769140763 + ], + [ + -0.0007373924500477798, + 0.00010872986704858921, + 0.999999722215057, + 0.18166195053454542 + ], + [ + 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, + 0.008322295058394547 + ], + [ + 0.0018007493465172018, + 0.9999983409795722, + -0.0002744811367258196, + 0.0002778366794145043 + ], + [ + -0.0007581537339101523, + 0.0002758467498737868, + 0.9999996745556903, + 0.24846024389590313 + ], + [ + 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, + 0.011131926942724558 + ], + [ + 0.0019563566540362386, + 0.9999979845716237, + -0.00045113338723329046, + 0.002095681896311722 + ], + [ + -0.000483839002278933, + 0.0004520807611154136, + 0.9999997807613787, + 0.3108332760539773 + ], + [ + 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, + 0.01501193875466789 + ], + [ + 0.002081911704676757, + 0.99999780142788, + -0.00025056548208777233, + -0.0021423224027150582 + ], + [ + 0.000303446581443069, + 0.000249934263234557, + 0.9999999227265154, + 0.3731705513851916 + ], + [ + 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, + 0.021774886834808025 + ], + [ + 0.002521027197559048, + 0.9999968211709392, + -4.549599864534818e-05, + -0.005837988420379799 + ], + [ + 0.001284914187101545, + 4.225679176256967e-05, + 0.9999991736046063, + 0.4335293864542879 + ], + [ + 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, + 0.03187742138815228 + ], + [ + 0.002935462701166189, + 0.9999956066123661, + -0.0004120857873846121, + -0.001079000104667297 + ], + [ + 0.0016130497072786702, + 0.00040735195948952616, + 0.9999986160665539, + 0.4928247360775922 + ], + [ + 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, + 0.04215886500933272 + ], + [ + 0.0026350225699929264, + 0.9999964169028093, + -0.00047205677482172923, + -0.001847040701629762 + ], + [ + 0.001313460584928008, + 0.0004685969965450025, + 0.9999990276186006, + 0.5514930347235191 + ], + [ + 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, + 0.047836635306409844 + ], + [ + 0.0028583319315597985, + 0.9999955623599188, + -0.0008397612987474335, + -0.003497453428717257 + ], + [ + 0.0023868271054367594, + 0.0008329399675553865, + 0.9999968046285844, + 0.6067394287570169 + ], + [ + 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, + 0.050073384185379016 + ], + [ + 0.0021986733047230107, + 0.9999972418314599, + -0.0008259329101720329, + 0.00030852479894134967 + ], + [ + 0.0032737052494115956, + 0.0008187326573790928, + 0.9999943062491786, + 0.6707839738885594 + ], + [ + 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, + 0.05142942063411397 + ], + [ + 0.002245036977581544, + 0.9999974611078741, + -0.00019387308957855497, + 0.00014534806635614956 + ], + [ + 0.005809379255518269, + 0.0001808280027380231, + 0.9999831090642975, + 0.7321585512663443 + ], + [ + 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, + 0.0529619277011924 + ], + [ + 0.0022581302811897955, + 0.9999974418711838, + 0.00013076207957470954, + -0.002089575087761293 + ], + [ + 0.010522296725827116, + -0.00015451595104363293, + 0.9999446271651418, + 0.7931468945524747 + ], + [ + 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, + 0.05368412113044853 + ], + [ + 0.0026181836532227797, + 0.9999965701544247, + -6.923687635915267e-05, + 0.0012182570124514098 + ], + [ + 0.021226857285271686, + 1.3645512286108705e-05, + 0.9997746847883232, + 0.850952259683114 + ], + [ + 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, + 0.05199411472425065 + ], + [ + 0.002378112170103639, + 0.9999971195508623, + 0.0003247652767585757, + 0.0020346317739010937 + ], + [ + 0.04541320334739092, + -0.000432429119369662, + 0.9989681946722756, + 0.9079480660161175 + ], + [ + 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, + 0.04813704028087859 + ], + [ + 0.001818726656238987, + 0.9999979992217047, + 0.0008329381353653407, + -1.1556289861378663e-05 + ], + [ + 0.08787587567509371, + -0.0009895396258175488, + 0.996130940833415, + 0.9655327393001376 + ], + [ + 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, + 0.04168301675582446 + ], + [ + 0.0007797884115889472, + 0.9999982196222283, + 0.001718337105129686, + 0.004035850474623998 + ], + [ + 0.14678141942125855, + -0.0018141845339841552, + 0.9891672879989296, + 1.022213096631076 + ], + [ + 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, + 0.03096042575432563 + ], + [ + 0.00015999977104230804, + 0.999996357120638, + 0.002694465722017059, + 0.0065297996305219005 + ], + [ + 0.2125825395191242, + -0.00266689169104343, + 0.9771394739648525, + 1.0784858619424285 + ], + [ + 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, + 0.014304552583976123 + ], + [ + -0.000332734868216213, + 0.9999933156911698, + 0.003641134505649937, + 0.00232237590040087 + ], + [ + 0.2816205039129054, + -0.00340005857928913, + 0.959519844181192, + 1.1404623049234224 + ], + [ + 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, + -0.0014710526474123985 + ], + [ + -0.0005131719512984949, + 0.9999923808531086, + 0.0038697403375182516, + 0.0038678446999309414 + ], + [ + 0.3411927319033954, + -0.0034624413918543603, + 0.9399869845885663, + 1.1951318661873698 + ], + [ + 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, + -0.017486020797295627 + ], + [ + -3.4208599989968714e-05, + 0.9999845162848308, + 0.005564712064838653, + 0.006450528432604296 + ], + [ + 0.4002513412846096, + -0.005085840382228687, + 0.9163912908946032, + 1.248848260292912 + ], + [ + 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, + -0.03817379532179059 + ], + [ + -0.00010172173112189538, + 0.9999744167629679, + 0.0071523053801988215, + 0.005835357992618848 + ], + [ + 0.4596863405974861, + -0.006305070082941844, + 0.8880589588306292, + 1.3006192158801362 + ], + [ + 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, + -0.06590344455385795 + ], + [ + -0.0019192124338963186, + 0.9999619299619062, + 0.00851206499585379, + 0.008839544633388595 + ], + [ + 0.5164721835353773, + -0.006297737811032034, + 0.8562808079903831, + 1.3491459376078279 + ], + [ + 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, + -0.0985677707711443 + ], + [ + -0.002583224404593259, + 0.999951457093037, + 0.009508438840720867, + 0.01103128148919205 + ], + [ + 0.5664306345391367, + -0.006372851639003729, + 0.8240847790231162, + 1.3958672853990441 + ], + [ + 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, + -0.133450467749238 + ], + [ + -0.0028356973488673975, + 0.9999389038638434, + 0.01068397679335781, + 0.008066973018085514 + ], + [ + 0.6080981451881923, + -0.006757324924240972, + 0.7938330960463594, + 1.4415614521676379 + ], + [ + 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, + -0.1733049385080109 + ], + [ + -0.003243765836441912, + 0.9999365783387406, + 0.010785049068496793, + 0.011174700003798773 + ], + [ + 0.6454415428247119, + -0.006144186710295867, + 0.7637849591120033, + 1.4881301681930954 + ], + [ + 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, + -0.21306675009601603 + ], + [ + -0.003541336315424121, + 0.9999233756728626, + 0.011861775587519285, + 0.013234291096284649 + ], + [ + 0.6775373095095749, + -0.006324972973961759, + 0.7354612083172065, + 1.528617683580438 + ], + [ + 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, + -0.25661202278952394 + ], + [ + -0.003469209576068455, + 0.999909227679227, + 0.013019254465945283, + 0.010442774230739249 + ], + [ + 0.7132838247457406, + -0.006650535673985355, + 0.7008437455890839, + 1.56392619282736 + ], + [ + 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, + -0.3056613495282186 + ], + [ + -0.003990030945918816, + 0.9998860406176614, + 0.014559719468009519, + 0.012854877650011962 + ], + [ + 0.7515653194736094, + -0.006605947615340801, + 0.6596255998827175, + 1.5934752415518703 + ], + [ + 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, + -0.3593405250055467 + ], + [ + -0.004187010614070004, + 0.9998616765059931, + 0.016096483986961927, + 0.015587925169364426 + ], + [ + 0.7881573299374639, + -0.006607284440039056, + 0.6154383535807435, + 1.6203830407049007 + ], + [ + 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, + -0.4133236764786291 + ], + [ + -0.003684238943332572, + 0.9998460315033402, + 0.017156330331112322, + 0.012741951116060414 + ], + [ + 0.8176182796250054, + -0.006865993897851927, + 0.5757197295132774, + 1.6468324441606104 + ], + [ + 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, + -0.4668539937961098 + ], + [ + -0.003205371519828324, + 0.999838096651233, + 0.01770610285352854, + 0.013951329084989065 + ], + [ + 0.8401977884947668, + -0.006908859939830087, + 0.5422360591687307, + 1.6713576251521327 + ], + [ + 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, + -0.527790528395237 + ], + [ + -0.0026067348797945873, + 0.9998133525894822, + 0.019143273415131442, + 0.017722772860793032 + ], + [ + 0.8641664621073103, + -0.007380699435995649, + 0.5031519164673535, + 1.6976178908239579 + ], + [ + 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, + -0.583988055549967 + ], + [ + -0.0023529807438267703, + 0.999795619404583, + 0.020079414857653986, + 0.01757751939676269 + ], + [ + 0.8863636939254174, + -0.007211310375086136, + 0.4629334715632078, + 1.717809551904276 + ], + [ + 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, + -0.6424521644643608 + ], + [ + -0.0029143777446155247, + 0.9997862765687602, + 0.020467232034075744, + 0.022381548462014084 + ], + [ + 0.9056477412059775, + -0.006039748759124889, + 0.4239878421410664, + 1.7331731048198817 + ], + [ + 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, + -0.7061746804696225 + ], + [ + -0.0029475831180779417, + 0.9997660788294425, + 0.021426604391822042, + 0.02718804632051482 + ], + [ + 0.9200182210807741, + -0.0056851791414247, + 0.3918343420598788, + 1.7482635679904774 + ], + [ + 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, + -0.771609653633082 + ], + [ + -0.002707468124608115, + 0.999760530653193, + 0.021715224253970048, + 0.027119986342225566 + ], + [ + 0.9274907536686112, + -0.0056074296615253455, + 0.37380403768796144, + 1.7646681802607473 + ], + [ + 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, + -0.8377947994645468 + ], + [ + -0.0028726443052430016, + 0.9997652116257075, + 0.021477186447475646, + 0.03034524025044264 + ], + [ + 0.9297274826851815, + -0.005238590617690053, + 0.3682110333873986, + 1.7819817678003766 + ], + [ + 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, + -0.9061539574697642 + ], + [ + -0.0026426024056175404, + 0.9997655757822244, + 0.021489768108644933, + 0.033053099400898775 + ], + [ + 0.9304211138493336, + -0.005417509330015611, + 0.3664521817318389, + 1.7991221818086025 + ], + [ + 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, + -0.9823846879539326 + ], + [ + -0.0023191712298245414, + 0.9997666799208351, + 0.02147573432684613, + 0.03239133781071142 + ], + [ + 0.9328044463675412, + -0.005576529565032814, + 0.36033979402080407, + 1.815490190551138 + ], + [ + 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, + -1.0527153586091162 + ], + [ + -0.002476799370815165, + 0.9997638776240609, + 0.021588294582455016, + 0.03740140519057854 + ], + [ + 0.9387919126640103, + -0.00511202726624896, + 0.34444682012449873, + 1.828017576159306 + ], + [ + 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, + -1.1230843634507732 + ], + [ + -0.0023756871820990316, + 0.9997564798041484, + 0.021939398351593697, + 0.03900870896935875 + ], + [ + 0.9442221211202316, + -0.0049820569242525585, + 0.3292715673969042, + 1.841354353171802 + ], + [ + 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, + -1.1915481121833957 + ], + [ + -0.001695015588842684, + 0.9997558984961097, + 0.02202885254366218, + 0.03603727277739612 + ], + [ + 0.94659189721309, + -0.005498675601065622, + 0.322387258893954, + 1.857243489521909 + ], + [ + 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, + -1.259417534283313 + ], + [ + -0.0015224125178671145, + 0.9997612856798759, + 0.021795731596968033, + 0.038533143225516986 + ], + [ + 0.9472783719257208, + -0.005541738208859521, + 0.3203638169634332, + 1.8753819173963204 + ], + [ + 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, + -1.33072248053682 + ], + [ + -0.0013791218479060167, + 0.9997620502813581, + 0.021770182363590733, + 0.04130422461012895 + ], + [ + 0.9473489316116118, + -0.005664626474016983, + 0.3201529537287574, + 1.8927612121847037 + ], + [ + 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, + -1.403610649736134 + ], + [ + -0.0014074201711471914, + 0.9997594325232371, + 0.02188826738864015, + 0.04160457797992601 + ], + [ + 0.9475048860695354, + -0.005665309532458135, + 0.3196910933108054, + 1.906182835073413 + ], + [ + 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, + -1.4761442536316893 + ], + [ + -0.0017627826279078412, + 0.9997681771387005, + 0.021458904402765794, + 0.04579404281733939 + ], + [ + 0.9497858886105824, + -0.0050405345648467, + 0.3128599667702904, + 1.9162694747675768 + ], + [ + 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, + -1.556861525575035 + ], + [ + -0.0011081351644766993, + 0.9997544872464397, + 0.022130008293395897, + 0.04744167543903525 + ], + [ + 0.956008817992244, + -0.005432404231153133, + 0.29328762146626947, + 1.92698590070246 + ], + [ + 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, + -1.6300282822340586 + ], + [ + -0.00057357289522947, + 0.9997495622271378, + 0.022371496167679798, + 0.04615895805216959 + ], + [ + 0.9606129422235993, + -0.005665957037576304, + 0.27783209347260196, + 1.9391309298900326 + ], + [ + 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, + -1.702717516117674 + ], + [ + -0.0003275705965626874, + 0.9997614789959306, + 0.02183753221803368, + 0.04917734486846047 + ], + [ + 0.9626287000301593, + -0.005598884441104816, + 0.27076676009300066, + 1.9540341546678208 + ], + [ + 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, + -1.7782750028101475 + ], + [ + 7.373259017271275e-05, + 0.9997653584311379, + 0.02166154760315731, + 0.048398933493879276 + ], + [ + 0.9639655438164428, + -0.005833618004685032, + 0.2659631539060353, + 1.9669093878280215 + ], + [ + 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, + -1.8534944971515266 + ], + [ + 0.00027594406515583925, + 0.9997646490912235, + 0.02169263198359499, + 0.04604965142249866 + ], + [ + 0.9669916825388596, + -0.005794224868277489, + 0.2547420516107254, + 1.9736945595628446 + ], + [ + 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, + -1.927972558625923 + ], + [ + 2.7698248179060247e-05, + 0.9997633258907921, + 0.021755262273506756, + 0.05096745212058664 + ], + [ + 0.9718333131855892, + -0.005153958759487237, + 0.23561292004435158, + 1.9756375224825031 + ], + [ + 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, + -2.0031099164813524 + ], + [ + 0.00020666041680918353, + 0.9997503791045802, + 0.022341369065485825, + 0.05254977568613788 + ], + [ + 0.9766938673260972, + -0.00499707848560095, + 0.21457893357503866, + 1.9751331733646151 + ], + [ + 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, + -2.0818150184434216 + ], + [ + 0.0006884063030265525, + 0.9997498725626146, + 0.022354382295160465, + 0.05060164610661722 + ], + [ + 0.9796268466410637, + -0.005163538717649732, + 0.20076000400477606, + 1.9774102273161147 + ], + [ + 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, + -2.1541216566272228 + ], + [ + 0.0011012585106809185, + 0.9997613850711659, + 0.021816510955628903, + 0.05405568336651726 + ], + [ + 0.9804275276989081, + -0.005374627647187633, + 0.19680695187889374, + 1.9844341679246462 + ], + [ + 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, + -2.2300838799127938 + ], + [ + 0.0018324934129672534, + 0.9997625454280075, + 0.021713929335868187, + 0.05074157937925487 + ], + [ + 0.9805375687665865, + -0.006059365949858843, + 0.19623801956195347, + 1.9922345965526098 + ], + [ + 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, + -2.306692022998007 + ], + [ + 0.0019071609799187327, + 0.9997635735559041, + 0.021660095284310614, + 0.048742893692315534 + ], + [ + 0.9805197665399599, + -0.0061238739861192515, + 0.1963249489795552, + 1.9980993270589986 + ], + [ + 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, + -2.385513750279912 + ], + [ + 0.001547919643327754, + 0.9997674847366604, + 0.0215076825369264, + 0.055381038011131985 + ], + [ + 0.9805187076375459, + -0.00574195589750935, + 0.19634177832358563, + 2.001880394644021 + ], + [ + 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, + -2.46298599079522 + ], + [ + 0.001250444902178717, + 0.9997677779113721, + 0.021513405999613995, + 0.054528674646361464 + ], + [ + 0.980500562172793, + -0.005453434627118904, + 0.19644059567616073, + 2.0049296628885025 + ], + [ + 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, + -2.53405912184203 + ], + [ + 0.001381831883991996, + 0.9997713519990161, + 0.021338562807836657, + 0.052202654107133414 + ], + [ + 0.9805049240138939, + -0.0055474006098590566, + 0.19641619162121637, + 2.008139049726213 + ], + [ + 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, + -2.613479661429351 + ], + [ + 0.0014647772085464097, + 0.9997781440703529, + 0.021012307511791502, + 0.055763755283409946 + ], + [ + 0.9805206276102225, + -0.005562979066245623, + 0.19633734258862734, + 2.0089368154517833 + ], + [ + 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, + -2.686246774159887 + ], + [ + 0.0010956376820427886, + 0.9997774752854581, + 0.0210665490744251, + 0.054447501638714195 + ], + [ + 0.9804879432973597, + -0.00521520838874218, + 0.19651003702095204, + 2.0054653832968494 + ], + [ + 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, + -2.756104405000341 + ], + [ + 0.0005468221643320954, + 0.9997812952154103, + 0.020906045128567863, + 0.057219890901558455 + ], + [ + 0.9804537511292254, + -0.004649260062719001, + 0.19669475406705828, + 1.997356731809157 + ], + [ + 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, + -2.8250847093443268 + ], + [ + 0.00010494386692506269, + 0.9997858998240476, + 0.02069162873735259, + 0.06289683322651135 + ], + [ + 0.9804292705113241, + -0.004176462512937875, + 0.19682734232192217, + 1.985027012594626 + ], + [ + 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, + -2.8916123326259524 + ], + [ + -0.0003623446819719673, + 0.9997893292842313, + 0.020522323350891762, + 0.05955972601390627 + ], + [ + 0.9804191118841217, + -0.0036861205310099975, + 0.1968877283321156, + 1.970016783771038 + ], + [ + 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, + -2.952559127834297 + ], + [ + -0.00035663136859341756, + 0.9997965907229893, + 0.020165564528538682, + 0.05709399120061534 + ], + [ + 0.9804195083938744, + -0.0036214248656436035, + 0.19688695447554827, + 1.9549299423245796 + ], + [ + 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, + -3.018135957341184 + ], + [ + -0.0005312417328760203, + 0.999802875552444, + 0.019847614952062678, + 0.062301287384496036 + ], + [ + 0.9803820910164964, + -0.003391362607880909, + 0.19707727995328134, + 1.9389493704133247 + ], + [ + 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, + -3.084254697708328 + ], + [ + -0.0008282716731918948, + 0.9998058121932286, + 0.019688876826118057, + 0.06232932183646901 + ], + [ + 0.9803610833549963, + -0.0030709817041630373, + 0.1971870059471239, + 1.9243088080750375 + ], + [ + 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, + -3.1557926008343875 + ], + [ + -0.001132768331807107, + 0.999812757527955, + 0.01931752365737479, + 0.0627278120682059 + ], + [ + 0.9803257709565879, + -0.0027026826742087198, + 0.1973678755642218, + 1.9065470115181091 + ], + [ + 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, + -3.2209205095292384 + ], + [ + -0.001280404585744431, + 0.9998179756111429, + 0.01903618157437898, + 0.06805497391011807 + ], + [ + 0.9803284466166924, + -0.0025021664667852026, + 0.19735722919892124, + 1.8899574980107596 + ], + [ + 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, + -3.286806864837951 + ], + [ + -0.0007774371798773706, + 0.9998196130113768, + 0.018977276654256272, + 0.06584366021746749 + ], + [ + 0.9803512663038487, + -0.0029814008486918515, + 0.19723718185326955, + 1.8754190975646021 + ], + [ + 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, + -3.351452142761908 + ], + [ + -0.0005780742739156536, + 0.9998269348810337, + 0.01859478734837412, + 0.06246748899765384 + ], + [ + 0.9802991566526125, + -0.0031062124281833825, + 0.19749408829260706, + 1.8654101441389128 + ], + [ + 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, + -3.415855705028814 + ], + [ + 0.0003267599612574272, + 0.9998347949876647, + 0.01817349608364848, + 0.0658397154173341 + ], + [ + 0.98001741993362, + -0.003935093739030583, + 0.19887275244214808, + 1.859481655400017 + ], + [ + 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, + -3.4856349490679754 + ], + [ + 0.0006694983358176941, + 0.9998442104800374, + 0.017638212537821385, + 0.06696173053977343 + ], + [ + 0.9779467010421832, + -0.004338436782673147, + 0.20880954931945483, + 1.8577255631578855 + ], + [ + 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, + -3.559770756809138 + ], + [ + 0.0006023784422227157, + 0.9998475197165742, + 0.017452061678413434, + 0.06669110733619246 + ], + [ + 0.97519558997416, + -0.00445025924823124, + 0.22130015022040433, + 1.8568201370953497 + ], + [ + 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, + -3.635728555978113 + ], + [ + 0.0008609722659638497, + 0.9998610685444332, + 0.01664639107858435, + 0.07241954878854022 + ], + [ + 0.9731191425907514, + -0.004671390473098476, + 0.2302548857993867, + 1.8520395034585577 + ], + [ + 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, + -3.705040319617692 + ], + [ + 0.0004714520163139899, + 0.9998695647647776, + 0.016144076006094202, + 0.07195823326842704 + ], + [ + 0.9701355317490304, + -0.004373269801066044, + 0.24252407004104382, + 1.8487749285525692 + ], + [ + 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, + -3.772075536302786 + ], + [ + 0.0015123425542545891, + 0.999882282673733, + 0.015268713605401465, + 0.06551562538830112 + ], + [ + 0.965647508512856, + -0.005427822580323759, + 0.2597988222547409, + 1.8512617265439295 + ], + [ + 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, + -3.8396572658945187 + ], + [ + 0.0016717285867585679, + 0.9998942353666272, + 0.014447262859119, + 0.06908698486067612 + ], + [ + 0.958131396062264, + -0.005738180370651761, + 0.28627137678400716, + 1.8600058879018377 + ], + [ + 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/orbit_left/transforms.json b/spatialvid_eval/camera_controls/scene_110/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1e617160fb181a07f4a2fa803b516270a4386a40 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_110/orbit_left/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999919295234, + -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": [ + [ + 0.9999944309034279, + -0.0004582918532151998, + 0.0033057723313470472, + -0.0028778019064719597 + ], + [ + 0.0004592958976282719, + 0.9999998486276601, + -0.0003029718390089922, + -0.0028706931018186864 + ], + [ + -0.0033056329814189827, + 0.0003044884793998429, + 0.999994490023499, + 0.05975341347927671 + ], + [ + 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": [ + [ + 0.9999751514096686, + -0.001516486073934917, + 0.006884535801213289, + -0.0021113740508593402 + ], + [ + 0.0015203505482025556, + 0.999998689627092, + -0.0005561279616409079, + 0.001420926024865602 + ], + [ + -0.006883683419594936, + 0.0005665810504245118, + 0.9999761466597553, + 0.12024969360540498 + ], + [ + 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": [ + [ + 0.9999430522389791, + -0.0015772766404724174, + 0.010554831945326436, + -0.0006142325783839251 + ], + [ + 0.0015783363989731135, + 0.9999987501873269, + -9.207603512828054e-05, + -0.0001361202074470201 + ], + [ + -0.010554673524384352, + 0.00010872986704858921, + 0.9999442919706127, + 0.18294412339243624 + ], + [ + 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": [ + [ + 0.9999024885767662, + -0.001800540661574877, + 0.013848154798240008, + 0.0003826504778001068 + ], + [ + 0.0018041879190237844, + 0.9999983409795722, + -0.00025088654058967407, + 0.0002630693789337033 + ], + [ + -0.013847680092450536, + 0.0002758467498737868, + 0.9999040782318213, + 0.25016997248959044 + ], + [ + 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": [ + [ + 0.9998561765647904, + -0.0019561379491993295, + 0.01684635597280632, + 0.0012067890634366273 + ], + [ + 0.0019634760954545458, + 0.9999979845716237, + -0.0004190636150359763, + 0.0020753019779943854 + ], + [ + -0.01684550227394195, + 0.0004520807611154136, + 0.9998580022563824, + 0.31296771412203245 + ], + [ + 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": [ + [ + 0.9998109752356914, + -0.0020819875770391517, + 0.01933078182549857, + 0.0030997625892014748 + ], + [ + 0.00208642992199674, + 0.99999780142788, + -0.00020964156906642803, + -0.0021677612807665943 + ], + [ + -0.019330302854238157, + 0.000249934263234557, + 0.9998131210003337, + 0.3757224997338114 + ], + [ + 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": [ + [ + 0.999763062668299, + -0.0025210835726479004, + 0.021620884850599376, + 0.007874445391594053 + ], + [ + 0.002521407876588636, + 0.9999968211709392, + 1.2261182730467164e-05, + -0.005873157940320845 + ], + [ + -0.021620847032968654, + 4.225679176256967e-05, + 0.999766241272399, + 0.43649301816623415 + ], + [ + 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": [ + [ + 0.9996939106785078, + -0.0029361233535398924, + 0.024565506955180463, + 0.015990113731696082 + ], + [ + 0.0029452439397680934, + 0.9999956066123663, + -0.00033510312048923063, + -0.00112702499125094 + ], + [ + -0.024564415125288074, + 0.00040735195948952627, + 0.9996981662351563, + 0.4962065304316252 + ], + [ + 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": [ + [ + 0.999600618625773, + -0.0026356400357135687, + 0.028136393595740227, + 0.02428676968068228 + ], + [ + 0.0026477809927951635, + 0.9999964169028093, + -0.00039425544665848097, + -0.0018959305818351255 + ], + [ + -0.02813525366486786, + 0.0004685969965450025, + 0.9996040155571948, + 0.5553029077509897 + ], + [ + 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": [ + [ + 0.999535674211071, + -0.0028603271631575953, + 0.030335696925228032, + 0.027974236356095576 + ], + [ + 0.002884277764331177, + 0.9999955623599188, + -0.0007457896808303883, + -0.0035577748937579584 + ], + [ + -0.030333429103841385, + 0.0008329399675553865, + 0.999539488609536, + 0.6109513026607145 + ], + [ + 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": [ + [ + 0.999462146709005, + -0.0022013646469287674, + 0.03271958571741037, + 0.028220605802301686 + ], + [ + 0.002226973952532306, + 0.9999972418314599, + -0.000746268375150312, + 0.0002566413497133974 + ], + [ + -0.03271785266246022, + 0.0008187326573790928, + 0.9994642924056836, + 0.6753976561704794 + ], + [ + 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": [ + [ + 0.9994377151081498, + -0.0022461253391111075, + 0.03345457428158532, + 0.02757733558718669 + ], + [ + 0.002250917557211088, + 0.9999974611078744, + -0.00010558388234044318, + 9.087396220642083e-05 + ], + [ + -0.03345425218939657, + 0.00018082800273802312, + 0.9994402334865662, + 0.7371311949813825 + ], + [ + 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": [ + [ + 0.999484872773091, + -0.0022566293247128755, + 0.03201400821279396, + 0.027097063134751208 + ], + [ + 0.002250525889329975, + 0.9999974418711838, + 0.0002266810749412754, + -0.0021471290916000234 + ], + [ + -0.0320144378519981, + -0.00015451595104363293, + 0.9994873945647544, + 0.7984120807464463 + ], + [ + 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": [ + [ + 0.9996943390855053, + -0.002619063417912098, + 0.024583915619930397, + 0.025770571090531054 + ], + [ + 0.0026186073147969986, + 0.9999965701544247, + 5.0745619935189225e-05, + 0.001145076104465886 + ], + [ + -0.024583964206892975, + 1.3645512286108705e-05, + 0.9996977685869237, + 0.8563239314215357 + ], + [ + 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": [ + [ + 0.9999905243028521, + -0.0023609097897429906, + 0.0036575141110032645, + 0.021956204467733255 + ], + [ + 0.0023593121530128933, + 0.9999971195508623, + 0.00044106251623639536, + 0.0019658898872360322 + ], + [ + -0.0036585448845323615, + -0.000432429119369662, + 0.9999932140041675, + 0.912978041179795 + ], + [ + 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": [ + [ + 0.9993637637606072, + -0.0017384947271697445, + -0.03562366233723306, + 0.015897293805710255 + ], + [ + 0.0017726415407601222, + 0.999997999221705, + 0.0009269814212980317, + -6.364964028767431e-05 + ], + [ + 0.03562197950986954, + -0.000989539625817549, + 0.9993648459832515, + 0.9695299345110426 + ], + [ + 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": [ + [ + 0.99579997092497, + -0.0005191212289692802, + -0.09155407374321937, + 0.007236699942921941 + ], + [ + 0.0006830361530415029, + 0.9999982196222283, + 0.0017590378015699798, + 0.004021975428671004 + ], + [ + 0.09155299758851622, + -0.0018141845339841552, + 0.9957985526034038, + 1.0244216884210247 + ], + [ + 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": [ + [ + 0.9879632376444978, + 0.0004164542737228393, + -0.1546882918285671, + -0.005586885988707942 + ], + [ + 1.096906603238892e-06, + 0.999996357120638, + 0.0026992117832164274, + 0.006544739784020635 + ], + [ + 0.15468885241606403, + -0.00266689169104343, + 0.9879596381567973, + 1.0783808013972815 + ], + [ + 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": [ + [ + 0.9751705836024712, + 0.001344683843200273, + -0.2214509532645499, + -0.02416732577739491 + ], + [ + -0.000558342159067378, + 0.9999933156911698, + 0.003613423171200607, + 0.002364392805277909 + ], + [ + 0.2214543319297444, + -0.00340005857928913, + 0.9751648160548083, + 1.1376047396784545 + ], + [ + 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": [ + [ + 0.9602954099016331, + 0.0018027022325911224, + -0.2789793468816556, + -0.041699686928526075 + ], + [ + -0.0007651663381407728, + 0.9999923808531086, + 0.0038278918749608927, + 0.003921184620869796 + ], + [ + 0.27898412184626115, + -0.0034624413918543603, + 0.960289472636912, + 1.1895922101678866 + ], + [ + 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": [ + [ + 0.94172639837882, + 0.0022586319309188248, + -0.3363722479311522, + -0.059270940808551456 + ], + [ + -0.00041624694095970257, + 0.9999845162848308, + 0.005549227791054881, + 0.006501727992571795 + ], + [ + 0.3363795733021553, + -0.005085840382228687, + 0.9417127571041323, + 1.240358417097854 + ], + [ + 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": [ + [ + 0.9188463188196351, + 0.0033781519816898677, + -0.394601102989835, + -0.08126828612264005 + ], + [ + -0.0006159425222810245, + 0.9999744167629679, + 0.00712646015715022, + 0.0059068206597632554 + ], + [ + 0.39461508208178636, + -0.006305070082941844, + 0.9188248925039169, + 1.2888637715114404 + ], + [ + 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": [ + [ + 0.8927118113028709, + 0.0060396295684055894, + -0.45058755512666393, + -0.11006181093194112 + ], + [ + -0.0025538542655006015, + 0.9999619299619065, + 0.008343647598661273, + 0.009010563740268327 + ], + [ + 0.4506207937820208, + -0.006297737811032036, + 0.892693250063943, + 1.3339519771787163 + ], + [ + 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": [ + [ + 0.866003116012571, + 0.007514666958652452, + -0.4999821325177716, + -0.1436226066111701 + ], + [ + -0.003321284699087937, + 0.9999514570930372, + 0.009276450046209476, + 0.011251558718192507 + ], + [ + 0.5000275713642854, + -0.006372851639003731, + 0.8659860360522692, + 1.3773032960246385 + ], + [ + 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": [ + [ + 0.8408913615739531, + 0.008747976877176433, + -0.5411332469280183, + -0.1793248741462549 + ], + [ + -0.0036993186794162286, + 0.9999389038638434, + 0.010416505214490317, + 0.008321476276312797 + ], + [ + 0.5411913091242425, + -0.006757324924240972, + 0.8408723479151022, + 1.4198338396878778 + ], + [ + 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": [ + [ + 0.8158855608352613, + 0.009438658266966491, + -0.5781363708941433, + -0.21987654219408037 + ], + [ + -0.004148568374017744, + 0.9999365783387406, + 0.010470371562540225, + 0.011461565617938022 + ], + [ + 0.5781985307841738, + -0.006144186710295867, + 0.8158729729367752, + 1.463273171052035 + ], + [ + 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": [ + [ + 0.7923917375550837, + 0.0106413110031736, + -0.6099197461589266, + -0.26028036892016093 + ], + [ + -0.004574232876636409, + 0.9999233756728626, + 0.011503007284093529, + 0.013560522596973117 + ], + [ + 0.6099954185467512, + -0.006324972973961759, + 0.7923796969060054, + 1.500758545083059 + ], + [ + 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": [ + [ + 0.7631851157618805, + 0.011717797454332851, + -0.6460736585733425, + -0.30407641415930475 + ], + [ + -0.004645938848062895, + 0.999909227679227, + 0.012647199458843893, + 0.010790883142376154 + ], + [ + 0.6461632102895869, + -0.006650535673985355, + 0.7631702798481502, + 1.5326353582867405 + ], + [ + 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": [ + [ + 0.7278859353407997, + 0.013574506769673008, + -0.6855638539910116, + -0.3529203278843652 + ], + [ + -0.0053517538056478565, + 0.9998860406176614, + 0.014116108144253459, + 0.013264431351734163 + ], + [ + 0.6856773467632227, + -0.006605947615340801, + 0.7278756333274597, + 1.5583538167544295 + ], + [ + 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": [ + [ + 0.6897355020487449, + 0.015263408759293395, + -0.7239005218720407, + -0.4060647205602713 + ], + [ + -0.005744580343299416, + 0.9998616765059931, + 0.01560857621002744, + 0.01604296945151481 + ], + [ + 0.7240386295013861, + -0.006607284440039056, + 0.6897277773020913, + 1.581306600268798 + ], + [ + 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": [ + [ + 0.6555763752039747, + 0.016148418337920068, + -0.75495618737752, + -0.4595502578381731 + ], + [ + -0.0054027758822728445, + 0.9998460315033402, + 0.016695008229639898, + 0.013195215713766357 + ], + [ + 0.7551095458853528, + -0.006865993897851927, + 0.6555626833801719, + 1.604115924272597 + ], + [ + 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": [ + [ + 0.6271080329901549, + 0.01661469648147895, + -0.7787550749883094, + -0.512752615509044 + ], + [ + -0.005038603880997501, + 0.999838096651233, + 0.01727405441030724, + 0.014396287032330146 + ], + [ + 0.7789159951048312, + -0.006908859939830087, + 0.6270902169737482, + 1.6253723592347158 + ], + [ + 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": [ + [ + 0.593390440153677, + 0.017854558510798004, + -0.8047167205138778, + -0.5729003891368186 + ], + [ + -0.00465485851065576, + 0.9998133525894822, + 0.01875079401054237, + 0.01816261763767036 + ], + [ + 0.8049013093705786, + -0.007380699435995649, + 0.5933627958082343, + 1.6480759781357737 + ], + [ + 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": [ + [ + 0.5585164463639017, + 0.018886937869352204, + -0.8292783988016078, + -0.6280715977714468 + ], + [ + -0.004567955022425664, + 0.9997956194045832, + 0.01969398909108288, + 0.01802712163728261 + ], + [ + 0.829480869537057, + -0.007211310375086138, + 0.5584885711227422, + 1.6646856739229214 + ], + [ + 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": [ + [ + 0.5247221634877661, + 0.019771763191522802, + -0.8510439051688325, + -0.6854122970309242 + ], + [ + -0.005234419928058722, + 0.9997862765687602, + 0.020000050819729144, + 0.02288916339771736 + ], + [ + 0.8512574534139101, + -0.006039748759124889, + 0.5247135117778003, + 1.6765662599128786 + ], + [ + 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": [ + [ + 0.4972575544164515, + 0.020867830748104492, + -0.8673519805797637, + -0.7482841063113309 + ], + [ + -0.005445579135389489, + 0.9997660788294425, + 0.020931633712680826, + 0.027727248099829932 + ], + [ + 0.8675858863787784, + -0.0056851791414247, + 0.49725487277097635, + 1.6885193252302073 + ], + [ + 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": [ + [ + 0.48309901407215, + 0.021152732226287545, + -0.8753101761786389, + -0.8136822233140903 + ], + [ + -0.005310552877392043, + 0.999760530653193, + 0.021229210446514518, + 0.027661077036564355 + ], + [ + 0.8755496220264466, + -0.0056074296615253455, + 0.4830956593697961, + 1.7024313441529169 + ], + [ + 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": [ + [ + 0.4806828291011788, + 0.021025669819159782, + -0.8766424236916343, + -0.8806183333896509 + ], + [ + -0.005514372533142063, + 0.9997652116257078, + 0.02095503086539853, + 0.030909563053915477 + ], + [ + 0.8768771918021663, + -0.005238590617690054, + 0.48068591373732555, + 1.7178035942618157 + ], + [ + 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": [ + [ + 0.4818973320135307, + 0.02096292139699766, + -0.8759768931454439, + -0.949980130870553 + ], + [ + -0.005356348568766554, + 0.9997655757822244, + 0.02097863224443817, + 0.033614670970965134 + ], + [ + 0.8762113163662353, + -0.005417509330015611, + 0.48189664832244716, + 1.7331721885041016 + ], + [ + 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": [ + [ + 0.47901773379576984, + 0.02086835015234406, + -0.8775571335651514, + -1.0268902747732258 + ], + [ + -0.0051024762252682015, + 0.9997666799208353, + 0.020989293852845457, + 0.03294138604179779 + ], + [ + 0.8777903937988478, + -0.005576529565032815, + 0.4790124496007121, + 1.747555775199612 + ], + [ + 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": [ + [ + 0.4669306718129742, + 0.021120042029580673, + -0.8840416797555156, + -1.0971439320426455 + ], + [ + -0.005342404711452683, + 0.9997638776240609, + 0.021062946375119868, + 0.03798000037356676 + ], + [ + 0.8842777880463718, + -0.00511202726624896, + 0.4669332508453918, + 1.7576199128120205 + ], + [ + 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": [ + [ + 0.45553212178872904, + 0.021497911489737998, + -0.8899597326959449, + -1.1674282631925084 + ], + [ + -0.005359251228317461, + 0.9997564798041484, + 0.02140699689094385, + 0.03959926637049987 + ], + [ + 0.8902032152519616, + -0.0049820569242525585, + 0.4555364032257721, + 1.7685154336676965 + ], + [ + 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": [ + [ + 0.45197154919847, + 0.0213987847522021, + -0.8917756504448103, + -1.2364047026560703 + ], + [ + -0.004767879272369105, + 0.9997558984961097, + 0.021573380576092947, + 0.036585423719091154 + ], + [ + 0.8920196107947288, + -0.005498675601065622, + 0.45196324908586877, + 1.7823419283283692 + ], + [ + 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": [ + [ + 0.4529861468894876, + 0.021134351027322692, + -0.8912670138251887, + -1.3051536907163632 + ], + [ + -0.0046341843346837525, + 0.9997612856798759, + 0.02135172103774777, + 0.03907459603132943 + ], + [ + 0.8915055103933837, + -0.005541738208859521, + 0.45297595308786187, + 1.798640574627238 + ], + [ + 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": [ + [ + 0.45570514658509415, + 0.021065488936296606, + -0.889881489048813, + -1.3774808880994869 + ], + [ + -0.00455854412351727, + 0.9997620502813581, + 0.021332193808638503, + 0.04184469249230776 + ], + [ + 0.8901191150915321, + -0.005664626474016983, + 0.4556927396344801, + 1.814265402932063 + ], + [ + 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": [ + [ + 0.45818113801406685, + 0.02118917999159474, + -0.8886062476819632, + -1.451368954630557 + ], + [ + -0.004674016157454797, + 0.9997594325232371, + 0.02142966760765578, + 0.04216195408782711 + ], + [ + 0.8888465550032213, + -0.005665309532458135, + 0.45816995310343844, + 1.8259193835251828 + ], + [ + 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": [ + [ + 0.45467532814067957, + 0.02093286870118094, + -0.8904112313914873, + -1.5243481262969691 + ], + [ + -0.005029507800784804, + 0.9997681771387005, + 0.020935520820895278, + 0.04638809807768722 + ], + [ + 0.8906430542206275, + -0.0050405345648467, + 0.454675206031573, + 1.8339115844897698 + ], + [ + 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": [ + [ + 0.43923945308069456, + 0.021481485397380474, + -0.8981131602657288, + -1.6043541205477947 + ], + [ + -0.004556388190470371, + 0.9997544872464397, + 0.02168420063701365, + 0.04799970826832339 + ], + [ + 0.8983584708700809, + -0.005432404231153133, + 0.4392294921794747, + 1.8418825761692539 + ], + [ + 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": [ + [ + 0.4276623891124638, + 0.02164970571381961, + -0.9036792413136009, + -1.677103741477054 + ], + [ + -0.0041381779720619065, + 0.9997495622271381, + 0.021992914989109463, + 0.046681656086660736 + ], + [ + 0.9039290660343277, + -0.005665957037576305, + 0.427644876631484, + 1.8514841820412917 + ], + [ + 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": [ + [ + 0.4239772872848488, + 0.021110130480045498, + -0.9054267625035701, + -1.7500956228060587 + ], + [ + -0.003880430493311821, + 0.9997614789959306, + 0.021492495784714426, + 0.049674920065688646 + ], + [ + 0.9056645085934236, + -0.005598884441104816, + 0.42395807619061554, + 1.8642481438499985 + ], + [ + 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": [ + [ + 0.4224303690679844, + 0.0208613753629553, + -0.9061552771501431, + -1.8261441185511096 + ], + [ + -0.0035257813896562625, + 0.9997653584311379, + 0.0213728085812571, + 0.04886200660652909 + ], + [ + 0.906388521636654, + -0.005833618004685032, + 0.42240480199246855, + 1.8750879598760006 + ], + [ + 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": [ + [ + 0.414848652629596, + 0.020906300143225195, + -0.9096502196040684, + -1.9012110441022532 + ], + [ + -0.0034016781182258393, + 0.9997646490912235, + 0.021426035878873314, + 0.046501618091890934 + ], + [ + 0.9098840717351793, + -0.005794224868277489, + 0.4148221341259253, + 1.8795117885916994 + ], + [ + 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": [ + [ + 0.3998067535578379, + 0.02113596254934994, + -0.9163557338155606, + -1.9747022313426417 + ], + [ + -0.0037271059476988275, + 0.9997633258907921, + 0.021433639099244124, + 0.05145564411502288 + ], + [ + 0.9165918767318402, + -0.005153958759487237, + 0.39979090562231223, + 1.8787022958407578 + ], + [ + 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": [ + [ + 0.3829508472360538, + 0.021776333182077896, + -0.9235120139523534, + -2.0485780579245993 + ], + [ + -0.003724087565473384, + 0.9997503791045802, + 0.02202976740805062, + 0.0530414740904209 + ], + [ + 0.9237612136115011, + -0.00499707848560095, + 0.3829363516742901, + 1.8753641317961236 + ], + [ + 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": [ + [ + 0.37290758165086246, + 0.021760748584264345, + -0.9276132843854483, + -2.126685817133631 + ], + [ + -0.0033245255625698553, + 0.9997498725626148, + 0.022116506071711464, + 0.05105015396987991 + ], + [ + 0.9278625345799291, + -0.005163538717649733, + 0.37288665139801147, + 1.8751496423169727 + ], + [ + 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": [ + [ + 0.3722076900525376, + 0.021172772568525584, + -0.9279079421836608, + -2.1993887976925497 + ], + [ + -0.00289292550328064, + 0.9997613850711659, + 0.021651879886441537, + 0.05445361849781108 + ], + [ + 0.9281449598245884, + -0.005374627647187633, + 0.3721801269948028, + 1.8801309972917786 + ], + [ + 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": [ + [ + 0.37471920091332384, + 0.020931718601140625, + -0.9269020356128703, + -2.276099468861794 + ], + [ + -0.0022261911319294866, + 0.9997625454280075, + 0.021677103873805743, + 0.05106138453837474 + ], + [ + 0.9271356775250991, + -0.006059365949858843, + 0.3746768201321794, + 1.8860426047587278 + ], + [ + 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": [ + [ + 0.37783400774838427, + 0.020863728289327185, + -0.9256382486860961, + -2.3535246559970413 + ], + [ + -0.0022136339127442595, + 0.9997635735559041, + 0.021630922671700532, + 0.04905838205594398 + ], + [ + 0.9258707050197098, + -0.0061238739861192515, + 0.3777908624539613, + 1.8900485151662383 + ], + [ + 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": [ + [ + 0.3808694092677985, + 0.020784763789912702, + -0.9243952004841847, + -2.4331548313410925 + ], + [ + -0.00260773013341439, + 0.9997674847366604, + 0.021405050966598782, + 0.0557402133371671 + ], + [ + 0.9246251634189662, + -0.00574195589750935, + 0.3808350523716555, + 1.891967184663275 + ], + [ + 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": [ + [ + 0.38397945094730207, + 0.02084826853542885, + -0.9231062403370934, + -2.5114450779151407 + ], + [ + -0.002970639350116257, + 0.9997677779113721, + 0.021343981634389428, + 0.05492951744723195 + ], + [ + 0.9233368597386657, + -0.005453434627118904, + 0.38395221512410593, + 1.893158203869138 + ], + [ + 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": [ + [ + 0.38697778001965893, + 0.020651151748349098, + -0.9218577589316713, + -2.5833233444831896 + ], + [ + -0.0028770222792855286, + 0.9997713519990161, + 0.021188828775184847, + 0.052589724022238785 + ], + [ + 0.9220845517163062, + -0.0055474006098590566, + 0.38694871214750515, + 1.8945035707842983 + ], + [ + 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": [ + [ + 0.38991971800346775, + 0.020315410484390405, + -0.9206247322383572, + -2.6635423762626926 + ], + [ + -0.0027993609497404984, + 0.9997781440703529, + 0.02087645126724929, + 0.05613834571988309 + ], + [ + 0.9208445998594819, + -0.005562979066245623, + 0.3898900821687303, + 1.8934344447279021 + ], + [ + 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": [ + [ + 0.393085035510886, + 0.020440193572896177, + -0.9192749062952323, + -2.737136691474621 + ], + [ + -0.003240089801064368, + 0.9997774752854581, + 0.020844705081063435, + 0.054875757622455716 + ], + [ + 0.9194964147159502, + -0.00521520838874218, + 0.3930637924382956, + 1.8881087929174427 + ], + [ + 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": [ + [ + 0.3962532406262289, + 0.02038985331644951, + -0.9179148234857886, + -2.8078231324398937 + ], + [ + -0.0038117384029234193, + 0.9997812952154105, + 0.020562888604104237, + 0.05772029925302988 + ], + [ + 0.9181333454044464, + -0.0046492600627190015, + 0.39624429893351093, + 1.8781467179664224 + ], + [ + 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": [ + [ + 0.39937024523696746, + 0.0202660226462339, + -0.9165657071620491, + -2.8776267624566034 + ], + [ + -0.004265663224155092, + 0.9997858998240476, + 0.02024743515306893, + 0.06345614446863106 + ], + [ + 0.9167798052622139, + -0.004176462512937875, + 0.39937118802469396, + 1.8639611720172633 + ], + [ + 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": [ + [ + 0.4024148295350145, + 0.020191819254786754, + -0.915234721481592, + -2.94496907190078 + ], + [ + -0.004752047658885007, + 0.9997893292842313, + 0.019967851472674672, + 0.060184109482845416 + ], + [ + 0.9154450955755636, + -0.0036861205310099975, + 0.40242600500225867, + 1.8470914203643474 + ], + [ + 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": [ + [ + 0.40540749565553985, + 0.019840928925587652, + -0.9139207296071548, + -3.0067242570955437 + ], + [ + -0.004734193570734691, + 0.9997965907229895, + 0.019605218435981193, + 0.05771689422240595 + ], + [ + 0.914123815397859, + -0.0036214248656436044, + 0.4054189628081107, + 1.83014199858795 + ], + [ + 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": [ + [ + 0.40857033528562675, + 0.01956294192410636, + -0.9125171628127686, + -3.0731336848859714 + ], + [ + -0.0048984602557088875, + 0.999802875552444, + 0.019240975136082153, + 0.06294785041120055 + ], + [ + 0.9127136934503141, + -0.003391362607880909, + 0.40858562437749585, + 1.8123094836629652 + ], + [ + 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": [ + [ + 0.4116509350553947, + 0.0194655330266437, + -0.9111336898018908, + -3.1400748298649592 + ], + [ + -0.005215350085029239, + 0.9998058121932286, + 0.0190036319720533, + 0.06302141557709899 + ], + [ + 0.9113266745747709, + -0.0030709817041630373, + 0.4116725170324865, + 1.7958126724428458 + ], + [ + 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": [ + [ + 0.4147932211037242, + 0.019161038351543258, + -0.9097139321433346, + -3.212445028625581 + ], + [ + -0.005489728084396094, + 0.999812757527955, + 0.01855566678689215, + 0.063461179179559 + ], + [ + 0.9098991409007684, + -0.0027026826742087198, + 0.4148207430859818, + 1.7761989129067972 + ], + [ + 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": [ + [ + 0.41775597710973345, + 0.018914407413620358, + -0.9083623664492513, + -3.278380488621533 + ], + [ + -0.005629308524559135, + 0.9998179756111429, + 0.018229825297332036, + 0.06881111928749536 + ], + [ + 0.9085418286873904, + -0.0025021664667852026, + 0.4177864103681991, + 1.7577465846107039 + ], + [ + 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": [ + [ + 0.42062455632716805, + 0.018757736717425567, + -0.9070408645302663, + -3.34506108442956 + ], + [ + -0.005186113782258588, + 0.9998196130113768, + 0.018271443884332276, + 0.06653675638409905 + ], + [ + 0.9072199770939848, + -0.0029814008486918515, + 0.4206459608870254, + 1.741339115380171 + ], + [ + 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": [ + [ + 0.4238321941377314, + 0.018342620607438194, + -0.9055549787183813, + -3.4105516736264696 + ], + [ + -0.004961670930099613, + 0.9998269348810337, + 0.017929922140902388, + 0.0631294267344511 + ], + [ + 0.9057271404976104, + -0.0031062124281833825, + 0.42384985361608085, + 1.7294834797449163 + ], + [ + 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": [ + [ + 0.4280814532789054, + 0.01774535909018778, + -0.9035659198915046, + -3.4759610315816154 + ], + [ + -0.004040859998795892, + 0.9998347949876649, + 0.0177215739268497, + 0.06636451523798881 + ], + [ + 0.9037311219655383, + -0.003935093739030584, + 0.4280824385888478, + 1.721777824753254 + ], + [ + 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": [ + [ + 0.4401798144972154, + 0.01710943411787108, + -0.8977466224795079, + -3.547967030379107 + ], + [ + -0.0036363017459069454, + 0.9998442104800376, + 0.01727229223825652, + 0.06742549156937197 + ], + [ + 0.8979022821102586, + -0.004338436782673148, + 0.44017345416037185, + 1.7187866115660098 + ], + [ + 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": [ + [ + 0.45454517992229343, + 0.016885867144992402, + -0.8905636119335731, + -3.6247295364208036 + ], + [ + -0.0037120386467433017, + 0.9998475197165744, + 0.01706335505402984, + 0.06716515297783945 + ], + [ + 0.890715948088107, + -0.004450259248231241, + 0.45453855173585506, + 1.7168480750996806 + ], + [ + 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": [ + [ + 0.4656168344400965, + 0.016000678742846396, + -0.8848417608622188, + -3.702843576653148 + ], + [ + -0.0033165580590453583, + 0.9998610685444335, + 0.01633536200470969, + 0.07283387927061695 + ], + [ + 0.8849802053880216, + -0.004671390473098477, + 0.46560521279558614, + 1.7108367994886071 + ], + [ + 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": [ + [ + 0.4796233968071057, + 0.01554760329894344, + -0.8773366909384747, + -3.7748268760714163 + ], + [ + -0.0036200666671544666, + 0.9998695647647776, + 0.015740030953577892, + 0.07242157324733875 + ], + [ + 0.877466975078002, + -0.004373269801066044, + 0.4796171203769816, + 1.7066080418588414 + ], + [ + 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": [ + [ + 0.4980629217603777, + 0.014351290436811204, + -0.8670221256867178, + -3.8453177727126064 + ], + [ + -0.002441464792227969, + 0.9998822826737332, + 0.015147938633143865, + 0.06579220438770694 + ], + [ + 0.8671374546271109, + -0.00542782258032376, + 0.49803932929523986, + 1.7085573263482958 + ], + [ + 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": [ + [ + 0.524526654655331, + 0.013363808088345626, + -0.85128913841859, + -3.9177753797628325 + ], + [ + -0.002124460961046467, + 0.9998942353666272, + 0.014387659511305325, + 0.06931376106716565 + ], + [ + 0.8513913760555203, + -0.005738180370651761, + 0.5244995691745816, + 1.7175908351174898 + ], + [ + 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/orbit_right/transforms.json b/spatialvid_eval/camera_controls/scene_110/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..5b3f5d2894f6a579cb3b169b1c945845fc004965 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_110/orbit_right/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999919295234, + -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, + 0.003592673538004787 + ], + [ + 0.0004573031283823041, + 0.9999998486276601, + -0.00030597141301502115, + -0.002867727669881815 + ], + [ + 0.0032393397246359367, + 0.0003044884793998429, + 0.9999947069684489, + 0.05975319900366056 + ], + [ + 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, + 0.01082956257762383 + ], + [ + 0.0015129408059789359, + 0.999998689627092, + -0.0005759810906119149, + 0.0014405532845440166 + ], + [ + 0.006206189663030999, + 0.0005665810504245118, + 0.9999805809093395, + 0.12024530980433284 + ], + [ + 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, + 0.018797166378490493 + ], + [ + 0.0015762243670530052, + 0.9999987501873269, + -0.00012304685805298947, + -0.00010550146670376125 + ], + [ + 0.009079959695707896, + 0.00010872986704858921, + 0.9999587704049306, + 0.18292980955170218 + ], + [ + 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, + 0.02626450558598071 + ], + [ + 0.0017970022248803765, + 0.9999983409795722, + -0.00029802870193221996, + 0.00030967620156716036 + ], + [ + 0.012331502530369551, + 0.0002758467498737868, + 0.9999239260833368, + 0.2501503500270453 + ], + [ + 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, + 0.03355910400269549 + ], + [ + 0.0019487134486352276, + 0.9999979845716237, + -0.00048308238011404145, + 0.0021385947731290883 + ], + [ + 0.015877953804784645, + 0.0004520807611154136, + 0.9998738351441939, + 0.3129520607784633 + ], + [ + 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, + 0.04192253343103573 + ], + [ + 0.0020765908707636197, + 0.99999780142788, + -0.00029139279734603974, + -0.0020869355208577643 + ], + [ + 0.01993707903269078, + 0.000249934263234557, + 0.9998012054466171, + 0.3757342803969787 + ], + [ + 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, + 0.05316759696176675 + ], + [ + 0.002519323664578172, + 0.9999968211709392, + -0.00010322930698971267, + -0.005758972216229645 + ], + [ + 0.024190001176520398, + 4.225679176256967e-05, + 0.9997073782149674, + 0.4365512162122494 + ], + [ + 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, + 0.06775363238564752 + ], + [ + 0.0029236696430585407, + 0.9999956066123663, + -0.0004887860312654648, + -0.0009750742606009602 + ], + [ + 0.027789409036149678, + 0.00040735195948952627, + 0.9996137167975454, + 0.49629002802861333 + ], + [ + 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, + 0.08252080242559248 + ], + [ + 0.0026199785734195135, + 0.9999964169028093, + -0.0005494486489653707, + -0.0017424819261225646 + ], + [ + 0.03076103556134665, + 0.0004685969965450025, + 0.9995266575274762, + 0.5553793961892232 + ], + [ + 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, + 0.09267854899954439 + ], + [ + 0.002829325325362698, + 0.9999955623599188, + -0.0009328336792320532, + -0.0033728272084798706 + ], + [ + 0.0351045274404669, + 0.0008329399675553865, + 0.9993832990220479, + 0.611105741738778 + ], + [ + 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, + 0.09939528976923978 + ], + [ + 0.0021675238930252637, + 0.9999972418314599, + -0.0009045273053763797, + 0.00041313244414912105 + ], + [ + 0.03926102150642913, + 0.0008187326573790928, + 0.9992286534458006, + 0.6756306629187944 + ], + [ + 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, + 0.10522154320050606 + ], + [ + 0.0022356947136560968, + 0.9999974611078744, + -0.00028186335856473854, + 0.0002651914602336722 + ], + [ + 0.04506405305869331, + 0.00018082800273802312, + 0.9989840831680737, + 0.737582268378848 + ], + [ + 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, + 0.11120838157261112 + ], + [ + 0.0022616483991217077, + 0.9999974418711838, + 3.4606459385839956e-05, + -0.0019571837765942684 + ], + [ + 0.053039990335498, + -0.00015451595104363293, + 0.9985923770738643, + 0.7992971762534771 + ], + [ + 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, + 0.11633651577995069 + ], + [ + 0.002612265373822052, + 0.9999965701544247, + -0.00018907406956345866, + 0.0013822486320264383 + ], + [ + 0.06699313130335185, + 1.3645512286108705e-05, + 0.9977534365623464, + 0.8582468016481212 + ], + [ + 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, + 0.118912936655865 + ], + [ + 0.0023911831066785803, + 0.9999971195508623, + 0.00020768564928296606, + 0.0021967026576158724 + ], + [ + 0.09437554719472352, + -0.000432429119369662, + 0.9955365734601384, + 0.9173857169018269 + ], + [ + 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, + 0.11902423636283292 + ], + [ + 0.0018598267683712414, + 0.999997999221705, + 0.0007366118239004334, + 0.00012463879830043573 + ], + [ + 0.1398889101732697, + -0.000989539625817549, + 0.9901667100149673, + 0.9786275146029528 + ], + [ + 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, + 0.11604336562591996 + ], + [ + 0.0008741278781282661, + 0.9999982196222283, + 0.0016723195945730165, + 0.004107750667800526 + ], + [ + 0.20155567570029737, + -0.0018141845339841552, + 0.979475379132867, + 1.0405673648167209 + ], + [ + 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, + 0.1082195738677014 + ], + [ + 0.00031834763153469007, + 0.999996357120638, + 0.0026803731530058938, + 0.006563374728601642 + ], + [ + 0.269738824639286, + -0.00266689169104343, + 0.9629298282693943, + 1.1031399858449953 + ], + [ + 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, + 0.0937958623874541 + ], + [ + -0.0001058416309417751, + 0.9999933156911698, + 0.0036547736632958623, + 0.002323486697867493 + ], + [ + 0.34069827514724016, + -0.00340005857928913, + 0.9401665410518251, + 1.1722268958828683 + ], + [ + 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, + 0.07994438705928698 + ], + [ + -0.0002589800833771656, + 0.9999923808531086, + 0.003895017977857013, + 0.0038547752836655593 + ], + [ + 0.40194030230165817, + -0.0034624413918543603, + 0.9156593279627854, + 1.2337457987014653 + ], + [ + 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, + 0.0652502241390244 + ], + [ + 0.00034799123641097486, + 0.9999845162848308, + 0.005553925881055247, + 0.006497079728050354 + ], + [ + 0.46223356210722744, + -0.005085840382228687, + 0.8867436316598334, + 1.294744568822804 + ], + [ + 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, + 0.04515051360898146 + ], + [ + 0.00041302608208853534, + 0.9999744167629679, + 0.007141094385156805, + 0.005892340523039926 + ], + [ + 0.5223759562183484, + -0.006305070082941844, + 0.8526919763057558, + 1.354300340357503 + ], + [ + 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, + 0.017373839626674353 + ], + [ + -0.001273703069459645, + 0.9999619299619065, + 0.008632282858601814, + 0.008724944720811617 + ], + [ + 0.5793990515878231, + -0.006297737811032036, + 0.8150196792210572, + 1.4108138586633843 + ], + [ + 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, + -0.015646107433926436 + ], + [ + -0.0018292376726349814, + 0.9999514570930372, + 0.009681804947902451, + 0.010850406113983094 + ], + [ + 0.6293414644947548, + -0.006372851639003731, + 0.777102765295289, + 1.4652651175935791 + ], + [ + 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, + -0.050909088772239756 + ], + [ + -0.0019531065602714597, + 0.9999389038638434, + 0.010879977681025195, + 0.007862768476291792 + ], + [ + 0.6709370957077704, + -0.006757324924240972, + 0.7414834807081615, + 1.5182009529792666 + ], + [ + 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, + -0.0913801825204551 + ], + [ + -0.0023154944681987814, + 0.9999365783387406, + 0.01102169612987457, + 0.010915859173327373 + ], + [ + 0.7080147485234926, + -0.006144186710295867, + 0.7061709175850311, + 1.5718573375112384 + ], + [ + 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, + -0.13178993384853113 + ], + [ + -0.0024808104837897088, + 0.9999233756728626, + 0.012127999106659319, + 0.012941841030580275 + ], + [ + 0.7397930994421223, + -0.006324972973961759, + 0.672804700291769, + 1.6191262477243633 + ], + [ + 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, + -0.17709805670631004 + ], + [ + -0.0022633731332134467, + 0.999909227679227, + 0.013282076042229573, + 0.010162354885559163 + ], + [ + 0.7744198845926329, + -0.006650535673985355, + 0.6326370307868344, + 1.661863365172177 + ], + [ + 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, + -0.22914172622908247 + ], + [ + -0.002592399065548799, + 0.9998860406176614, + 0.01487229790655993, + 0.012515726752203806 + ], + [ + 0.8106894412425332, + -0.006605947615340801, + 0.5854391439884873, + 1.699380395035219 + ], + [ + 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, + -0.28659522534356563 + ], + [ + -0.0025891176837742713, + 0.9998616765059931, + 0.01642937382386876, + 0.01523021088478902 + ], + [ + 0.844685644435621, + -0.006607284440039056, + 0.5352219220815869, + 1.7342991959125231 + ], + [ + 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, + -0.3440638065338384 + ], + [ + -0.001927817992840887, + 0.9998460315033402, + 0.01744123862597757, + 0.012456213529703143 + ], + [ + 0.8717196704028193, + -0.006865993897851927, + 0.4899568086684735, + 1.7681176906255522 + ], + [ + 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, + -0.40047264875363786 + ], + [ + -0.0013370204375207954, + 0.999838096651233, + 0.017944159528646357, + 0.013732598075561521 + ], + [ + 0.892274199091263, + -0.006908859939830087, + 0.45144104962927045, + 1.799339710687088 + ], + [ + 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, + -0.46545440124324394 + ], + [ + -0.0005282401918880762, + 0.9998133525894822, + 0.019312714622229832, + 0.017606012715920667 + ], + [ + 0.9133632150536506, + -0.007380699435995649, + 0.4070788162784877, + 1.8325977374248699 + ], + [ + 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, + -0.5262169582248366 + ], + [ + -0.00010890697380774763, + 0.9997956194045832, + 0.02021651697690904, + 0.017509474842410024 + ], + [ + 0.9322847912473045, + -0.007211310375086138, + 0.36165323863010607, + 1.859682308066943 + ], + [ + 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, + -0.5893857110659017 + ], + [ + -0.0005561442671652602, + 0.9997862765687602, + 0.020666201594127208, + 0.02222915399090411 + ], + [ + 0.9481700207361998, + -0.006039748759124889, + 0.3177060484347781, + 1.8816652830437912 + ], + [ + 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, + -0.6570043106950403 + ], + [ + -0.0004087245022426151, + 0.9997660788294425, + 0.021624536209659904, + 0.027040646516646814 + ], + [ + 0.9596962639794231, + -0.0056851791414247, + 0.280981778131729, + 1.9028257389415486 + ], + [ + 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, + -0.7241829681603775 + ], + [ + -6.4737915669746e-05, + 0.999760530653193, + 0.021883262029419946, + 0.027012888545507013 + ], + [ + 0.9658506380657911, + -0.0056074296615253455, + 0.25903880342623503, + 1.9244796950183995 + ], + [ + 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, + -0.7900768995164054 + ], + [ + -0.000186550453717182, + 0.9997652116257078, + 0.021667644586624884, + 0.0302032427507134 + ], + [ + 0.9682188988906109, + -0.005238590617690054, + 0.2500494371107313, + 1.9464032145722574 + ], + [ + 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, + -0.8574987466061277 + ], + [ + 0.00011412992551554103, + 0.9997655757822244, + 0.021651338415848806, + 0.03294781403553777 + ], + [ + 0.9694961191250113, + -0.005417509330015611, + 0.24504678246041298, + 1.967962625128067 + ], + [ + 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, + -0.9336182372702412 + ], + [ + 0.0005038154283571565, + 0.9997666799208353, + 0.021594719032316037, + 0.032341140358665366 + ], + [ + 0.9718579562366343, + -0.005576529565032815, + 0.23550162466013502, + 1.9889833312758445 + ], + [ + 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, + -1.005758099125788 + ], + [ + 0.00043332689730492, + 0.9997638776240609, + 0.021725589195743324, + 0.03732293145430023 + ], + [ + 0.976431078753547, + -0.00511202726624896, + 0.21576889400795057, + 2.0066715698573305 + ], + [ + 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, + -1.0779375095124972 + ], + [ + 0.0006526854581732637, + 0.9997564798041484, + 0.0220579938187903, + 0.038953649628170044 + ], + [ + 0.9804317522486451, + -0.0049820569242525585, + 0.1967962354605765, + 2.0251172348083624 + ], + [ + 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, + -1.1466949364532286 + ], + [ + 0.0014113562974762755, + 0.9997558984961097, + 0.02204884340817916, + 0.036113818729242644 + ], + [ + 0.982451321364947, + -0.005498675601065622, + 0.18643810156431082, + 2.0457126400872303 + ], + [ + 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, + -1.2139331924762362 + ], + [ + 0.0016208690154461214, + 0.9997612856798759, + 0.021788630965629663, + 0.03864116374179029 + ], + [ + 0.9834451985677543, + -0.005541738208859521, + 0.1811210384015474, + 2.068331626662132 + ], + [ + 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, + -1.2842477703893413 + ], + [ + 0.001830154250861564, + 0.9997620502813581, + 0.02173691221478851, + 0.04144313161758332 + ], + [ + 0.9840715046893441, + -0.005664626474016983, + 0.1776828232141764, + 2.090106342023 + ], + [ + 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, + -1.3562014717064736 + ], + [ + 0.0018910087324927483, + 0.9997594325232371, + 0.021851800081192307, + 0.041743046871359615 + ], + [ + 0.9847326270899152, + -0.005665309532458135, + 0.17398148583253184, + 2.1079365398440464 + ], + [ + 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, + -1.429192700396112 + ], + [ + 0.0015455619076956213, + 0.9997681771387005, + 0.021475642461863047, + 0.04585201406082508 + ], + [ + 0.9865042432122889, + -0.0050405345648467, + 0.16365809217832752, + 2.122753229661667 + ], + [ + 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, + -1.5132490397697884 + ], + [ + 0.0023674038269561487, + 0.9997544872464397, + 0.02203090170030801, + 0.04765554048618613 + ], + [ + 0.9901190552040762, + -0.005432404231153133, + 0.14012403614675448, + 2.1388025234280645 + ], + [ + 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, + -1.5889980230593648 + ], + [ + 0.0030057487747161275, + 0.9997495622271381, + 0.022176074967179077, + 0.046499802890086754 + ], + [ + 0.9926496464012199, + -0.005665957037576305, + 0.12089076238647126, + 2.1560497144550994 + ], + [ + 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, + -1.6624774683558141 + ], + [ + 0.0032340398035405377, + 0.9997614789959306, + 0.02159921531950888, + 0.04956894317943113 + ], + [ + 0.9938778677231603, + -0.005598884441104816, + 0.11034236060135491, + 2.1756814450126067 + ], + [ + 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, + -1.7383566922404199 + ], + [ + 0.00367119753774734, + 0.9997653584311379, + 0.021348311167339245, + 0.04888633793972042 + ], + [ + 0.9947539168149994, + -0.005833618004685032, + 0.10213037688265372, + 2.193191077867938 + ], + [ + 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, + -1.8154772026008812 + ], + [ + 0.003945594808976748, + 0.9997646490912235, + 0.021332573897824864, + 0.04659446354516988 + ], + [ + 0.9961649518346971, + -0.005794224868277489, + 0.08730301079774656, + 2.2048704116575233 + ], + [ + 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, + -1.8938829306942788 + ], + [ + 0.0037816713075895926, + 0.9997633258907921, + 0.02142407911447706, + 0.05146514282026463 + ], + [ + 0.9979131181326197, + -0.005153958759487237, + 0.06436493896476192, + 2.211978181246463 + ], + [ + 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, + -1.9735826602461675 + ], + [ + 0.004130971575232366, + 0.9997503791045802, + 0.021957107143081144, + 0.0531136824202686 + ], + [ + 0.9992055701610466, + -0.00499707848560095, + 0.03953805465303822, + 2.216626546829542 + ], + [ + 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, + -2.0552169049578053 + ], + [ + 0.004679097145945254, + 0.9997498725626148, + 0.021870033400409737, + 0.05129514138011876 + ], + [ + 0.9997413861535674, + -0.005163538717649733, + 0.0221472047819946, + 2.223775509198069 + ], + [ + 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, + -2.128050984401556 + ], + [ + 0.00505856117352781, + 0.9997613850711659, + 0.021250503039648264, + 0.054852655844414726 + ], + [ + 0.9998753964169044, + -0.005374627647187633, + 0.014842675560447875, + 2.2353856404075376 + ], + [ + 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, + -2.203692183623583 + ], + [ + 0.005827602455137886, + 0.9997625454280075, + 0.020997423864286692, + 0.05173723951667845 + ], + [ + 0.9999212373857999, + -0.006059365949858843, + 0.010991046771656457, + 2.247681665819052 + ], + [ + 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, + -2.279813974019269 + ], + [ + 0.005959454951480648, + 0.9997635735559041, + 0.020911286125200722, + 0.04977411595227905 + ], + [ + 0.9999507694521409, + -0.0061238739861192515, + 0.007807486117433231, + 2.258025440202266 + ], + [ + 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, + -2.3581700512974284 + ], + [ + 0.005646043955863911, + 0.9997674847366604, + 0.02081102234345688, + 0.05633114418603984 + ], + [ + 0.9999731549930331, + -0.00574195589750935, + 0.0045518387219915316, + 2.2662881351967386 + ], + [ + 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, + -2.435153389243661 + ], + [ + 0.005423475258140543, + 0.9997677779113721, + 0.020856082237130483, + 0.05541497588053476 + ], + [ + 0.9999841778736702, + -0.005453434627118904, + 0.001379874301535959, + 2.2738165327052084 + ], + [ + 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, + -2.505769065538616 + ], + [ + 0.005585804101851037, + 0.9997713519990161, + 0.02064079733429285, + 0.053135131745517 + ], + [ + 0.9999827749051681, + -0.0055474006098590566, + -0.0019173521936075944, + 2.2815079267154816 + ], + [ + 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, + -2.584748400063231 + ], + [ + 0.005668822646196565, + 0.9997781440703529, + 0.020286130460162567, + 0.056725969689409156 + ], + [ + 0.9999706388652347, + -0.005562979066245623, + -0.005270168058298236, + 2.2867894341670754 + ], + [ + 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, + -2.6570043802259997 + ], + [ + 0.005384959981902053, + 0.9997774752854581, + 0.020396129971854624, + 0.05532238336282105 + ], + [ + 0.9999513979298794, + -0.00521520838874218, + -0.008366802229182868, + 2.2877948942369852 + ], + [ + 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, + -2.72634733863912 + ], + [ + 0.004881483979062432, + 0.9997812952154105, + 0.02033550716257841, + 0.0579467440376912 + ], + [ + 0.9999236231905771, + -0.0046492600627190015, + -0.011451295398272839, + 2.2841628837815433 + ], + [ + 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, + -2.794826310092348 + ], + [ + 0.004470820503000667, + 0.9997858998240476, + 0.020203125427754726, + 0.06350028185969979 + ], + [ + 0.9998848568307549, + -0.004176462512937875, + -0.014588702526932888, + 2.276311044341754 + ], + [ + 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, + -2.860873295026717 + ], + [ + 0.004044195813628447, + 0.9997893292842313, + 0.020123159036496748, + 0.060029369670278575 + ], + [ + 0.9998347801910786, + -0.0036861205310099975, + -0.017799574031091923, + 2.2657807986222287 + ], + [ + 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, + -2.921355153087314 + ], + [ + 0.004038006823273464, + 0.9997965907229895, + 0.019760356261538388, + 0.05756228671369875 + ], + [ + 0.999771396311411, + -0.0036214248656436044, + -0.021072266121013997, + 2.2551753271999453 + ], + [ + 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, + -2.986408661155719 + ], + [ + 0.0038621751667203656, + 0.999802875552444, + 0.019475462511726382, + 0.06271410809856386 + ], + [ + 0.9997025938237211, + -0.003391362607880909, + -0.024150001279217372, + 2.243670129938219 + ], + [ + 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, + -3.0520282572923154 + ], + [ + 0.003600858309222759, + 0.9998058121932286, + 0.019374512228068148, + 0.06265162304299078 + ], + [ + 0.9996223022238983, + -0.0030709817041630373, + -0.02730974126509899, + 2.233507478493428 + ], + [ + 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, + -3.123043630909647 + ], + [ + 0.003283374081993434, + 0.999812757527955, + 0.01907011638623303, + 0.06294811064812779 + ], + [ + 0.9995342601530817, + -0.0027026826742087198, + -0.030396682164243807, + 2.220221127781456 + ], + [ + 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, + -3.187708447933784 + ], + [ + 0.003137311725582538, + 0.9998179756111429, + 0.018819482457614067, + 0.06822289654879198 + ], + [ + 0.999429587624075, + -0.0025021664667852026, + -0.03367845816755895, + 2.2081132031920054 + ], + [ + 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, + -3.2531635708219713 + ], + [ + 0.003674200724835482, + 0.9998196130113768, + 0.01863442209499544, + 0.06617456839675755 + ], + [ + 0.9993081884612847, + -0.0029814008486918515, + -0.03707095525077383, + 2.1980595568778276 + ], + [ + 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, + -3.317255238521708 + ], + [ + 0.0038383561143253836, + 0.9998269348810337, + 0.018203497156783863, + 0.06285637638183005 + ], + [ + 0.9991916843790956, + -0.0031062124281833825, + -0.04007903831202706, + 2.192522646987251 + ], + [ + 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, + -3.380719217374018 + ], + [ + 0.0046753109997028355, + 0.9998347949876649, + 0.017564856931689635, + 0.06652097288511702 + ], + [ + 0.9991122698332563, + -0.003935093739030584, + -0.04194266689069675, + 2.191025094453707 + ], + [ + 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, + -3.4466133914179453 + ], + [ + 0.004935170365316745, + 0.9998442104800376, + 0.01694694258609268, + 0.06775038954432333 + ], + [ + 0.9993754458285798, + -0.004338436782673148, + -0.03506987654969434, + 2.1933701703001938 + ], + [ + 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, + -3.5158822195973016 + ], + [ + 0.004879726257829823, + 0.9998475197165744, + 0.016766800179624244, + 0.06746137630293167 + ], + [ + 0.9996634695372336, + -0.004450259248231241, + -0.025556659903127214, + 2.1964065387317535 + ], + [ + 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, + -3.588101648629397 + ], + [ + 0.0049841239038570075, + 0.9998610685444335, + 0.01590604030219127, + 0.07326283860860974 + ], + [ + 0.9997962377882199, + -0.004671390473098477, + -0.01963825388289823, + 2.195670701457027 + ], + [ + 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, + -3.652406004638332 + ], + [ + 0.004532419753308129, + 0.9998695647647776, + 0.015501955627405702, + 0.07265951373065313 + ], + [ + 0.9999375448955976, + -0.004373269801066044, + -0.010284980282521472, + 2.1962326681560964 + ], + [ + 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, + -3.712490298089079 + ], + [ + 0.005365632464156247, + 0.9998822826737332, + 0.014374657680264033, + 0.0665652649228331 + ], + [ + 0.9999760633570116, + -0.00542782258032376, + 0.004290857146413508, + 2.202165059314674 + ], + [ + 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, + -3.7695631710174906 + ], + [ + 0.005353992594038119, + 0.9998942353666272, + 0.013522309118314448, + 0.07017911146015653 + ], + [ + 0.9995763448143615, + -0.005738180370651761, + 0.028534263151421, + 2.2135561411406504 + ], + [ + 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_right/transforms.json b/spatialvid_eval/camera_controls/scene_110/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1101abb746502b37058e26bba178693573b222ae --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_110/pan_right/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999919295234, + -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": [ + [ + 0.9999944309034279, + -0.0004582918532151998, + 0.0033057723313470472, + 0.00035742163820613813 + ], + [ + 0.0004592958976282719, + 0.9999998486276601, + -0.0003029718390089922, + -0.0028690807024174133 + ], + [ + -0.0033056329814189827, + 0.0003044884793998429, + 0.999994490023499, + 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": [ + [ + 0.9999751514096686, + -0.001516486073934917, + 0.006884535801213289, + 0.004358804962563925 + ], + [ + 0.0015203505482025556, + 0.999998689627092, + -0.0005561279616409079, + 0.0014312218610391938 + ], + [ + -0.006883683419594936, + 0.0005665810504245118, + 0.9999761466597553, + 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": [ + [ + 0.9999430522389791, + -0.0015772766404724174, + 0.010554831945326436, + 0.009090524455642658 + ], + [ + 0.0015783363989731135, + 0.9999987501873269, + -9.207603512828054e-05, + -0.00012067339042360369 + ], + [ + -0.010554673524384352, + 0.00010872986704858921, + 0.9999442919706127, + 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": [ + [ + 0.9999024885767662, + -0.001800540661574877, + 0.013848154798240008, + 0.013322285514647206 + ], + [ + 0.0018041879190237844, + 0.9999983409795722, + -0.00025088654058967407, + 0.00028684042614709034 + ], + [ + -0.013847680092450536, + 0.0002758467498737868, + 0.9999040782318213, + 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": [ + [ + 0.9998561765647904, + -0.0019561379491993295, + 0.01684635597280632, + 0.017381914250738116 + ], + [ + 0.0019634760954545458, + 0.9999979845716237, + -0.0004190636150359763, + 0.0021079091253994485 + ], + [ + -0.01684550227394195, + 0.0004520807611154136, + 0.9998580022563824, + 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": [ + [ + 0.9998109752356914, + -0.0020819875770391517, + 0.01933078182549857, + 0.022511922155513873 + ], + [ + 0.00208642992199674, + 0.99999780142788, + -0.00020964156906642803, + -0.0021267080649299826 + ], + [ + -0.019330302854238157, + 0.000249934263234557, + 0.9998131210003337, + 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": [ + [ + 0.999763062668299, + -0.0025210835726479004, + 0.021620884850599376, + 0.03052485180593904 + ], + [ + 0.002521407876588636, + 0.9999968211709392, + 1.2261182730467164e-05, + -0.0058159294324011575 + ], + [ + -0.021620847032968654, + 4.225679176256967e-05, + 0.999766241272399, + 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": [ + [ + 0.9996939106785078, + -0.0029361233535398924, + 0.024565506955180463, + 0.04187736529364181 + ], + [ + 0.0029452439397680934, + 0.9999956066123663, + -0.00033510312048923063, + -0.0010496454776556352 + ], + [ + -0.024564415125288074, + 0.00040735195948952627, + 0.9996981662351563, + 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": [ + [ + 0.999600618625773, + -0.0026356400357135687, + 0.028136393595740227, + 0.05340881624878713 + ], + [ + 0.0026477809927951635, + 0.9999964169028093, + -0.00039425544665848097, + -0.0018173966977173416 + ], + [ + -0.02813525366486786, + 0.0004685969965450025, + 0.9996040155571948, + 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": [ + [ + 0.999535674211071, + -0.0028603271631575953, + 0.030335696925228032, + 0.06033654863732774 + ], + [ + 0.002884277764331177, + 0.9999955623599188, + -0.0007457896808303883, + -0.0034617242795727597 + ], + [ + -0.030333429103841385, + 0.0008329399675553865, + 0.999539488609536, + 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": [ + [ + 0.999462146709005, + -0.0022013646469287674, + 0.03271958571741037, + 0.06382327726970462 + ], + [ + 0.002226973952532306, + 0.9999972418314599, + -0.000746268375150312, + 0.0003387565568812911 + ], + [ + -0.03271785266246022, + 0.0008187326573790928, + 0.9994642924056836, + 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": [ + [ + 0.9994377151081498, + -0.0022461253391111075, + 0.03345457428158532, + 0.06642912971320507 + ], + [ + 0.002250917557211088, + 0.9999974611078744, + -0.00010558388234044318, + 0.00017902362101987273 + ], + [ + -0.03345425218939657, + 0.00018082800273802312, + 0.9994402334865662, + 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": [ + [ + 0.999484872773091, + -0.0022566293247128755, + 0.03201400821279396, + 0.06921098665366296 + ], + [ + 0.002250525889329975, + 0.9999974418711838, + 0.0002266810749412754, + -0.0020528804706919585 + ], + [ + -0.0320144378519981, + -0.00015451595104363293, + 0.9994873945647544, + 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": [ + [ + 0.9996943390855053, + -0.002619063417912098, + 0.024583915619930397, + 0.07118011812200407 + ], + [ + 0.0026186073147969986, + 0.9999965701544247, + 5.0745619935189225e-05, + 0.0012640752263828085 + ], + [ + -0.024583964206892975, + 1.3645512286108705e-05, + 0.9996977685869237, + 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": [ + [ + 0.9999905243028521, + -0.0023609097897429906, + 0.0036575141110032645, + 0.07072471705487246 + ], + [ + 0.0023593121530128933, + 0.9999971195508623, + 0.00044106251623639536, + 0.0020792213770905368 + ], + [ + -0.0036585448845323615, + -0.000432429119369662, + 0.9999932140041675, + 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": [ + [ + 0.9993637637606072, + -0.0017384947271697445, + -0.03562366233723306, + 0.0680596357213094 + ], + [ + 0.0017726415407601222, + 0.999997999221705, + 0.0009269814212980317, + 2.4818243263401087e-05 + ], + [ + 0.03562197950986954, + -0.000989539625817549, + 0.9993648459832515, + 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": [ + [ + 0.99579997092497, + -0.0005191212289692802, + -0.09155407374321937, + 0.06270285044694612 + ], + [ + 0.0006830361530415029, + 0.9999982196222283, + 0.0017590378015699798, + 0.0040524209783702626 + ], + [ + 0.09155299758851622, + -0.0018141845339841552, + 0.9957985526034038, + 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": [ + [ + 0.9879632376444978, + 0.0004164542737228393, + -0.1546882918285671, + 0.05294614550909281 + ], + [ + 1.096906603238892e-06, + 0.999996357120638, + 0.0026992117832164274, + 0.006533399625370352 + ], + [ + 0.15468885241606403, + -0.00266689169104343, + 0.9879596381567973, + 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": [ + [ + 0.9751705836024712, + 0.001344683843200273, + -0.2214509532645499, + 0.03709329058394105 + ], + [ + -0.000558342159067378, + 0.9999933156911698, + 0.003613423171200607, + 0.002314473447280735 + ], + [ + 0.2214543319297444, + -0.00340005857928913, + 0.9751648160548083, + 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": [ + [ + 0.9602954099016331, + 0.0018027022325911224, + -0.2789793468816556, + 0.02202877788855698 + ], + [ + -0.0007651663381407728, + 0.9999923808531086, + 0.0038278918749608927, + 0.003855015401148479 + ], + [ + 0.27898412184626115, + -0.0034624413918543603, + 0.960289472636912, + 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": [ + [ + 0.94172639837882, + 0.0022586319309188248, + -0.3363722479311522, + 0.0065696210311972925 + ], + [ + -0.00041624694095970257, + 0.9999845162848308, + 0.005549227791054881, + 0.006449630456854559 + ], + [ + 0.3363795733021553, + -0.005085840382228687, + 0.9417127571041323, + 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": [ + [ + 0.9188463188196351, + 0.0033781519816898677, + -0.394601102989835, + -0.013751558603942837 + ], + [ + -0.0006159425222810245, + 0.9999744167629679, + 0.00712646015715022, + 0.005832560645012996 + ], + [ + 0.39461508208178636, + -0.006305070082941844, + 0.9188248925039169, + 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": [ + [ + 0.8927118113028709, + 0.0060396295684055894, + -0.45058755512666393, + -0.04128476734095483 + ], + [ + -0.0025538542655006015, + 0.9999619299619065, + 0.008343647598661273, + 0.008784367275914076 + ], + [ + 0.4506207937820208, + -0.006297737811032036, + 0.892693250063943, + 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": [ + [ + 0.866003116012571, + 0.007514666958652452, + -0.4999821325177716, + -0.07384460962847203 + ], + [ + -0.003321284699087937, + 0.9999514570930372, + 0.009276450046209476, + 0.010953784757054252 + ], + [ + 0.5000275713642854, + -0.006372851639003731, + 0.8659860360522692, + 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": [ + [ + 0.8408913615739531, + 0.008747976877176433, + -0.5411332469280183, + -0.10864244303004694 + ], + [ + -0.0036993186794162286, + 0.9999389038638434, + 0.010416505214490317, + 0.007978357475933407 + ], + [ + 0.5411913091242425, + -0.006757324924240972, + 0.8408723479151022, + 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": [ + [ + 0.8158855608352613, + 0.009438658266966491, + -0.5781363708941433, + -0.14848134802943413 + ], + [ + -0.004148568374017744, + 0.9999365783387406, + 0.010470371562540225, + 0.011069277614114411 + ], + [ + 0.5781985307841738, + -0.006144186710295867, + 0.8158729729367752, + 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": [ + [ + 0.7923917375550837, + 0.0106413110031736, + -0.6099197461589266, + -0.18824430416265486 + ], + [ + -0.004574232876636409, + 0.9999233756728626, + 0.011503007284093529, + 0.013114770995639085 + ], + [ + 0.6099954185467512, + -0.006324972973961759, + 0.7923796969060054, + 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": [ + [ + 0.7631851157618805, + 0.011717797454332851, + -0.6460736585733425, + -0.2320816878208014 + ], + [ + -0.004645938848062895, + 0.999909227679227, + 0.012647199458843893, + 0.010321351895576853 + ], + [ + 0.6461632102895869, + -0.006650535673985355, + 0.7631702798481502, + 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": [ + [ + 0.7278859353407997, + 0.013574506769673008, + -0.6855638539910116, + -0.28174915991206173 + ], + [ + -0.0053517538056478565, + 0.9998860406176614, + 0.014116108144253459, + 0.012710239028222405 + ], + [ + 0.6856773467632227, + -0.006605947615340801, + 0.7278756333274597, + 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": [ + [ + 0.6897355020487449, + 0.015263408759293395, + -0.7239005218720407, + -0.3362607908288398 + ], + [ + -0.005744580343299416, + 0.9998616765059931, + 0.01560857621002744, + 0.0154309122713368 + ], + [ + 0.7240386295013861, + -0.006607284440039056, + 0.6897277773020913, + 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": [ + [ + 0.6555763752039747, + 0.016148418337920068, + -0.75495618737752, + -0.39101340729836276 + ], + [ + -0.0054027758822728445, + 0.9998460315033402, + 0.016695008229639898, + 0.012599186857006277 + ], + [ + 0.7551095458853528, + -0.006865993897851927, + 0.6555626833801719, + 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": [ + [ + 0.6271080329901549, + 0.01661469648147895, + -0.7787550749883094, + -0.4451631698633248 + ], + [ + -0.005038603880997501, + 0.999838096651233, + 0.01727405441030724, + 0.013823114224195932 + ], + [ + 0.7789159951048312, + -0.006908859939830087, + 0.6270902169737482, + 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": [ + [ + 0.593390440153677, + 0.017854558510798004, + -0.8047167205138778, + -0.5070335574677277 + ], + [ + -0.00465485851065576, + 0.9998133525894822, + 0.01875079401054237, + 0.017615245047001505 + ], + [ + 0.8049013093705786, + -0.007380699435995649, + 0.5933627958082343, + 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": [ + [ + 0.5585164463639017, + 0.018886937869352204, + -0.8292783988016078, + -0.5643112501768801 + ], + [ + -0.004567955022425664, + 0.9997956194045832, + 0.01969398909108288, + 0.01747751771515005 + ], + [ + 0.829480869537057, + -0.007211310375086138, + 0.5584885711227422, + 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": [ + [ + 0.5247221634877661, + 0.019771763191522802, + -0.8510439051688325, + -0.6239012525855643 + ], + [ + -0.005234419928058722, + 0.9997862765687602, + 0.020000050819729144, + 0.022254044435687154 + ], + [ + 0.8512574534139101, + -0.006039748759124889, + 0.5247135117778003, + 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": [ + [ + 0.4972575544164515, + 0.020867830748104492, + -0.8673519805797637, + -0.6885407780687899 + ], + [ + -0.005445579135389489, + 0.9997660788294425, + 0.020931633712680826, + 0.027055405080201312 + ], + [ + 0.8675858863787784, + -0.0056851791414247, + 0.49725487277097635, + 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": [ + [ + 0.48309901407215, + 0.021152732226287545, + -0.8753101761786389, + -0.7543197252357607 + ], + [ + -0.005310552877392043, + 0.999760530653193, + 0.021229210446514518, + 0.02699476594146244 + ], + [ + 0.8755496220264466, + -0.0056074296615253455, + 0.4830956593697961, + 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": [ + [ + 0.4806828291011788, + 0.021025669819159782, + -0.8766424236916343, + -0.8203035375990645 + ], + [ + -0.005514372533142063, + 0.9997652116257078, + 0.02095503086539853, + 0.030208789645943597 + ], + [ + 0.8768771918021663, + -0.005238590617690054, + 0.48068591373732555, + 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": [ + [ + 0.4818973320135307, + 0.02096292139699766, + -0.8759768931454439, + -0.8882879259673698 + ], + [ + -0.005356348568766554, + 0.9997655757822244, + 0.02097863224443817, + 0.03292427253362492 + ], + [ + 0.8762113163662353, + -0.005417509330015611, + 0.48189664832244716, + 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": [ + [ + 0.47901773379576984, + 0.02086835015234406, + -0.8775571335651514, + -0.9643659139749856 + ], + [ + -0.0051024762252682015, + 0.9997666799208353, + 0.020989293852845457, + 0.03227537924922019 + ], + [ + 0.8777903937988478, + -0.005576529565032815, + 0.4790124496007121, + 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": [ + [ + 0.4669306718129742, + 0.021120042029580673, + -0.8840416797555156, + -1.0350609713748502 + ], + [ + -0.005342404711452683, + 0.9997638776240609, + 0.021062946375119868, + 0.037274469222824264 + ], + [ + 0.8842777880463718, + -0.00511202726624896, + 0.4669332508453918, + 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": [ + [ + 0.45553212178872904, + 0.021497911489737998, + -0.8899597326959449, + -1.105796077412054 + ], + [ + -0.005359251228317461, + 0.9997564798041484, + 0.02140699689094385, + 0.03888398539229855 + ], + [ + 0.8902032152519616, + -0.0049820569242525585, + 0.4555364032257721, + 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": [ + [ + 0.45197154919847, + 0.0213987847522021, + -0.8917756504448103, + -1.1742175161742598 + ], + [ + -0.004767879272369105, + 0.9997558984961097, + 0.021573380576092947, + 0.03594616568949583 + ], + [ + 0.8920196107947288, + -0.005498675601065622, + 0.45196324908586877, + 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": [ + [ + 0.4529861468894876, + 0.021134351027322692, + -0.8912670138251887, + -1.2417950872558938 + ], + [ + -0.0046341843346837525, + 0.9997612856798759, + 0.02135172103774777, + 0.038449410537034295 + ], + [ + 0.8915055103933837, + -0.005541738208859521, + 0.45297595308786187, + 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": [ + [ + 0.45570514658509415, + 0.021065488936296606, + -0.889881489048813, + -1.3127112252844844 + ], + [ + -0.00455854412351727, + 0.9997620502813581, + 0.021332193808638503, + 0.04122664900618424 + ], + [ + 0.8901191150915321, + -0.005664626474016983, + 0.4556927396344801, + 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": [ + [ + 0.45818113801406685, + 0.02118917999159474, + -0.8886062476819632, + -1.3852257038202749 + ], + [ + -0.004674016157454797, + 0.9997594325232371, + 0.02142966760765578, + 0.04152365132008505 + ], + [ + 0.8888465550032213, + -0.005665309532458135, + 0.45816995310343844, + 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": [ + [ + 0.45467532814067957, + 0.02093286870118094, + -0.8904112313914873, + -1.4577616369538546 + ], + [ + -0.005029507800784804, + 0.9997681771387005, + 0.020935520820895278, + 0.045690479337949806 + ], + [ + 0.8906430542206275, + -0.0050405345648467, + 0.454675206031573, + 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": [ + [ + 0.43923945308069456, + 0.021481485397380474, + -0.8981131602657288, + -1.5392613754891096 + ], + [ + -0.004556388190470371, + 0.9997544872464397, + 0.02168420063701365, + 0.047375187329166644 + ], + [ + 0.8983584708700809, + -0.005432404231153133, + 0.4392294921794747, + 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": [ + [ + 0.4276623891124638, + 0.02164970571381961, + -0.9036792413136009, + -1.6130075644613788 + ], + [ + -0.0041381779720619065, + 0.9997495622271381, + 0.021992914989109463, + 0.04612382671233678 + ], + [ + 0.9039290660343277, + -0.005665957037576305, + 0.427644876631484, + 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": [ + [ + 0.4239772872848488, + 0.021110130480045498, + -0.9054267625035701, + -1.6857909884706188 + ], + [ + -0.003880430493311821, + 0.9997614789959306, + 0.021492495784714426, + 0.0491568717061753 + ], + [ + 0.9056645085934236, + -0.005598884441104816, + 0.42395807619061554, + 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": [ + [ + 0.4224303690679844, + 0.0208613753629553, + -0.9061552771501431, + -1.7613157743507588 + ], + [ + -0.0035257813896562625, + 0.9997653584311379, + 0.0213728085812571, + 0.04840363394650279 + ], + [ + 0.906388521636654, + -0.005833618004685032, + 0.42240480199246855, + 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": [ + [ + 0.414848652629596, + 0.020906300143225195, + -0.9096502196040684, + -1.836931990812897 + ], + [ + -0.0034016781182258393, + 0.9997646490912235, + 0.021426035878873314, + 0.04606758778673379 + ], + [ + 0.9098840717351793, + -0.005794224868277489, + 0.4148221341259253, + 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": [ + [ + 0.3998067535578379, + 0.02113596254934994, + -0.9163557338155606, + -1.9123594686741483 + ], + [ + -0.0037271059476988275, + 0.9997633258907921, + 0.021433639099244124, + 0.0509692871295285 + ], + [ + 0.9165918767318402, + -0.005153958759487237, + 0.39979090562231223, + 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": [ + [ + 0.3829508472360538, + 0.021776333182077896, + -0.9235120139523534, + -1.9886219181872689 + ], + [ + -0.003724087565473384, + 0.9997503791045802, + 0.02202976740805062, + 0.052563725264272505 + ], + [ + 0.9237612136115011, + -0.00499707848560095, + 0.3829363516742901, + 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": [ + [ + 0.37290758165086246, + 0.021760748584264345, + -0.9276132843854483, + -2.0680082848339385 + ], + [ + -0.0033245255625698553, + 0.9997498725626148, + 0.022116506071711464, + 0.0506489740399503 + ], + [ + 0.9278625345799291, + -0.005163538717649733, + 0.37288665139801147, + 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": [ + [ + 0.3722076900525376, + 0.021172772568525584, + -0.9279079421836608, + -2.1403402493774712 + ], + [ + -0.00289292550328064, + 0.9997613850711659, + 0.021651879886441537, + 0.054132771462264924 + ], + [ + 0.9281449598245884, + -0.005374627647187633, + 0.3721801269948028, + 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": [ + [ + 0.37471920091332384, + 0.020931718601140625, + -0.9269020356128703, + -2.2160958665481805 + ], + [ + -0.0022261911319294866, + 0.9997625454280075, + 0.021677103873805743, + 0.05087214453492879 + ], + [ + 0.9271356775250991, + -0.006059365949858843, + 0.3746768201321794, + 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": [ + [ + 0.37783400774838427, + 0.020863728289327185, + -0.9256382486860961, + -2.292452212718865 + ], + [ + -0.0022136339127442595, + 0.9997635735559041, + 0.021630922671700532, + 0.04888116286335964 + ], + [ + 0.9258707050197098, + -0.0061238739861192515, + 0.3777908624539613, + 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": [ + [ + 0.3808694092677985, + 0.020784763789912702, + -0.9243952004841847, + -2.3710278031553558 + ], + [ + -0.00260773013341439, + 0.9997674847366604, + 0.021405050966598782, + 0.055495197084827405 + ], + [ + 0.9246251634189662, + -0.00574195589750935, + 0.3808350523716555, + 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": [ + [ + 0.38397945094730207, + 0.02084826853542885, + -0.9231062403370934, + -2.448247568311422 + ], + [ + -0.002970639350116257, + 0.9997677779113721, + 0.021343981634389428, + 0.05462245801402487 + ], + [ + 0.9233368597386657, + -0.005453434627118904, + 0.38395221512410593, + 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": [ + [ + 0.38697778001965893, + 0.020651151748349098, + -0.9218577589316713, + -2.519076785647672 + ], + [ + -0.0028770222792855286, + 0.9997713519990161, + 0.021188828775184847, + 0.0523080187882878 + ], + [ + 0.9220845517163062, + -0.0055474006098590566, + 0.38694871214750515, + 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": [ + [ + 0.38991971800346775, + 0.020315410484390405, + -0.9206247322383572, + -2.598257834115938 + ], + [ + -0.0027993609497404984, + 0.9997781440703529, + 0.02087645126724929, + 0.05587727551707229 + ], + [ + 0.9208445998594819, + -0.005562979066245623, + 0.3898900821687303, + 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": [ + [ + 0.393085035510886, + 0.020440193572896177, + -0.9192749062952323, + -2.6707664003688314 + ], + [ + -0.003240089801064368, + 0.9997774752854581, + 0.020844705081063435, + 0.054533783106175064 + ], + [ + 0.9194964147159502, + -0.00521520838874218, + 0.3930637924382956, + 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": [ + [ + 0.3962532406262289, + 0.02038985331644951, + -0.9179148234857886, + -2.740364490310427 + ], + [ + -0.0038117384029234193, + 0.9997812952154105, + 0.020562888604104237, + 0.05726363667470502 + ], + [ + 0.9181333454044464, + -0.0046492600627190015, + 0.39624429893351093, + 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": [ + [ + 0.39937024523696746, + 0.0202660226462339, + -0.9165657071620491, + -2.809088890270916 + ], + [ + -0.004265663224155092, + 0.9997858998240476, + 0.02024743515306893, + 0.06290535991569901 + ], + [ + 0.9167798052622139, + -0.004176462512937875, + 0.39937118802469396, + 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": [ + [ + 0.4024148295350145, + 0.020191819254786754, + -0.915234721481592, + -2.8753662760730525 + ], + [ + -0.004752047658885007, + 0.9997893292842313, + 0.019967851472674672, + 0.059529832577643584 + ], + [ + 0.9154450955755636, + -0.0036861205310099975, + 0.40242600500225867, + 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": [ + [ + 0.40540749565553985, + 0.019840928925587652, + -0.9139207296071548, + -2.9360670833685556 + ], + [ + -0.004734193570734691, + 0.9997965907229895, + 0.019605218435981193, + 0.05706412332349564 + ], + [ + 0.914123815397859, + -0.0036214248656436044, + 0.4054189628081107, + 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": [ + [ + 0.40857033528562675, + 0.01956294192410636, + -0.9125171628127686, + -3.0013819692998673 + ], + [ + -0.0048984602557088875, + 0.999802875552444, + 0.019240975136082153, + 0.06225613183720157 + ], + [ + 0.9127136934503141, + -0.003391362607880909, + 0.40858562437749585, + 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": [ + [ + 0.4116509350553947, + 0.0194655330266437, + -0.9111336898018908, + -3.067245406035498 + ], + [ + -0.005215350085029239, + 0.9998058121932286, + 0.0190036319720533, + 0.06225788340465621 + ], + [ + 0.9113266745747709, + -0.0030709817041630373, + 0.4116725170324865, + 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": [ + [ + 0.4147932211037242, + 0.019161038351543258, + -0.9097139321433346, + -3.138521577042355 + ], + [ + -0.005489728084396094, + 0.999812757527955, + 0.01855566678689215, + 0.06262869483917277 + ], + [ + 0.9098991409007684, + -0.0027026826742087198, + 0.4148207430859818, + 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": [ + [ + 0.41775597710973345, + 0.018914407413620358, + -0.9083623664492513, + -3.2034040163647126 + ], + [ + -0.005629308524559135, + 0.9998179756111429, + 0.018229825297332036, + 0.06794133800313325 + ], + [ + 0.9085418286873904, + -0.0025021664667852026, + 0.4177864103681991, + 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": [ + [ + 0.42062455632716805, + 0.018757736717425567, + -0.9070408645302663, + -3.269053628484887 + ], + [ + -0.005186113782258588, + 0.9998196130113768, + 0.018271443884332276, + 0.06577369087127852 + ], + [ + 0.9072199770939848, + -0.0029814008486918515, + 0.4206459608870254, + 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": [ + [ + 0.4238321941377314, + 0.018342620607438194, + -0.9055549787183813, + -3.33342865552823 + ], + [ + -0.004961670930099613, + 0.9998269348810337, + 0.017929922140902388, + 0.06241473972015904 + ], + [ + 0.9057271404976104, + -0.0031062124281833825, + 0.42384985361608085, + 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": [ + [ + 0.4280814532789054, + 0.01774535909018778, + -0.9035659198915046, + -3.3974563994116656 + ], + [ + -0.004040859998795892, + 0.9998347949876649, + 0.0177215739268497, + 0.06586994071375042 + ], + [ + 0.9037311219655383, + -0.003935093739030584, + 0.4280824385888478, + 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": [ + [ + 0.4401798144972154, + 0.01710943411787108, + -0.8977466224795079, + -3.4660549295757828 + ], + [ + -0.0036363017459069454, + 0.9998442104800376, + 0.01727229223825652, + 0.06702449600875635 + ], + [ + 0.8979022821102586, + -0.004338436782673148, + 0.44017345416037185, + 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": [ + [ + 0.45454517992229343, + 0.016885867144992402, + -0.8905636119335731, + -3.53874306992072 + ], + [ + -0.0037120386467433017, + 0.9998475197165744, + 0.01706335505402984, + 0.06674833328820362 + ], + [ + 0.890715948088107, + -0.004450259248231241, + 0.45453855173585506, + 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": [ + [ + 0.4656168344400965, + 0.016000678742846396, + -0.8848417608622188, + -3.6135621176508446 + ], + [ + -0.0033165580590453583, + 0.9998610685444335, + 0.01633536200470969, + 0.07250241736913925 + ], + [ + 0.8849802053880216, + -0.004671390473098477, + 0.46560521279558614, + 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": [ + [ + 0.4796233968071057, + 0.01554760329894344, + -0.8773366909384747, + -3.681390423338886 + ], + [ + -0.0036200666671544666, + 0.9998695647647776, + 0.015740030953577892, + 0.07200419984001766 + ], + [ + 0.877466975078002, + -0.004373269801066044, + 0.4796171203769816, + 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": [ + [ + 0.4980629217603777, + 0.014351290436811204, + -0.8670221256867178, + -3.7464152386668617 + ], + [ + -0.002441464792227969, + 0.9998822826737332, + 0.015147938633143865, + 0.06566496921553376 + ], + [ + 0.8671374546271109, + -0.00542782258032376, + 0.49803932929523986, + 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": [ + [ + 0.524526654655331, + 0.013363808088345626, + -0.85128913841859, + -3.8110248658548245 + ], + [ + -0.002124460961046467, + 0.9998942353666272, + 0.014387659511305325, + 0.06925415771935198 + ], + [ + 0.8513913760555203, + -0.005738180370651761, + 0.5244995691745816, + 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/pull_out/transforms.json b/spatialvid_eval/camera_controls/scene_110/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8815ecdbfb848336d41e7f37552ec4c276e73ac2 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_110/pull_out/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999919295234, + -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, + 0.0003573800302704745 + ], + [ + 0.0004583019670282232, + 0.9999998486276601, + -0.0003044732563439886, + -0.002868700110846983 + ], + [ + -3.314680587935362e-05, + 0.0003044884793998429, + 0.9999999530940265, + 0.05807737914869298 + ], + [ + 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, + 0.004357955930036316 + ], + [ + 0.0015166781618130233, + 0.999998689627092, + -0.0005660666503320535, + 0.001432637027665024 + ], + [ + -0.0003387541338317847, + 0.0005665810504245118, + 0.9999997821157515, + 0.11689564809241189 + ], + [ + 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, + 0.00908775859426442 + ], + [ + 0.0015773563974593636, + 0.9999987501873269, + -0.0001075666303384926, + -0.00012027001555983434 + ], + [ + -0.0007373924500477798, + 0.00010872986704858921, + 0.999999722215057, + 0.17790918635455127 + ], + [ + 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, + 0.013318492268612345 + ], + [ + 0.0018007493465172018, + 0.9999983409795722, + -0.0002744811367258196, + 0.0002882128318307194 + ], + [ + -0.0007581537339101523, + 0.0002758467498737868, + 0.9999996745556903, + 0.24345645475445513 + ], + [ + 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, + 0.01737888473537348 + ], + [ + 0.0019563566540362386, + 0.9999979845716237, + -0.00045113338723329046, + 0.0021107287090696564 + ], + [ + -0.000483839002278933, + 0.0004520807611154136, + 0.9999997807613787, + 0.3045802534304545 + ], + [ + 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, + 0.022514194097313065 + ], + [ + 0.002081911704676757, + 0.99999780142788, + -0.00025056548208777233, + -0.002124828823814324 + ], + [ + 0.000303446581443069, + 0.000249934263234557, + 0.9999999227265154, + 0.36567282781410354 + ], + [ + 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, + 0.030536093837194543 + ], + [ + 0.002521027197559048, + 0.9999968211709392, + -4.549599864534818e-05, + -0.005815531342413011 + ], + [ + 0.001284914187101545, + 4.225679176256967e-05, + 0.9999991736046063, + 0.4247906366843847 + ], + [ + 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, + 0.041893483762182236 + ], + [ + 0.002935462701166189, + 0.9999956066123661, + -0.0004120857873846121, + -0.001045524619781789 + ], + [ + 0.0016130497072786702, + 0.00040735195948952616, + 0.9999986160665539, + 0.4828408804139994 + ], + [ + 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, + 0.05342357873633098 + ], + [ + 0.0026350225699929264, + 0.9999964169028093, + -0.00047205677482172923, + -0.001812086059000597 + ], + [ + 0.001313460584928008, + 0.0004685969965450025, + 0.9999990276186006, + 0.5402578220943902 + ], + [ + 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, + 0.060366354083510876 + ], + [ + 0.0028583319315597985, + 0.9999955623599188, + -0.0008397612987474335, + -0.003451227263338417 + ], + [ + 0.0023868271054367594, + 0.0008329399675553865, + 0.9999968046285844, + 0.5942693040379776 + ], + [ + 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, + 0.06386826584100183 + ], + [ + 0.0021986733047230107, + 0.9999972418314599, + -0.0008259329101720329, + 0.0003501131343961565 + ], + [ + 0.0032737052494115956, + 0.0008187326573790928, + 0.9999943062491786, + 0.6570790656248126 + ], + [ + 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, + 0.06651626409131374 + ], + [ + 0.002245036977581544, + 0.9999974611078741, + -0.00019387308957855497, + 0.00018193171736355105 + ], + [ + 0.005809379255518269, + 0.0001808280027380231, + 0.9999831090642975, + 0.7172459453192126 + ], + [ + 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, + 0.0693819792079537 + ], + [ + 0.0022581302811897955, + 0.9999974418711838, + 0.00013076207957470954, + -0.0020550053544850476 + ], + [ + 0.010522296725827116, + -0.00015451595104363293, + 0.9999446271651418, + 0.7770687816828358 + ], + [ + 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, + 0.07155158622519858 + ], + [ + 0.0026181836532227797, + 0.9999965701544247, + -6.923687635915267e-05, + 0.0012652868717190936 + ], + [ + 0.021226857285271686, + 1.3645512286108705e-05, + 0.9997746847883232, + 0.8338276727018107 + ], + [ + 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, + 0.07157623144678346 + ], + [ + 0.002378112170103639, + 0.9999971195508623, + 0.0003247652767585757, + 0.0020731320281513134 + ], + [ + 0.04541320334739092, + -0.000432429119369662, + 0.9989681946722756, + 0.890068909928776 + ], + [ + 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, + 0.06981718571245027 + ], + [ + 0.001818726656238987, + 0.9999979992217047, + 0.0008329381353653407, + 8.159480556094271e-06 + ], + [ + 0.08787587567509371, + -0.0009895396258175488, + 0.996130940833415, + 0.9473676379969711 + ], + [ + 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, + 0.06582198011841399 + ], + [ + 0.0007797884115889472, + 0.9999982196222283, + 0.001718337105129686, + 0.0040159063148862565 + ], + [ + 0.14678141942125855, + -0.0018141845339841552, + 0.9891672879989296, + 1.0043123969238006 + ], + [ + 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, + 0.05772924482478717 + ], + [ + 0.00015999977104230804, + 0.999996357120638, + 0.002694465722017059, + 0.006472774146624969 + ], + [ + 0.2125825395191242, + -0.00266689169104343, + 0.9771394739648525, + 1.0612833309173997 + ], + [ + 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, + 0.04378170597515652 + ], + [ + -0.000332734868216213, + 0.9999933156911698, + 0.003641134505649937, + 0.002227996502771549 + ], + [ + 0.2816205039129054, + -0.00340005857928913, + 0.959519844181192, + 1.1243621955920506 + ], + [ + 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, + 0.030558486775508167 + ], + [ + -0.0005131719512984949, + 0.9999923808531086, + 0.0038697403375182516, + 0.0037582718927105224 + ], + [ + 0.3411927319033954, + -0.0034624413918543603, + 0.9399869845885663, + 1.1801620098702403 + ], + [ + 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, + 0.017076051491790645 + ], + [ + -3.4208599989968714e-05, + 0.9999845162848308, + 0.005564712064838653, + 0.006303556765152545 + ], + [ + 0.4002513412846096, + -0.005085840382228687, + 0.9163912908946032, + 1.2352995866156498 + ], + [ + 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, + -0.0011105252822614965 + ], + [ + -0.00010172173112189538, + 0.9999744167629679, + 0.0071523053801988215, + 0.005635872247057528 + ], + [ + 0.4596863405974861, + -0.006305070082941844, + 0.8880589588306292, + 1.2888389688787247 + ], + [ + 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, + -0.02643710484266963 + ], + [ + -0.0019192124338963186, + 0.9999619299619062, + 0.00851206499585379, + 0.008539645407283279 + ], + [ + 0.5164721835353773, + -0.006297737811032034, + 0.8562808079903831, + 1.3393764396547465 + ], + [ + 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, + -0.05685300935316215 + ], + [ + -0.002583224404593259, + 0.999951457093037, + 0.009508438840720867, + 0.010668531591832627 + ], + [ + 0.5664306345391367, + -0.006372851639003729, + 0.8240847790231162, + 1.3881376610645249 + ], + [ + 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, + -0.08964113581089869 + ], + [ + -0.0028356973488673975, + 0.9999389038638434, + 0.01068397679335781, + 0.007644483201140976 + ], + [ + 0.6080981451881923, + -0.006757324924240972, + 0.7938330960463594, + 1.4357572349533203 + ], + [ + 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, + -0.12750647600916065 + ], + [ + -0.003243765836441912, + 0.9999365783387406, + 0.010785049068496793, + 0.010718763519388266 + ], + [ + 0.6454415428247119, + -0.006144186710295867, + 0.7637849591120033, + 1.4842840071637584 + ], + [ + 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, + -0.1653799280877284 + ], + [ + -0.003541336315424121, + 0.9999233756728626, + 0.011861775587519285, + 0.012714436069560308 + ], + [ + 0.6775373095095749, + -0.006324972973961759, + 0.7354612083172065, + 1.5266627519956804 + ], + [ + 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, + -0.20711982760325706 + ], + [ + -0.003469209576068455, + 0.999909227679227, + 0.013019254465945283, + 0.009865677989268769 + ], + [ + 0.7132838247457406, + -0.006650535673985355, + 0.7008437455890839, + 1.564361595597843 + ], + [ + 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, + -0.2545089772933874 + ], + [ + -0.003990030945918816, + 0.9998860406176614, + 0.014559719468009519, + 0.01218244919750706 + ], + [ + 0.7515653194736094, + -0.006605947615340801, + 0.6596255998827175, + 1.5968080563870402 + ], + [ + 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, + -0.3067100166604018 + ], + [ + -0.004187010614070004, + 0.9998616765059931, + 0.016096483986961927, + 0.014827294121825728 + ], + [ + 0.7881573299374639, + -0.006607284440039056, + 0.6154383535807435, + 1.6268600023182775 + ], + [ + 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, + -0.3593365573203978 + ], + [ + -0.003684238943332572, + 0.9998460315033402, + 0.017156330331112322, + 0.011934379056675675 + ], + [ + 0.8176182796250054, + -0.006865993897851927, + 0.5757197295132774, + 1.6562060129774399 + ], + [ + 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, + -0.41156158537547294 + ], + [ + -0.003205371519828324, + 0.999838096651233, + 0.01770610285352854, + 0.01311487011005479 + ], + [ + 0.8401977884947668, + -0.006908859939830087, + 0.5422360591687307, + 1.683276094325174 + ], + [ + 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, + -0.4713941379316126 + ], + [ + -0.0026067348797945873, + 0.9998133525894822, + 0.019143273415131442, + 0.016825585018627333 + ], + [ + 0.8641664621073103, + -0.007380699435995649, + 0.5031519164673535, + 1.7125097408316061 + ], + [ + 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, + -0.5266492134386436 + ], + [ + -0.0023529807438267703, + 0.999795619404583, + 0.020079414857653986, + 0.016624142583699757 + ], + [ + 0.8863636939254174, + -0.007211310375086136, + 0.4629334715632078, + 1.73580533635467 + ], + [ + 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, + -0.5842884021688327 + ], + [ + -0.0029143777446155247, + 0.9997862765687602, + 0.020467232034075744, + 0.02135860303419634 + ], + [ + 0.9056477412059775, + -0.006039748759124889, + 0.4239878421410664, + 1.7542457254039716 + ], + [ + 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, + -0.6471503967376322 + ], + [ + -0.0029475831180779417, + 0.9997660788294425, + 0.021426604391822042, + 0.02609120788256932 + ], + [ + 0.9200182210807741, + -0.0056851791414247, + 0.3918343420598788, + 1.7720318425464177 + ], + [ + 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, + -0.7114342524274059 + ], + [ + -0.002707468124608115, + 0.999760530653193, + 0.021715224253970048, + 0.025990436819716325 + ], + [ + 0.9274907536686112, + -0.0056074296615253455, + 0.37380403768796144, + 1.7902761908748526 + ], + [ + 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, + -0.7761525657175741 + ], + [ + -0.0028726443052430016, + 0.9997652116257075, + 0.021477186447475646, + 0.029188623289688503 + ], + [ + 0.9297274826851815, + -0.005238590617690053, + 0.3682110333873986, + 1.8086537991420213 + ], + [ + 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, + -0.8429412276085088 + ], + [ + -0.0026426024056175404, + 0.9997655757822244, + 0.021489768108644933, + 0.03187664633832848 + ], + [ + 0.9304211138493336, + -0.005417509330015611, + 0.3664521817318389, + 1.8266156672493303 + ], + [ + 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, + -0.9177372204033186 + ], + [ + -0.0023191712298245414, + 0.9997666799208351, + 0.02147573432684613, + 0.031201592532877888 + ], + [ + 0.9328044463675412, + -0.005576529565032814, + 0.36033979402080407, + 1.8441134231684748 + ], + [ + 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, + -0.9869598953270156 + ], + [ + -0.002476799370815165, + 0.9997638776240609, + 0.021588294582455016, + 0.03616806912547344 + ], + [ + 0.9387919126640103, + -0.00511202726624896, + 0.34444682012449873, + 1.8584777621519561 + ], + [ + 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, + -1.0562371091338854 + ], + [ + -0.0023756871820990316, + 0.9997564798041484, + 0.021939398351593697, + 0.03773216697883988 + ], + [ + 0.9442221211202316, + -0.0049820569242525585, + 0.3292715673969042, + 1.8736392572422766 + ], + [ + 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, + -1.1233511223845578 + ], + [ + -0.001695015588842684, + 0.9997558984961097, + 0.02202885254366218, + 0.03476211486527399 + ], + [ + 0.94659189721309, + -0.005498675601065622, + 0.322387258893954, + 1.8907944888315624 + ], + [ + 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, + -1.189707677914807 + ], + [ + -0.0015224125178671145, + 0.9997612856798759, + 0.021795731596968033, + 0.03725064529920105 + ], + [ + 0.9472783719257208, + -0.005541738208859521, + 0.3203638169634332, + 1.9098622179192462 + ], + [ + 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, + -1.259435967272561 + ], + [ + -0.0013791218479060167, + 0.9997620502813581, + 0.021770182363590733, + 0.04000207624823226 + ], + [ + 0.9473489316116118, + -0.005664626474016983, + 0.3201529537287574, + 1.9280409859406142 + ], + [ + 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, + -1.3307577378302846 + ], + [ + -0.0014074201711471914, + 0.9997594325232371, + 0.02188826738864015, + 0.04026507594523824 + ], + [ + 0.9475048860695354, + -0.005665309532458135, + 0.3196910933108054, + 1.94228212815704 + ], + [ + 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, + -1.4019751737106168 + ], + [ + -0.0017627826279078412, + 0.9997681771387005, + 0.021458904402765794, + 0.04442976870428732 + ], + [ + 0.9497858886105824, + -0.0050405345648467, + 0.3128599667702904, + 1.953688872675694 + ], + [ + 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, + -1.4819152903413042 + ], + [ + -0.0011081351644766993, + 0.9997544872464397, + 0.022130008293395897, + 0.04604738683156289 + ], + [ + 0.956008817992244, + -0.005432404231153133, + 0.29328762146626947, + 1.9667491724940185 + ], + [ + 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, + -1.5541849559460028 + ], + [ + -0.00057357289522947, + 0.9997495622271378, + 0.022371496167679798, + 0.04475357257206639 + ], + [ + 0.9606129422235993, + -0.005665957037576304, + 0.27783209347260196, + 1.9809512568760312 + ], + [ + 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, + -1.6256411597933584 + ], + [ + -0.0003275705965626874, + 0.9997614789959306, + 0.02183753221803368, + 0.047792025942548194 + ], + [ + 0.9626287000301593, + -0.005598884441104816, + 0.27076676009300066, + 1.9972755259138932 + ], + [ + 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, + -1.6998773628940205 + ], + [ + 7.373259017271275e-05, + 0.9997653584311379, + 0.02166154760315731, + 0.04702271028680151 + ], + [ + 0.9639655438164428, + -0.005833618004685032, + 0.2659631539060353, + 2.01140704018481 + ], + [ + 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, + -1.7740922203746756 + ], + [ + 0.00027594406515583925, + 0.9997646490912235, + 0.02169263198359499, + 0.04465756670780011 + ], + [ + 0.9669916825388596, + -0.005794224868277489, + 0.2547420516107254, + 2.019990785573173 + ], + [ + 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, + -1.8479907402337126 + ], + [ + 2.7698248179060247e-05, + 0.9997633258907921, + 0.021755262273506756, + 0.04952800100390868 + ], + [ + 0.9718333131855892, + -0.005153958759487237, + 0.23561292004435158, + 2.0244121235281103 + ], + [ + 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, + -1.9227114691514662 + ], + [ + 0.00020666041680918353, + 0.9997503791045802, + 0.022341369065485825, + 0.051055682852352215 + ], + [ + 0.9766938673260972, + -0.00499707848560095, + 0.21457893357503866, + 2.0265759313928116 + ], + [ + 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, + -2.0006755406670003 + ], + [ + 0.0006884063030265525, + 0.9997498725626146, + 0.022354382295160465, + 0.04911211025715802 + ], + [ + 0.9796268466410637, + -0.005163538717649732, + 0.20076000400477606, + 2.0309573227473594 + ], + [ + 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, + -2.0717262842438693 + ], + [ + 0.0011012585106809185, + 0.9997613850711659, + 0.021816510955628903, + 0.0526056156953709 + ], + [ + 0.9804275276989081, + -0.005374627647187633, + 0.19680695187889374, + 2.0392876082320472 + ], + [ + 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, + -2.1462483629919236 + ], + [ + 0.0018324934129672534, + 0.9997625454280075, + 0.021713929335868187, + 0.04932502706974818 + ], + [ + 0.9805375687665865, + -0.006059365949858843, + 0.19623801956195347, + 2.04811593943344 + ], + [ + 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, + -2.221380489909867 + ], + [ + 0.0019071609799187327, + 0.9997635735559041, + 0.021660095284310614, + 0.04731080595524712 + ], + [ + 0.9805197665399599, + -0.0061238739861192515, + 0.1963249489795552, + 2.054953451332128 + ], + [ + 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, + -2.298730706906177 + ], + [ + 0.001547919643327754, + 0.9997674847366604, + 0.0215076825369264, + 0.05390900549772908 + ], + [ + 0.9805187076375459, + -0.00574195589750935, + 0.19634177832358563, + 2.0597134431809256 + ], + [ + 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, + -2.3747265917486318 + ], + [ + 0.001250444902178717, + 0.9997677779113721, + 0.021513405999613995, + 0.05300895256405382 + ], + [ + 0.980500562172793, + -0.005453434627118904, + 0.19644059567616073, + 2.0637341603757497 + ], + [ + 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, + -2.444329795216442 + ], + [ + 0.001381831883991996, + 0.9997713519990161, + 0.021338562807836657, + 0.050680953374190256 + ], + [ + 0.9805049240138939, + -0.0055474006098590566, + 0.19641619162121637, + 2.067925815571155 + ], + [ + 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, + -2.522283712874904 + ], + [ + 0.0014647772085464097, + 0.9997781440703529, + 0.021012307511791502, + 0.05424882168490845 + ], + [ + 0.9805206276102225, + -0.005562979066245623, + 0.19633734258862734, + 2.0697110200409568 + ], + [ + 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, + -2.5935697067538075 + ], + [ + 0.0010956376820427886, + 0.9997774752854581, + 0.0210665490744251, + 0.05287479236656409 + ], + [ + 0.9804879432973597, + -0.00521520838874218, + 0.19651003702095204, + 2.0672036434161165 + ], + [ + 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, + -2.661945141228728 + ], + [ + 0.0005468221643320954, + 0.9997812952154103, + 0.020906045128567863, + 0.05559115306441959 + ], + [ + 0.9804537511292254, + -0.004649260062719001, + 0.19669475406705828, + 2.0600574515741306 + ], + [ + 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, + -2.7294460316244185 + ], + [ + 0.00010494386692506269, + 0.9997858998240476, + 0.02069162873735259, + 0.061224165080789116 + ], + [ + 0.9804292705113241, + -0.004176462512937875, + 0.19682734232192217, + 2.048694669260015 + ], + [ + 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, + -2.794498849545096 + ], + [ + -0.0003623446819719673, + 0.9997893292842313, + 0.020522323350891762, + 0.05783674090119501 + ], + [ + 0.9804191118841217, + -0.0036861205310099975, + 0.1968877283321156, + 2.0346581229140783 + ], + [ + 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, + -2.8539737596677988 + ], + [ + -0.00035663136859341756, + 0.9997965907229893, + 0.020165564528538682, + 0.055375257294230526 + ], + [ + 0.9804195083938744, + -0.0036214248656436035, + 0.19688695447554827, + 2.0205507937152394 + ], + [ + 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, + -2.9180660715709372 + ], + [ + -0.0005312417328760203, + 0.999802875552444, + 0.019847614952062678, + 0.06056908456627624 + ], + [ + 0.9803820910164964, + -0.003391362607880909, + 0.19707727995328134, + 2.0055302793536978 + ], + [ + 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, + -2.98270590175429 + ], + [ + -0.0008282716731918948, + 0.9998058121932286, + 0.019688876826118057, + 0.06055971777840353 + ], + [ + 0.9803610833549963, + -0.0030709817041630373, + 0.1971870059471239, + 1.9918575722514664 + ], + [ + 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, + -3.052759401345388 + ], + [ + -0.001132768331807107, + 0.999812757527955, + 0.01931752365737479, + 0.060938411519152476 + ], + [ + 0.9803257709565879, + -0.0027026826742087198, + 0.1973678755642218, + 1.9750558273649412 + ], + [ + 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, + -3.1164159879406026 + ], + [ + -0.001280404585744431, + 0.9998179756111429, + 0.01903618157437898, + 0.06625187688840711 + ], + [ + 0.9803284466166924, + -0.0025021664667852026, + 0.19735722919892124, + 1.9594461935565868 + ], + [ + 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, + -3.1808381389593534 + ], + [ + -0.0007774371798773706, + 0.9998196130113768, + 0.018977276654256272, + 0.06406573597239545 + ], + [ + 0.9803512663038487, + -0.0029814008486918515, + 0.19723718185326955, + 1.9458993651651544 + ], + [ + 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, + -3.2439920024067432 + ], + [ + -0.0005780742739156536, + 0.9998269348810337, + 0.01859478734837412, + 0.0607179653746199 + ], + [ + 0.9802991566526125, + -0.0031062124281833825, + 0.19749408829260706, + 1.9368411066267632 + ], + [ + 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, + -3.3068196452290013 + ], + [ + 0.0003267599612574272, + 0.9998347949876647, + 0.01817349608364848, + 0.06418889232601294 + ], + [ + 0.98001741993362, + -0.003935093739030583, + 0.19887275244214808, + 1.9317375371429781 + ], + [ + 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, + -3.374386437222225 + ], + [ + 0.0006694983358176941, + 0.9998442104800374, + 0.017638212537821385, + 0.06537091358333559 + ], + [ + 0.9779467010421832, + -0.004338436782673147, + 0.20880954931945483, + 1.9298321711318913 + ], + [ + 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, + -3.4461133605223484 + ], + [ + 0.0006023784422227157, + 0.9998475197165742, + 0.017452061678413434, + 0.06509038742875434 + ], + [ + 0.97519558997416, + -0.00445025924823124, + 0.22130015022040433, + 1.9284402038719564 + ], + [ + 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, + -3.519912025762658 + ], + [ + 0.0008609722659638497, + 0.9998610685444332, + 0.01664639107858435, + 0.0709002022278255 + ], + [ + 0.9731191425907514, + -0.004671390473098476, + 0.2302548857993867, + 1.9235401881747265 + ], + [ + 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, + -3.5868143456051236 + ], + [ + 0.0004714520163139899, + 0.9998695647647776, + 0.016144076006094202, + 0.07043015242942348 + ], + [ + 0.9701355317490304, + -0.004373269801066044, + 0.24252407004104382, + 1.919717046069098 + ], + [ + 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, + -3.651067961841898 + ], + [ + 0.0015123425542545891, + 0.999882282673733, + 0.015268713605401465, + 0.06415718374700037 + ], + [ + 0.965647508512856, + -0.005427822580323759, + 0.2597988222547409, + 1.9209642843119183 + ], + [ + 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, + -3.715220900622165 + ], + [ + 0.0016717285867585679, + 0.9998942353666272, + 0.014447262859119, + 0.06780943143344008 + ], + [ + 0.958131396062264, + -0.005738180370651761, + 0.28627137678400716, + 1.9271918898296636 + ], + [ + 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/push_in/transforms.json b/spatialvid_eval/camera_controls/scene_110/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1570bb8ef4bdcc136f091a800eb3e1b213454848 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_110/push_in/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999919295234, + -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, + 0.00035746324614180174 + ], + [ + 0.0004583019670282232, + 0.9999998486276601, + -0.0003044732563439886, + -0.0028694612939878434 + ], + [ + -3.314680587935362e-05, + 0.0003044884793998429, + 0.9999999530940265, + 0.06057737903142805 + ], + [ + 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, + 0.004359653995091534 + ], + [ + 0.0015166781618130233, + 0.999998689627092, + -0.0005660666503320535, + 0.0014298066944133637 + ], + [ + -0.0003387541338317847, + 0.0005665810504245118, + 0.9999997821157515, + 0.12189564700299065 + ], + [ + 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, + 0.009093290317020896 + ], + [ + 0.0015773563974593636, + 0.9999987501873269, + -0.0001075666303384926, + -0.00012107676528737303 + ], + [ + -0.0007373924500477798, + 0.00010872986704858921, + 0.999999722215057, + 0.1854091842711642 + ], + [ + 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, + 0.013326078760682068 + ], + [ + 0.0018007493465172018, + 0.9999983409795722, + -0.0002744811367258196, + 0.00028546802046346126 + ], + [ + -0.0007581537339101523, + 0.0002758467498737868, + 0.9999996745556903, + 0.25345645150001206 + ], + [ + 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, + 0.01738494376610275 + ], + [ + 0.0019563566540362386, + 0.9999979845716237, + -0.00045113338723329046, + 0.0021050895417292406 + ], + [ + -0.000483839002278933, + 0.0004520807611154136, + 0.9999997807613787, + 0.3170802506899717 + ], + [ + 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, + 0.02250965021371468 + ], + [ + 0.002081911704676757, + 0.99999780142788, + -0.00025056548208777233, + -0.002128587306045641 + ], + [ + 0.000303446581443069, + 0.000249934263234557, + 0.9999999227265154, + 0.3806728266550013 + ], + [ + 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, + 0.030513609774683537 + ], + [ + 0.002521027197559048, + 0.9999968211709392, + -4.549599864534818e-05, + -0.005816327522389304 + ], + [ + 0.001284914187101545, + 4.225679176256967e-05, + 0.9999991736046063, + 0.44229062222246535 + ], + [ + 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, + 0.04186124682510139 + ], + [ + 0.002935462701166189, + 0.9999956066123661, + -0.0004120857873846121, + -0.0010537663355294814 + ], + [ + 0.0016130497072786702, + 0.00040735195948952616, + 0.9999986160665539, + 0.5028408527353305 + ], + [ + 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, + 0.053394053761243274 + ], + [ + 0.0026350225699929264, + 0.9999964169028093, + -0.00047205677482172923, + -0.0018227073364340861 + ], + [ + 0.001313460584928008, + 0.0004685969965450025, + 0.9999990276186006, + 0.5627578002158088 + ], + [ + 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, + 0.06030674319114461 + ], + [ + 0.0028583319315597985, + 0.9999955623599188, + -0.0008397612987474335, + -0.0034722212958071025 + ], + [ + 0.0023868271054367594, + 0.0008329399675553865, + 0.9999968046285844, + 0.6192692241536921 + ], + [ + 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, + 0.0637782886984074 + ], + [ + 0.0021986733047230107, + 0.9999972418314599, + -0.0008259329101720329, + 0.00032739997936642566 + ], + [ + 0.0032737052494115956, + 0.0008187326573790928, + 0.9999943062491786, + 0.6845789090466651 + ], + [ + 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, + 0.0663419953350964 + ], + [ + 0.002245036977581544, + 0.9999974611078741, + -0.00019387308957855497, + 0.0001761155246761944 + ], + [ + 0.005809379255518269, + 0.0001808280027380231, + 0.9999831090642975, + 0.7472454385911416 + ], + [ + 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, + 0.06903999409937221 + ], + [ + 0.0022581302811897955, + 0.9999974418711838, + 0.00013076207957470954, + -0.0020507555868988694 + ], + [ + 0.010522296725827116, + -0.00015451595104363293, + 0.9999446271651418, + 0.8095669820657029 + ], + [ + 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, + 0.07080865001880957 + ], + [ + 0.0026181836532227797, + 0.9999965701544247, + -6.923687635915267e-05, + 0.0012628635810465233 + ], + [ + 0.021226857285271686, + 1.3645512286108705e-05, + 0.9997746847883232, + 0.868819786669402 + ], + [ + 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, + 0.06987320266296146 + ], + [ + 0.002378112170103639, + 0.9999971195508623, + 0.0003247652767585757, + 0.00208531072602976 + ], + [ + 0.04541320334739092, + -0.000432429119369662, + 0.9989681946722756, + 0.9275302172289863 + ], + [ + 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, + 0.06630208573016852 + ], + [ + 0.001818726656238987, + 0.9999979992217047, + 0.0008329381353653407, + 4.1477005970707906e-05 + ], + [ + 0.08787587567509371, + -0.0009895396258175488, + 0.996130940833415, + 0.9872128756303078 + ], + [ + 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, + 0.05958372077547826 + ], + [ + 0.0007797884115889472, + 0.9999982196222283, + 0.001718337105129686, + 0.004088935641854269 + ], + [ + 0.14678141942125855, + -0.0018141845339841552, + 0.9891672879989296, + 1.046352006663755 + ], + [ + 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, + 0.04816304619339845 + ], + [ + 0.00015999977104230804, + 0.999996357120638, + 0.002694465722017059, + 0.006594025104115736 + ], + [ + 0.2125825395191242, + -0.00266689169104343, + 0.9771394739648525, + 1.105254607245818 + ], + [ + 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, + 0.030404875192725576 + ], + [ + -0.000332734868216213, + 0.9999933156911698, + 0.003641134505649937, + 0.002400950391789921 + ], + [ + 0.2816205039129054, + -0.00340005857928913, + 0.959519844181192, + 1.1699393881906572 + ], + [ + 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, + 0.013499069001605796 + ], + [ + -0.0005131719512984949, + 0.9999923808531086, + 0.0038697403375182516, + 0.003951758909586435 + ], + [ + 0.3411927319033954, + -0.0034624413918543603, + 0.9399869845885663, + 1.2271613590996688 + ], + [ + 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, + -0.0039368094293960616 + ], + [ + -3.4208599989968714e-05, + 0.9999845162848308, + 0.005564712064838653, + 0.006595704148556573 + ], + [ + 0.4002513412846096, + -0.005085840382228687, + 0.9163912908946032, + 1.2834101293876166 + ], + [ + 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, + -0.026392591925624178 + ], + [ + -0.00010172173112189538, + 0.9999744167629679, + 0.0071523053801988215, + 0.006029249042968463 + ], + [ + 0.4596863405974861, + -0.006305070082941844, + 0.8880589588306292, + 1.3376822116144094 + ], + [ + 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, + -0.05613242983924002 + ], + [ + -0.0019192124338963186, + 0.9999619299619062, + 0.00851206499585379, + 0.009029089144544873 + ], + [ + 0.5164721835353773, + -0.006297737811032034, + 0.8562808079903831, + 1.3886125861141934 + ], + [ + 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, + -0.09083620990378191 + ], + [ + -0.002583224404593259, + 0.999951457093037, + 0.009508438840720867, + 0.011239037922275878 + ], + [ + 0.5664306345391367, + -0.006372851639003729, + 0.8240847790231162, + 1.4375827478059118 + ], + [ + 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, + -0.1276437502491952 + ], + [ + -0.0028356973488673975, + 0.9999389038638434, + 0.01068397679335781, + 0.008312231750725839 + ], + [ + 0.6080981451881923, + -0.006757324924240972, + 0.7938330960463594, + 1.4853718034562176 + ], + [ + 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, + -0.16945622004970762 + ], + [ + -0.003243765836441912, + 0.9999365783387406, + 0.010785049068496793, + 0.011419791708840556 + ], + [ + 0.6454415428247119, + -0.006144186710295867, + 0.7637849591120033, + 1.5339300295060385 + ], + [ + 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, + -0.21110868023758134 + ], + [ + -0.003541336315424121, + 0.9999233756728626, + 0.011861775587519285, + 0.013515105921717861 + ], + [ + 0.6775373095095749, + -0.006324972973961759, + 0.7354612083172065, + 1.5763063835570916 + ], + [ + 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, + -0.2570435480383457 + ], + [ + -0.003469209576068455, + 0.999909227679227, + 0.013019254465945283, + 0.010777025801884938 + ], + [ + 0.7132838247457406, + -0.006650535673985355, + 0.7008437455890839, + 1.6134206577890788 + ], + [ + 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, + -0.30898934253073607 + ], + [ + -0.003990030945918816, + 0.9998860406176614, + 0.014559719468009519, + 0.01323802885893775 + ], + [ + 0.7515653194736094, + -0.006605947615340801, + 0.6596255998827175, + 1.644630912378537 + ], + [ + 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, + -0.3658115649972778 + ], + [ + -0.004187010614070004, + 0.9998616765059931, + 0.016096483986961927, + 0.016034530420847872 + ], + [ + 0.7881573299374639, + -0.006607284440039056, + 0.6154383535807435, + 1.6730178788368335 + ], + [ + 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, + -0.4226902572763277 + ], + [ + -0.003684238943332572, + 0.9998460315033402, + 0.017156330331112322, + 0.013263994657336879 + ], + [ + 0.8176182796250054, + -0.006865993897851927, + 0.5757197295132774, + 1.7008242920147187 + ], + [ + 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, + -0.4787647543511767 + ], + [ + -0.003205371519828324, + 0.999838096651233, + 0.01770610285352854, + 0.014531358338337073 + ], + [ + 0.8401977884947668, + -0.006908859939830087, + 0.5422360591687307, + 1.7266549790586727 + ], + [ + 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, + -0.5426729770038428 + ], + [ + -0.0026067348797945873, + 0.9998133525894822, + 0.019143273415131442, + 0.018404905075375677 + ], + [ + 0.8641664621073103, + -0.007380699435995649, + 0.5031519164673535, + 1.7540197739401626 + ], + [ + 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, + -0.6019732869151166 + ], + [ + -0.0023529807438267703, + 0.999795619404583, + 0.020079414857653986, + 0.018330892846600347 + ], + [ + 0.8863636939254174, + -0.007211310375086136, + 0.4629334715632078, + 1.7751546814375425 + ], + [ + 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, + -0.6635141030022959 + ], + [ + -0.0029143777446155247, + 0.9997862765687602, + 0.020467232034075744, + 0.023149485837177967 + ], + [ + 0.9056477412059775, + -0.006039748759124889, + 0.4239878421410664, + 1.7913446615913151 + ], + [ + 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, + -0.7299311593999476 + ], + [ + -0.0029475831180779417, + 0.9997660788294425, + 0.021426604391822042, + 0.028019602277833303 + ], + [ + 0.9200182210807741, + -0.0056851791414247, + 0.3918343420598788, + 1.807296933331807 + ], + [ + 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, + -0.7972051980441156 + ], + [ + -0.002707468124608115, + 0.999760530653193, + 0.021715224253970048, + 0.027999095063208555 + ], + [ + 0.9274907536686112, + -0.0056074296615253455, + 0.37380403768796144, + 1.8248530643609888 + ], + [ + 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, + -0.8644545094805549 + ], + [ + -0.0028726443052430016, + 0.9997652116257075, + 0.021477186447475646, + 0.03122895600219869 + ], + [ + 0.9297274826851815, + -0.005238590617690053, + 0.3682110333873986, + 1.8436338473138243 + ], + [ + 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, + -0.9336346243262309 + ], + [ + -0.0026426024056175404, + 0.9997655757822244, + 0.021489768108644933, + 0.03397189872892136 + ], + [ + 0.9304211138493336, + -0.005417509330015611, + 0.3664521817318389, + 1.8623447549681846 + ], + [ + 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, + -1.0109946075466527 + ], + [ + -0.0023191712298245414, + 0.9997666799208351, + 0.02147573432684613, + 0.0333491659655625 + ], + [ + 0.9328044463675412, + -0.005576529565032814, + 0.36033979402080407, + 1.8801474025705553 + ], + [ + 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, + -1.0831620474226848 + ], + [ + -0.002476799370815165, + 0.9997638776240609, + 0.021588294582455016, + 0.038380869320175086 + ], + [ + 0.9387919126640103, + -0.00511202726624896, + 0.34444682012449873, + 1.8937835612147171 + ], + [ + 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, + -1.1553550456902228 + ], + [ + -0.0023756871820990316, + 0.9997564798041484, + 0.021939398351593697, + 0.04003580380575722 + ], + [ + 0.9442221211202316, + -0.0049820569242525585, + 0.3292715673969042, + 1.9082127718189517 + ], + [ + 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, + -1.2250839099639619 + ], + [ + -0.001695015588842684, + 0.9997558984961097, + 0.02202885254366218, + 0.03713021651371767 + ], + [ + 0.94659189721309, + -0.005498675601065622, + 0.322387258893954, + 1.9254511191626626 + ], + [ + 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, + -1.2938824965969806 + ], + [ + -0.0015224125178671145, + 0.9997612856798759, + 0.021795731596968033, + 0.03964817577486754 + ], + [ + 0.9472783719257208, + -0.005541738208859521, + 0.3203638169634332, + 1.9451022377852238 + ], + [ + 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, + -1.3659864832964077 + ], + [ + -0.0013791218479060167, + 0.9997620502813581, + 0.021770182363590733, + 0.04245122176413622 + ], + [ + 0.9473489316116118, + -0.005664626474016983, + 0.3201529537287574, + 1.9640581932350996 + ], + [ + 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, + -1.4396936698102651 + ], + [ + -0.0014074201711471914, + 0.9997594325232371, + 0.02188826738864015, + 0.04278222669493186 + ], + [ + 0.9475048860695354, + -0.005665309532458135, + 0.3196910933108054, + 1.9790466038877825 + ], + [ + 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, + -1.5135481001970925 + ], + [ + -0.0017627826279078412, + 0.9997681771387005, + 0.021458904402765794, + 0.046951189971612295 + ], + [ + 0.9497858886105824, + -0.0050405345648467, + 0.3128599667702904, + 1.990449918771203 + ], + [ + 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, + -1.596607460636915 + ], + [ + -0.0011081351644766993, + 0.9997544872464397, + 0.022130008293395897, + 0.0487029878267704 + ], + [ + 0.956008817992244, + -0.005432404231153133, + 0.29328762146626947, + 2.001943687069971 + ], + [ + 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, + -1.6718301729767548 + ], + [ + -0.00057357289522947, + 0.9997495622271378, + 0.022371496167679798, + 0.047494080852607166 + ], + [ + 0.9606129422235993, + -0.005665957037576304, + 0.27783209347260196, + 2.014985688326425 + ], + [ + 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, + -1.7459408171478792 + ], + [ + -0.0003275705965626874, + 0.9997614789959306, + 0.02183753221803368, + 0.0505217174698024 + ], + [ + 0.9626287000301593, + -0.005598884441104816, + 0.27076676009300066, + 2.0311213709255185 + ], + [ + 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, + -1.8227541858074972 + ], + [ + 7.373259017271275e-05, + 0.9997653584311379, + 0.02166154760315731, + 0.049784557606204066 + ], + [ + 0.9639655438164428, + -0.005833618004685032, + 0.2659631539060353, + 2.0453173423078295 + ], + [ + 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, + -1.8997717612511182 + ], + [ + 0.00027594406515583925, + 0.9997646490912235, + 0.02169263198359499, + 0.047477608865667466 + ], + [ + 0.9669916825388596, + -0.005794224868277489, + 0.2547420516107254, + 2.0531072522825675 + ], + [ + 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, + -1.976728197114584 + ], + [ + 2.7698248179060247e-05, + 0.9997633258907921, + 0.021755262273506756, + 0.05241057325514832 + ], + [ + 0.9718333131855892, + -0.005153958759487237, + 0.23561292004435158, + 2.0556308354339867 + ], + [ + 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, + -2.0545323672230715 + ], + [ + 0.00020666041680918353, + 0.9997503791045802, + 0.022341369065485825, + 0.054071767676192796 + ], + [ + 0.9766938673260972, + -0.00499707848560095, + 0.21457893357503866, + 2.055544087425442 + ], + [ + 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, + -2.1353410290008767 + ], + [ + 0.0006884063030265525, + 0.9997498725626146, + 0.022354382295160465, + 0.05218583782274258 + ], + [ + 0.9796268466410637, + -0.005163538717649732, + 0.20076000400477606, + 2.0585618232980165 + ], + [ + 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, + -2.208954214511073 + ], + [ + 0.0011012585106809185, + 0.9997613850711659, + 0.021816510955628903, + 0.05565992722915895 + ], + [ + 0.9804275276989081, + -0.005374627647187633, + 0.19680695187889374, + 2.0668405814950925 + ], + [ + 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, + -2.2859433701044374 + ], + [ + 0.0018324934129672534, + 0.9997625454280075, + 0.021713929335868187, + 0.0524192620001094 + ], + [ + 0.9805375687665865, + -0.006059365949858843, + 0.19623801956195347, + 2.076079857221018 + ], + [ + 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, + -2.3635239355278634 + ], + [ + 0.0019071609799187327, + 0.9997635735559041, + 0.021660095284310614, + 0.05045151977147216 + ], + [ + 0.9805197665399599, + -0.0061238739861192515, + 0.1963249489795552, + 2.0834205689341636 + ], + [ + 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, + -2.4433248994045345 + ], + [ + 0.001547919643327754, + 0.9997674847366604, + 0.0215076825369264, + 0.05708138867192573 + ], + [ + 0.9805187076375459, + -0.00574195589750935, + 0.19634177832358563, + 2.088673855483654 + ], + [ + 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, + -2.5217685448742126 + ], + [ + 0.001250444902178717, + 0.9997677779113721, + 0.021513405999613995, + 0.05623596346399592 + ], + [ + 0.980500562172793, + -0.005453434627118904, + 0.19644059567616073, + 2.093200249727174 + ], + [ + 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, + -2.593823776078902 + ], + [ + 0.001381831883991996, + 0.9997713519990161, + 0.021338562807836657, + 0.053935084202385346 + ], + [ + 0.9805049240138939, + -0.0055474006098590566, + 0.19641619162121637, + 2.09787928479339 + ], + [ + 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, + -2.674231955356972 + ], + [ + 0.0014647772085464097, + 0.9997781440703529, + 0.021012307511791502, + 0.05750572934923613 + ], + [ + 0.9805206276102225, + -0.005562979066245623, + 0.19633734258862734, + 2.100143308142194 + ], + [ + 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, + -2.7479630939838553 + ], + [ + 0.0010956376820427886, + 0.9997774752854581, + 0.0210665490744251, + 0.05619277384578604 + ], + [ + 0.9804879432973597, + -0.00521520838874218, + 0.19651003702095204, + 2.0981539742469164 + ], + [ + 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, + -2.818783839392126 + ], + [ + 0.0005468221643320954, + 0.9997812952154103, + 0.020906045128567863, + 0.05893612028499045 + ], + [ + 0.9804537511292254, + -0.004649260062719001, + 0.19669475406705828, + 2.0915286122248595 + ], + [ + 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, + -2.888731748917414 + ], + [ + 0.00010494386692506269, + 0.9997858998240476, + 0.02069162873735259, + 0.06458655475060891 + ], + [ + 0.9804292705113241, + -0.004176462512937875, + 0.19682734232192217, + 2.0806791123873274 + ], + [ + 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, + -2.956233702601009 + ], + [ + -0.0003623446819719673, + 0.9997893292842313, + 0.020522323350891762, + 0.061222924254092155 + ], + [ + 0.9804191118841217, + -0.0036861205310099975, + 0.1968877283321156, + 2.067144598088878 + ], + [ + 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, + -3.0181604070693124 + ], + [ + -0.00035663136859341756, + 0.9997965907229893, + 0.020165564528538682, + 0.05875298935276076 + ], + [ + 0.9804195083938744, + -0.0036214248656436035, + 0.19688695447554827, + 2.053529358589894 + ], + [ + 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, + -3.0846978670287974 + ], + [ + -0.0005312417328760203, + 0.999802875552444, + 0.019847614952062678, + 0.0639431791081269 + ], + [ + 0.9803820910164964, + -0.003391362607880909, + 0.19707727995328134, + 2.039033416945756 + ], + [ + 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, + -3.1517849103167057 + ], + [ + -0.0008282716731918948, + 0.9998058121932286, + 0.019688876826118057, + 0.06395604903090889 + ], + [ + 0.9803610833549963, + -0.0030709817041630373, + 0.1971870059471239, + 2.025872330777345 + ], + [ + 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, + -3.224283752739322 + ], + [ + -0.001132768331807107, + 0.999812757527955, + 0.01931752365737479, + 0.06431897815919306 + ], + [ + 0.9803257709565879, + -0.0027026826742087198, + 0.1973678755642218, + 2.00959520558868 + ], + [ + 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, + -3.2903920447888226 + ], + [ + -0.001280404585744431, + 0.9998179756111429, + 0.01903618157437898, + 0.06963079911785938 + ], + [ + 0.9803284466166924, + -0.0025021664667852026, + 0.19735722919892124, + 1.9944771017393952 + ], + [ + 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, + -3.35726911801042 + ], + [ + -0.0007774371798773706, + 0.9998196130113768, + 0.018977276654256272, + 0.06748164577016158 + ], + [ + 0.9803512663038487, + -0.0029814008486918515, + 0.19723718185326955, + 1.9814020578987428 + ], + [ + 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, + -3.4228653086497167 + ], + [ + -0.0005780742739156536, + 0.9998269348810337, + 0.01859478734837412, + 0.06411151406569818 + ], + [ + 0.9802991566526125, + -0.0031062124281833825, + 0.19749408829260706, + 1.9728837777401642 + ], + [ + 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, + -3.48809315359433 + ], + [ + 0.0003267599612574272, + 0.9998347949876647, + 0.01817349608364848, + 0.06755098910148791 + ], + [ + 0.98001741993362, + -0.003935093739030583, + 0.19887275244214808, + 1.9685289963447756 + ], + [ + 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, + -3.5577234219293405 + ], + [ + 0.0006694983358176941, + 0.9998442104800374, + 0.017638212537821385, + 0.0686780784341771 + ], + [ + 0.9779467010421832, + -0.004338436782673147, + 0.20880954931945483, + 1.968983961629289 + ], + [ + 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, + -3.6313727793190917 + ], + [ + 0.0006023784422227157, + 0.9998475197165742, + 0.017452061678413434, + 0.0684062791476529 + ], + [ + 0.97519558997416, + -0.00445025924823124, + 0.22130015022040433, + 1.9704872324138334 + ], + [ + 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, + -3.707212209539031 + ], + [ + 0.0008609722659638497, + 0.9998610685444332, + 0.01664639107858435, + 0.07410463251045299 + ], + [ + 0.9731191425907514, + -0.004671390473098476, + 0.2302548857993867, + 1.9678642536911086 + ], + [ + 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, + -3.7759665010726486 + ], + [ + 0.0004714520163139899, + 0.9998695647647776, + 0.016144076006094202, + 0.07357824725061184 + ], + [ + 0.9701355317490304, + -0.004373269801066044, + 0.24252407004104382, + 1.9670092397271015 + ], + [ + 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, + -3.8417625154918253 + ], + [ + 0.0015123425542545891, + 0.999882282673733, + 0.015268713605401465, + 0.06717275468406715 + ], + [ + 0.965647508512856, + -0.005427822580323759, + 0.2597988222547409, + 1.9722745517072295 + ], + [ + 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, + -3.906828831087484 + ], + [ + 0.0016717285867585679, + 0.9998942353666272, + 0.014447262859119, + 0.07069888400526388 + ], + [ + 0.958131396062264, + -0.005738180370651761, + 0.28627137678400716, + 1.9844461651864649 + ], + [ + 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_down/transforms.json b/spatialvid_eval/camera_controls/scene_110/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8704f3fbad76c7fb29a1ef329cf303d16d1160eb --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_110/tilt_down/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999919295234, + -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, + -0.0004583983283728389, + 3.1786416390167236e-05, + 0.00035742163820613813 + ], + [ + 0.0004583019670282232, + 0.9999954904147901, + 0.002968014385150679, + -0.0028690807024174133 + ], + [ + -3.314680587935362e-05, + -0.002967999504041112, + 0.9999955949304142, + 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, + -0.0015186763394170282, + 0.0003296804298158275, + 0.004358804962563925 + ], + [ + 0.0015166781618130233, + 0.999980976190399, + 0.00597887486491605, + 0.0014312218610391938 + ], + [ + -0.0003387541338317847, + -0.005978367626111691, + 0.9999820720223759, + 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, + -0.0015844415217076719, + 0.0007220428618040112, + 0.009090524455642658 + ], + [ + 0.0015773563974593636, + 0.9999516152228447, + 0.009709745620748857, + -0.00012067339042360369 + ], + [ + -0.0007373924500477798, + -0.00970859198280298, + 0.999952598623598, + 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, + -0.0018103168161880882, + 0.0007350158625843795, + 0.013322285514647206 + ], + [ + 0.0018007493465172018, + 0.9999162615427833, + 0.012815116234177047, + 0.00028684042614709034 + ], + [ + -0.0007581537339101523, + -0.012813768193996522, + 0.9999176128799745, + 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, + -0.0019638069952609746, + 0.00045265176823050654, + 0.017381914250738116 + ], + [ + 0.0019563566540362386, + 0.9998715040743844, + 0.015910625653013565, + 0.0021079091253994485 + ], + [ + -0.000483839002278933, + -0.015909707794723612, + 0.9998733155243751, + 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, + -0.002075638706574279, + -0.00034374428523281734, + 0.022511922155513873 + ], + [ + 0.002081911704676757, + 0.999809961859357, + 0.01938313211133321, + -0.0021267080649299826 + ], + [ + 0.000303446581443069, + -0.019383804857438007, + 0.9998120703559351, + 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, + -0.0024909931358522005, + -0.001342213021909888, + 0.03052485180593904 + ], + [ + 0.002521027197559048, + 0.9997355000332154, + 0.02285988615907955, + -0.0058159294324011575 + ], + [ + 0.001284914187101545, + -0.022863178399646158, + 0.9997377776542197, + 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, + -0.002892923985619467, + -0.0016881532636337509, + 0.04187736529364181 + ], + [ + 0.00293546270116619, + 0.9996637202417825, + 0.02576488872651482, + -0.0010496454776556352 + ], + [ + 0.0016130497072786706, + -0.025769699710572025, + 0.9996666047475375, + 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, + -0.0025958544663039285, + -0.0013892668002588623, + 0.05340881624878713 + ], + [ + 0.0026350225699929264, + 0.9995766281684771, + 0.028976215684484406, + -0.0018173966977173416 + ], + [ + 0.001313460584928008, + -0.028979750843095634, + 0.9995791358678732, + 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, + -0.0027807791591962705, + -0.002476746319266806, + 0.06033654863732774 + ], + [ + 0.0028583319315597985, + 0.9994876284317369, + 0.03187962594623157, + -0.0034617242795727597 + ], + [ + 0.0023868271054367594, + -0.031886484271088825, + 0.999488646847576, + 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, + -0.002082184152335205, + -0.003349002764509275, + 0.06382327726970462 + ], + [ + 0.0021986733047230107, + 0.999379131635998, + 0.035164144894736696, + 0.0003387565568812911 + ], + [ + 0.0032737052494115956, + -0.03517123483238401, + 0.9993759388209753, + 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, + -0.0020163350158206874, + -0.005892662511049643, + 0.06642912971320507 + ], + [ + 0.0022450369775815445, + 0.9992341107277686, + 0.03906599246217893, + 0.00017902362101987273 + ], + [ + 0.00580937925551827, + -0.03907846403314369, + 0.9992192576013915, + 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, + -0.001807065105845521, + -0.010609071422910387, + 0.06921098665366296 + ], + [ + 0.0022581302811897955, + 0.9990870914841613, + 0.04266010404760047, + -0.0020528804706919585 + ], + [ + 0.010522296725827116, + -0.042681590240080794, + 0.999033314322496, + 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, + -0.0016441541441672364, + -0.021324425267788872, + 0.07118011812200407 + ], + [ + 0.0026181836532227797, + 0.9989504260827732, + 0.04572954562866552, + 0.0012640752263828085 + ], + [ + 0.021226857285271686, + -0.04577491656132671, + 0.9987262275236365, + 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, + -0.00012970165757769832, + -0.04547524198116041, + 0.07072471705487246 + ], + [ + 0.002378112170103639, + 0.998776643748829, + 0.0493919070732375, + 0.0020792213770905368 + ], + [ + 0.04541320334739092, + -0.049448954279185164, + 0.9977436754409541, + 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, + 0.002863040790989962, + -0.08784805228201575, + 0.0680596357213094 + ], + [ + 0.0018187266562389875, + 0.9985839441044703, + 0.053167648152897755, + 2.4818243263401087e-05 + ], + [ + 0.08787587567509372, + -0.053121648827851475, + 0.994713989496552, + 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, + 0.007643332759708722, + -0.1465843532632683, + 0.06270285044694612 + ], + [ + 0.0007797884115889472, + 0.9983555952980241, + 0.057319257384944346, + 0.0040524209783702626 + ], + [ + 0.14678141942125855, + -0.05681271689905975, + 0.9875360905360513, + 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, + 0.01293061645337771, + -0.21218897442247647, + 0.05294614550909281 + ], + [ + 0.00015999977104230804, + 0.9981033482610611, + 0.06156038166006455, + 0.006533399625370352 + ], + [ + 0.2125825395191242, + -0.06018725237286699, + 0.9752877311559934, + 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, + 0.018841035625687785, + -0.280989740583536, + 0.03709329058394105 + ], + [ + -0.000332734868216213, + 0.9978346893065883, + 0.06577098223329349, + 0.002314473447280735 + ], + [ + 0.2816205039129054, + -0.06301545995211254, + 0.9574544080962106, + 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, + 0.024113628613883928, + -0.3403399426517926, + 0.02202877788855698 + ], + [ + -0.0005131719512984949, + 0.9975982272775088, + 0.06926408584050325, + 0.003855015401148479 + ], + [ + 0.3411927319033954, + -0.06493311826675106, + 0.9377479457980454, + 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, + 0.02973742575361752, + -0.39914511506456574, + 0.0065696210311972925 + ], + [ + -3.4208599989968714e-05, + 0.9972419829917082, + 0.07421877248066709, + 0.006449630456854559 + ], + [ + 0.4002513412846096, + -0.06800082990900498, + 0.9138789585779713, + 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, + 0.03643496686684615, + -0.458240150214525, + -0.013751558603942837 + ], + [ + -0.00010172173112189538, + 0.9968694900717323, + 0.07906459015775685, + 0.005832560645012996 + ], + [ + 0.4596863405974861, + -0.07016917381255439, + 0.8853048939854313, + 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, + 0.04485692790805571, + -0.5145241061027349, + -0.04128476734095483 + ], + [ + -0.001919212433896319, + 0.9964907141229538, + 0.08368137959163821, + 0.008784367275914076 + ], + [ + 0.5164721835353774, + -0.07066903625618336, + 0.8533828982050333, + 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, + 0.05192968816730605, + -0.5640511007697618, + -0.07384460962847203 + ], + [ + -0.0025832244045932594, + 0.9961229169545205, + 0.08793441459231663, + 0.010953784757054252 + ], + [ + 0.5664306345391368, + -0.07101015282946703, + 0.8210443924969751, + 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, + 0.05840854853655728, + -0.6052931825310993, + -0.10864244303004694 + ], + [ + -0.0028356973488673975, + 0.995721241465406, + 0.09236432273955383, + 0.007978357475933407 + ], + [ + 0.6080981451881923, + -0.07160761658122318, + 0.7906256984605528, + 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, + 0.0642503688637978, + -0.6422438768268733, + -0.14848134802943413 + ], + [ + -0.003243765836441912, + 0.9954027423238232, + 0.09572282150778265, + 0.011069277614114411 + ], + [ + 0.6454415428247119, + -0.07103006880947256, + 0.7604997988960794, + 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, + 0.07038074020488759, + -0.6738812196882953, + -0.18824430416265486 + ], + [ + -0.003541336315424121, + 0.9949759966370788, + 0.10005111220347981, + 0.013114770995639085 + ], + [ + 0.6775373095095749, + -0.07119913991239196, + 0.7320340679901876, + 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, + 0.07692722943834351, + -0.7091318998817747, + -0.2320816878208014 + ], + [ + -0.003469209576068455, + 0.9945232531929237, + 0.10445795059965857, + 0.010321351895576853 + ], + [ + 0.7132838247457406, + -0.07075097334668864, + 0.697295120538344, + 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, + 0.08472105463625057, + -0.7467855734303784, + -0.28174915991206173 + ], + [ + -0.003990030945918816, + 0.9940070336737539, + 0.10924329114483648, + 0.012710239028222405 + ], + [ + 0.7515653194736094, + -0.06908226913200191, + 0.6560314098090922, + 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, + 0.09242944136793513, + -0.7827300340222331, + -0.3362607908288398 + ], + [ + -0.004187010614070004, + 0.9934693379138587, + 0.11402255727318576, + 0.0154309122713368 + ], + [ + 0.7881573299374639, + -0.0668989760266232, + 0.6118272225656824, + 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, + 0.09885301998033992, + -0.8116287976866713, + -0.39101340729836276 + ], + [ + -0.003684238943332572, + 0.9929679822549994, + 0.11832587459995297, + 0.012599186857006277 + ], + [ + 0.8176182796250054, + -0.06513575559707495, + 0.5720644038618771, + 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, + 0.10433172918256355, + -0.8337010786150233, + -0.4451631698633248 + ], + [ + -0.003205371519828324, + 0.9925100872212529, + 0.12212064672888578, + 0.013823114224195932 + ], + [ + 0.8401977884947668, + -0.0635501144754096, + 0.5385434607890675, + 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, + 0.11087307818810137, + -0.8570283716604101, + -0.5070335574677277 + ], + [ + -0.0026067348797945873, + 0.9919256328616214, + 0.12679410004151928, + 0.017615245047001505 + ], + [ + 0.8641664621073103, + -0.06156865602859541, + 0.499425296079171, + 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, + 0.11716581730210715, + -0.8785888149091253, + -0.5643112501768801 + ], + [ + -0.0023529807438267708, + 0.9913838212318189, + 0.130967868125799, + 0.01747751771515005 + ], + [ + 0.8863636939254176, + -0.05856867981888227, + 0.4592701948038458, + 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, + 0.12312181303709233, + -0.8972443055843747, + -0.6239012525855643 + ], + [ + -0.0029143777446155247, + 0.9908963181209082, + 0.13459566537147585, + 0.022254044435687154 + ], + [ + 0.9056477412059775, + -0.05445645865173292, + 0.42051951555144657, + 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, + 0.12883246673549986, + -0.9109579632901381, + -0.6885407780687899 + ], + [ + -0.0029475831180779417, + 0.9903177299024583, + 0.13878798793341038, + 0.027055405080201312 + ], + [ + 0.9200182210807741, + -0.051700960877809246, + 0.38845010429098803, + 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, + 0.13299762931889478, + -0.9179096138073553, + -0.7543197252357607 + ], + [ + -0.002707468124608115, + 0.989817876372231, + 0.14231388277438548, + 0.02699476594146244 + ], + [ + 0.9274907536686112, + -0.050716882884510546, + 0.37038992919585534, + 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, + 0.13615260413460553, + -0.9197086019673809, + -0.8203035375990645 + ], + [ + -0.002872644305243002, + 0.989381025748425, + 0.14531666732928475, + 0.030208789645943597 + ], + [ + 0.9297274826851817, + -0.05086899130472173, + 0.3647179097103896, + 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, + 0.13918777268479124, + -0.9199549969314562, + -0.8882879259673698 + ], + [ + -0.0026426024056175404, + 0.9888989409657184, + 0.14856615095440304, + 0.03292427253362492 + ], + [ + 0.9304211138493336, + -0.05201584846878427, + 0.36278216936811813, + 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, + 0.14241513492599672, + -0.9218717064007653, + -0.9643659139749856 + ], + [ + -0.002319171229824542, + 0.9884103915534547, + 0.1517877442811305, + 0.03227537924922019 + ], + [ + 0.9328044463675415, + -0.0525626028004442, + 0.3565291539604973, + 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, + 0.14648105562803815, + -0.9272969805626294, + -1.0350609713748502 + ], + [ + -0.002476799370815165, + 0.9878905413734542, + 0.15513266493469582, + 0.037274469222824264 + ], + [ + 0.9387919126640103, + -0.05114272780131564, + 0.34066723662496545, + 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, + 0.15063213000786152, + -0.9321325116697041, + -1.105796077412054 + ], + [ + -0.0023756871820990316, + 0.9873221484605424, + 0.15871147176455463, + 0.03888398539229855 + ], + [ + 0.9442221211202316, + -0.050049341339851026, + 0.3254837160575896, + 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, + 0.153916131010535, + -0.9339962085373108, + -1.1742175161742598 + ], + [ + -0.001695015588842684, + 0.986784358795437, + 0.16203010880337157, + 0.03594616568949583 + ], + [ + 0.94659189721309, + -0.0506601801361451, + 0.3184294682957223, + 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, + 0.1568094386960944, + -0.9342105927433785, + -1.2417950872558938 + ], + [ + -0.0015224125178671145, + 0.9862876161866407, + 0.1650285442491666, + 0.038449410537034295 + ], + [ + 0.9472783719257208, + -0.05145423299097466, + 0.3162532971987267, + 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, + 0.1598082225568645, + -0.9337736514840999, + -1.3127112252844844 + ], + [ + -0.0013791218479060167, + 0.9857467865053582, + 0.16823011299196242, + 0.04122664900618424 + ], + [ + 0.9473489316116118, + -0.05257951024472827, + 0.3158566080941833, + 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, + 0.16300840702755315, + -0.9333786740629556, + -1.3852257038202749 + ], + [ + -0.0014074201711471914, + 0.985170680470445, + 0.1715714122744871, + 0.04152365132008505 + ], + [ + 0.9475048860695354, + -0.05354427681591875, + 0.315226111378193, + 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, + 0.1661592192666444, + -0.9351403399806287, + -1.4577616369538546 + ], + [ + -0.0017627826279078412, + 0.9846783605544288, + 0.17437149667663396, + 0.045690479337949806 + ], + [ + 0.9497858886105824, + -0.05291162545737759, + 0.30839443199847955, + 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, + 0.17073208186979819, + -0.9406405499779791, + -1.5392613754891096 + ], + [ + -0.0011081351644766993, + 0.9839839545022655, + 0.17825360955262795, + 0.047375187329166644 + ], + [ + 0.956008817992244, + -0.05124581448750724, + 0.2888269489133319, + 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, + 0.17471009111141053, + -0.9445919424900835, + -1.6130075644613788 + ], + [ + -0.0005735728952294701, + 0.9833519339341472, + 0.18171033278849955, + 0.04612382671233678 + ], + [ + 0.9606129422235995, + -0.04995355935082125, + 0.2733631598088965, + 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, + 0.17759832654935037, + -0.9461040935494998, + -1.6857909884706188 + ], + [ + -0.0003275705965626874, + 0.9828507617782256, + 0.18440247495482792, + 0.0491568717061753 + ], + [ + 0.9626287000301593, + -0.04963078156579821, + 0.26623818546446987, + 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, + 0.18067121520916166, + -0.946883037706701, + -1.7613157743507588 + ], + [ + 7.373259017271275e-05, + 0.9822751050852301, + 0.18744495856999083, + 0.04840363394650279 + ], + [ + 0.9639655438164428, + -0.04993525733031956, + 0.2612984891078109, + 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, + 0.18432562225094062, + -0.9492613208312372, + -1.836931990812897 + ], + [ + 0.00027594406515583925, + 0.9816504710803269, + 0.19068895217774195, + 0.04606758778673379 + ], + [ + 0.9669916825388596, + -0.04885097347623483, + 0.25008132335520344, + 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, + 0.18849216563544577, + -0.9533785674528937, + -1.9123594686741483 + ], + [ + 2.7698248179060247e-05, + 0.9810090760174, + 0.1939618313078485, + 0.0509692871295285 + ], + [ + 0.9718333131855892, + -0.04573725249232726, + 0.23118848396313688, + 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, + 0.19309367129997027, + -0.9574162037927052, + -1.9886219181872689 + ], + [ + 0.00020666041680918353, + 0.9802533050781371, + 0.19774583478511173, + 0.052563725264272505 + ], + [ + 0.9766938673260972, + -0.04264143509882874, + 0.2103587353553555, + 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, + 0.1967357204447247, + -0.9596688433330779, + -2.0680082848339385 + ], + [ + 0.0006884063030265527, + 0.9795981076925756, + 0.2009653539839334, + 0.0506489740399503 + ], + [ + 0.9796268466410639, + -0.04101955273062873, + 0.196592567595689, + 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, + 0.19944540385219264, + -0.9599275393082211, + -2.1403402493774712 + ], + [ + 0.0011012585106809185, + 0.9790445449257562, + 0.20364323283824598, + 0.054132771462264924 + ], + [ + 0.9804275276989081, + -0.04114984730658413, + 0.19253195318401548, + 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, + 0.20237038839582658, + -0.9594287402904496, + -2.2160958665481805 + ], + [ + 0.0018324934129672534, + 0.9783930470233174, + 0.2067454654988113, + 0.05087214453492879 + ], + [ + 0.9805375687665865, + -0.04234703575164408, + 0.19171021047497944, + 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, + 0.20543919397966406, + -0.9587582528539541, + -2.292452212718865 + ], + [ + 0.0019071609799187327, + 0.9777224027464204, + 0.2098934632254267, + 0.04888116286335964 + ], + [ + 0.9805197665399599, + -0.043053928331254904, + 0.19164380156861321, + 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, + 0.2084981173249053, + -0.9580959592621167, + -2.3710278031553558 + ], + [ + 0.001547919643327754, + 0.9770633773222717, + 0.2129430924927461, + 0.055495197084827405 + ], + [ + 0.9805187076375459, + -0.043309257296407604, + 0.19159168093951928, + 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, + 0.21169075480244265, + -0.957376592760022, + -2.448247568311422 + ], + [ + 0.001250444902178717, + 0.9763604630927913, + 0.21614504966983855, + 0.05462245801402487 + ], + [ + 0.980500562172793, + -0.043672307477421755, + 0.19160213239532242, + 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, + 0.214631148401641, + -0.9567263378890748, + -2.519076785647672 + ], + [ + 0.001381831883991996, + 0.9756860776379919, + 0.21916835639305954, + 0.0523080187882878 + ], + [ + 0.9805049240138939, + -0.0443863496942872, + 0.1914156366270141, + 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, + 0.21743662175496192, + -0.9561088652769645, + -2.598257834115938 + ], + [ + 0.0014647772085464097, + 0.9750360226690389, + 0.2220419080387096, + 0.05587727551707229 + ], + [ + 0.9805206276102225, + -0.0450118875135344, + 0.19118898716538152, + 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, + 0.2206791294369619, + -0.9553316331014907, + -2.6707664003688314 + ], + [ + 0.0010956376820427886, + 0.974292414204258, + 0.22528446728993173, + 0.054533783106175064 + ], + [ + 0.9804879432973597, + -0.04533225623089195, + 0.1912808918672503, + 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, + 0.22374802935585045, + -0.9545819380635809, + -2.740364490310427 + ], + [ + 0.0005468221643320955, + 0.9735870639824975, + 0.22831541741954667, + 0.05726363667470502 + ], + [ + 0.9804537511292256, + -0.045442801468601524, + 0.19142986624692765, + 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, + 0.22674498988210354, + -0.9538491888406402, + -2.809088890270916 + ], + [ + 0.00010494386692506269, + 0.9728844582991719, + 0.23129163362887137, + 0.06290535991569901 + ], + [ + 0.9804292705113241, + -0.045634859080444484, + 0.1915095432644052, + 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, + 0.2297909187935894, + -0.9531095948952127, + -2.8753662760730525 + ], + [ + -0.0003623446819719673, + 0.9721619836172593, + 0.23430950965696443, + 0.059529832577643584 + ], + [ + 0.9804191118841217, + -0.04579531907688442, + 0.19152324611648694, + 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, + 0.232567881158828, + -0.9524362027340797, + -2.9360670833685556 + ], + [ + -0.0003566313685934176, + 0.9714746876012172, + 0.23714300361635202, + 0.05706412332349564 + ], + [ + 0.9804195083938746, + -0.046358515975077126, + 0.19138567228845177, + 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, + 0.23540532899915623, + -0.9517004033215789, + -3.0013819692998673 + ], + [ + -0.0005312417328760203, + 0.9707697389811899, + 0.2400121489854497, + 0.06225613183720157 + ], + [ + 0.9803820910164964, + -0.046802189662359855, + 0.19146934652035208, + 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, + 0.23841933507686863, + -0.9509283676767932, + -3.067245406035498 + ], + [ + -0.0008282716731918948, + 0.9700175060431458, + 0.24303364362958313, + 0.06225788340465621 + ], + [ + 0.9803610833549963, + -0.04714083825452913, + 0.19149383178493953, + 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, + 0.24122682977207077, + -0.9501839384897213, + -3.138521577042355 + ], + [ + -0.001132768331807107, + 0.9693080770610712, + 0.24584663630010248, + 0.06262869483917277 + ], + [ + 0.9803257709565879, + -0.047449640064860236, + 0.19159831537904193, + 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, + 0.24409675970082387, + -0.9494536716371994, + -3.2034040163647126 + ], + [ + -0.001280404585744431, + 0.9685682172757932, + 0.24874478697510138, + 0.06794133800313325 + ], + [ + 0.9803284466166924, + -0.047878809370639576, + 0.19147782212922987, + 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, + 0.24705609284781863, + -0.948710965857831, + -3.269053628484887 + ], + [ + -0.0007774371798773706, + 0.9677643602623612, + 0.2518561863393753, + 0.06577369087127852 + ], + [ + 0.9803512663038487, + -0.048943130189565955, + 0.1910915086122026, + 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, + 0.24974558036851202, + -0.9479524860403523, + -3.33342865552823 + ], + [ + -0.0005780742739156536, + 0.9670326032195892, + 0.2546519392042369, + 0.06241473972015904 + ], + [ + 0.9802991566526125, + -0.049750270318256976, + 0.1911503964668591, + 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, + 0.252201606792037, + -0.9470103482417372, + -3.3974563994116656 + ], + [ + 0.00032675996125742726, + 0.9663027383979653, + 0.2574080631847448, + 0.06586994071375042 + ], + [ + 0.9800174199336202, + -0.05151084639285786, + 0.19212623280162, + 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, + 0.2541820379631118, + -0.9443366401258773, + -3.4660549295757828 + ], + [ + 0.0006694983358176942, + 0.9655943964356484, + 0.26005194354985095, + 0.06702449600875635 + ], + [ + 0.9779467010421834, + -0.05494500112836233, + 0.2014976346553859, + 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, + 0.25637796753968467, + -0.9408916724708846, + -3.53874306992072 + ], + [ + 0.0006023784422227158, + 0.9647872386506509, + 0.2630308371219328, + 0.06674833328820362 + ], + [ + 0.9751955899741602, + -0.05878708954415743, + 0.2133954999475791, + 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, + 0.2580844086061602, + -0.9382718395988502, + -3.6135621176508446 + ], + [ + 0.0008609722659638499, + 0.9641353015270285, + 0.2654098322898816, + 0.07250241736913925 + ], + [ + 0.9731191425907516, + -0.061931885033433116, + 0.22181879077221206, + 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, + 0.259963467506136, + -0.9346561762440582, + -3.681390423338886 + ], + [ + 0.0004714520163139899, + 0.9633966401348155, + 0.2680796365074101, + 0.07200419984001766 + ], + [ + 0.9701355317490304, + -0.06546685679895581, + 0.23356185625844614, + 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, + 0.26072163644414215, + -0.9297857958513759, + -3.7464152386668617 + ], + [ + 0.0015123425542545896, + 0.9627502820475871, + 0.2703878829335568, + 0.06566496921553376 + ], + [ + 0.9656475085128562, + -0.07166674756943262, + 0.24977743412032474, + 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, + 0.26086735535562483, + -0.9219364347429019, + -3.8110248658548245 + ], + [ + 0.0016717285867585679, + 0.9620844387206431, + 0.2727466555159155, + 0.06925415771935198 + ], + [ + 0.958131396062264, + -0.07963514099533817, + 0.2750317657988432, + 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_111/boom_down/transforms.json b/spatialvid_eval/camera_controls/scene_111/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1fe5f33e87df70a5f5b821bc6c4daf5ba1cc39ca --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_111/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": [ + [ + 0.9999999524119574, + 0.00026836285620802865, + 0.00015217575514159427, + -0.0007659227459198677 + ], + [ + -0.00026837067044208535, + 0.9999999626711056, + 5.133196482756385e-05, + 0.00035253993877736 + ], + [ + -0.00015216197386834566, + -5.1372801894208495e-05, + 0.9999999871037843, + 0.001043040173354239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999937256559763, + 0.003707498036609733, + -0.010570591376253297, + -0.00037637204009337516 + ], + [ + -0.003825549926725112, + 0.9999302991155894, + -0.011169694640691865, + 0.005408618559045724 + ], + [ + 0.01052844297573573, + 0.011209432140688574, + 0.9998817432674677, + 0.0007803570822498167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997471964524856, + 0.006553552964454761, + -0.02150800150961087, + -0.00038421685857235107 + ], + [ + -0.0070471794801583105, + 0.9997116412299707, + -0.0229558630997176, + 0.011036873299798616 + ], + [ + 0.021351357024081, + 0.023101630522987474, + 0.9995050946445494, + 0.002706572092574603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9994275594546429, + 0.009464818579377806, + -0.0324803111406838, + -9.720958536594575e-05 + ], + [ + -0.010590532881299838, + 0.9993429364514755, + -0.03466317899201139, + 0.016376101045306568 + ], + [ + 0.032130888811644644, + 0.03498732018605566, + 0.9988711095083149, + 0.0031657747204859596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.998889297301687, + 0.012345580757636384, + -0.045472611228066145, + 0.00019611596224096932 + ], + [ + -0.014520781307830946, + 0.9987504177589193, + -0.047819974242930385, + 0.022493123953926112 + ], + [ + 0.0448254241067758, + 0.048427158311644264, + 0.9978203704532729, + 0.00479623696550786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9981641006257813, + 0.014854709177628869, + -0.0587176790853776, + 0.00018024495573671148 + ], + [ + -0.01836756390974503, + 0.9980445770787306, + -0.05974658785034814, + 0.027947956690233814 + ], + [ + 0.057715343002937736, + 0.060715399850334556, + 0.9964851124844102, + 0.006819185077893065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9971648555320675, + 0.017046675114015825, + -0.07329162134424676, + 3.936085987566606e-05 + ], + [ + -0.022316982512577948, + 0.9971763887538623, + -0.07170217572249614, + 0.033471847085077305 + ], + [ + 0.07186239060346199, + 0.07313453752751582, + 0.9947296799821508, + 0.009749638376751735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9958578201923345, + 0.01930401887250791, + -0.0888513186010295, + 0.0006342592745789478 + ], + [ + -0.02665882957703136, + 0.9962469155386282, + -0.08234919602128603, + 0.038256514101479185 + ], + [ + 0.08692818166368484, + 0.08437676300462853, + 0.992634904230909, + 0.012331159771103946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9943310555511653, + 0.02188079441196305, + -0.10405278853739013, + 0.0018169663747413895 + ], + [ + -0.03089146417536892, + 0.9958342116962522, + -0.08579009416247316, + 0.04178916856240363 + ], + [ + 0.10174217123497668, + 0.08851809787385581, + 0.9908648126466028, + 0.017249633365674123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9928639213323563, + 0.02475535192202334, + -0.1166550739048822, + 0.0014942688576681515 + ], + [ + -0.03484667608280733, + 0.9957477847288589, + -0.08527636468301221, + 0.04297586220485555 + ], + [ + 0.11404798499980898, + 0.08873286740992294, + 0.9895046919336444, + 0.022043455709325487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9914184381988419, + 0.027912542448994312, + -0.12771206040700553, + -0.0016509116106269823 + ], + [ + -0.03891183074840468, + 0.9956669670793549, + -0.08445803747901516, + 0.04343687424282745 + ], + [ + 0.12480124128860677, + 0.08870276568987188, + 0.9882087175955244, + 0.028895156840774816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9895987612538392, + 0.03125403214273323, + -0.1404189346195457, + -0.005154873098118902 + ], + [ + -0.0433758443189413, + 0.9955117773549533, + -0.08411205191410465, + 0.043848197640984216 + ], + [ + 0.1371598624032782, + 0.08932797222820557, + 0.9865128917166318, + 0.034719645422763235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9877627586443815, + 0.03434301673658921, + -0.15213576120252523, + -0.009687496692456183 + ], + [ + -0.047548349006671015, + 0.9953281723792834, + -0.08402966009008617, + 0.043265539266738096 + ], + [ + 0.1485391771283968, + 0.09023517312858642, + 0.9847810550515647, + 0.03969691413375347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9856725544610684, + 0.03734259096956981, + -0.16448448644742003, + -0.013781472870861067 + ], + [ + -0.05169138568559081, + 0.995137927620062, + -0.08383618346484834, + 0.042878927717200865 + ], + [ + 0.16055409066135812, + 0.09113745614031377, + 0.9828104334306677, + 0.04516600780532156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9832596137627343, + 0.04052796825077601, + -0.17764575911803446, + -0.01687526817552796 + ], + [ + -0.056031183910205784, + 0.9949614458367273, + -0.0831398083237508, + 0.04354232229869903 + ], + [ + 0.17338119382672193, + 0.09170171802072967, + 0.9805762369847983, + 0.049731507756491704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.980518919520942, + 0.04358840469365724, + -0.1915272811840303, + -0.019889831702021313 + ], + [ + -0.06027747473758871, + 0.9947920775718307, + -0.0821909267473009, + 0.044902196250156956 + ], + [ + 0.18694725058353764, + 0.09213453954181779, + 0.9780398520114981, + 0.05317467853597305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9774428920673306, + 0.04657323115984125, + -0.20600079341202693, + -0.02262471196726254 + ], + [ + -0.06462729749183242, + 0.994551531092004, + -0.08179587044253939, + 0.04612417151140456 + ], + [ + 0.20106890651205817, + 0.09326406672391296, + 0.975127226925883, + 0.05506223384644235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9741159931355815, + 0.04968870893654277, + -0.22051998576478146, + -0.026001373378043754 + ], + [ + -0.06923426432579646, + 0.9942406830151223, + -0.0818051396972643, + 0.048397926737661044 + ], + [ + 0.2151851494893308, + 0.09495523388335533, + 0.9719459115595949, + 0.05881516945753569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9709082798509169, + 0.052523291400780964, + -0.23362023880084193, + -0.02855555092783787 + ], + [ + -0.07337454104661192, + 0.9939711392018832, + -0.08147116766015891, + 0.05036373732330408 + ], + [ + 0.2279326410217124, + 0.0962428090515822, + 0.9689086813847464, + 0.06017446936202345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9677347246044595, + 0.055567569507337156, + -0.24576767080675624, + -0.03344209035643038 + ], + [ + -0.07751149570608368, + 0.9937339712860049, + -0.08052802211374219, + 0.052592162935211934 + ], + [ + 0.23975293705841563, + 0.0969795830636162, + 0.9659779964578233, + 0.061364085181031536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9649477064560787, + 0.057887584377795065, + -0.2559784197545906, + -0.03747171296545325 + ], + [ + -0.08075962186594923, + 0.9935377073978582, + -0.07975404350048612, + 0.05520974070781844 + ], + [ + 0.2497074433836978, + 0.09763120174161635, + 0.9633869114562776, + 0.062324830472139686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9622066006155191, + 0.05988699936800542, + -0.2656539196748725, + -0.03969753617742092 + ], + [ + -0.08360929566969402, + 0.993370354152358, + -0.07889756123503962, + 0.056936784165795964 + ], + [ + 0.25916779006957014, + 0.09812689130873177, + 0.9608346214581049, + 0.061727388242916896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9594791903727414, + 0.06185556241844736, + -0.2749064798064361, + -0.041945318510393036 + ], + [ + -0.08639906581683324, + 0.9931965909144918, + -0.0780751767324961, + 0.058657986155445235 + ], + [ + 0.26820679459634766, + 0.09866317040177426, + 0.9582957237401319, + 0.061320795627002676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9568558389365258, + 0.0636660139450795, + -0.2835022789351476, + -0.04421620483907887 + ], + [ + -0.08895665435180099, + 0.9930365669641532, + -0.07723399716823524, + 0.06028066164280378 + ], + [ + 0.2766109490595257, + 0.0991212153900148, + 0.9558563529736017, + 0.061107446483099584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9543075278815936, + 0.06512981683632581, + -0.2916423309250364, + -0.04566147247982694 + ], + [ + -0.09112877556199812, + 0.9928998906328164, + -0.07645491119550499, + 0.061864791264548274 + ], + [ + 0.2845921441169675, + 0.09953850581663476, + 0.953467040524579, + 0.06034639015572235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9516976029954911, + 0.06658896971083125, + -0.2997291803703585, + -0.04724338200640883 + ], + [ + -0.0932982648893528, + 0.9927573688957702, + -0.07568513904185054, + 0.06349309349491936 + ], + [ + 0.29251855705454494, + 0.09999357787377192, + 0.9510174436690051, + 0.059625645221766055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9486856801153009, + 0.06848631066822004, + -0.3087152500205087, + -0.048725713765805 + ], + [ + -0.09595576456685, + 0.9925804521932371, + -0.07467621555930878, + 0.06528649562649333 + ], + [ + 0.30131042396598295, + 0.10046726419548382, + 0.9482185176606258, + 0.05903351765963623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9458095998718847, + 0.07019885962777135, + -0.3170430899690864, + -0.050141930297284094 + ], + [ + -0.09836646909036671, + 0.9924166393836096, + -0.0737105937653267, + 0.06696518535378629 + ], + [ + 0.3094644382621042, + 0.10090259650526116, + 0.9455423985573662, + 0.05863245187151979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9429898631359165, + 0.07180905867689114, + -0.32498242585537573, + -0.05171930777441376 + ], + [ + -0.10064124462871632, + 0.9922575987330049, + -0.07277497946543444, + 0.06862998283821752 + ], + [ + 0.3172403787390389, + 0.10133270374637367, + 0.9429158102656681, + 0.058204211925300155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9403011679460822, + 0.07343808491258812, + -0.3323259864103404, + -0.05340603846587254 + ], + [ + -0.1029178460646374, + 0.9920828632485948, + -0.07196880859015367, + 0.07034377876409678 + ], + [ + 0.32440966465358245, + 0.1018746294856677, + 0.9404147645302623, + 0.05796690848656701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9377207563032094, + 0.07496412614675088, + -0.3392051930457307, + -0.054770162302943994 + ], + [ + -0.10507409299384618, + 0.9919077937835176, + -0.07126263826884081, + 0.07203433345219554 + ], + [ + 0.33111813326916717, + 0.10246613305170206, + 0.9380093141316739, + 0.05730625903199473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9351268780162109, + 0.0762620437542429, + -0.3460084141954947, + -0.055784801585155565 + ], + [ + -0.10699463316352033, + 0.9917514309316081, + -0.07057795491023976, + 0.07375184454558581 + ], + [ + 0.3377719208073087, + 0.10302038598031975, + 0.9355730487709698, + 0.05602441200384048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9323063152401777, + 0.07764136635150479, + -0.35323753027439453, + -0.05638764796258542 + ], + [ + -0.10903114643450912, + 0.9915833684371612, + -0.06981856877643447, + 0.07518116616553638 + ], + [ + 0.3448436510513989, + 0.10360618548081241, + 0.9329247636651397, + 0.05462116055224088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9280124563657319, + 0.0796033520097074, + -0.3639453079500533, + -0.05673501919763043 + ], + [ + -0.1119665732743398, + 0.9913363242334117, + -0.06867152775779706, + 0.0766668197910845 + ], + [ + 0.3553257200080546, + 0.1044777421473426, + 0.928885371882102, + 0.05333973879692659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9215617564881727, + 0.08258575333554058, + -0.37934617742167276, + -0.05659194230614969 + ], + [ + -0.11632461716726492, + 0.990958611149262, + -0.06685517504288722, + 0.0788076409140534 + ], + [ + 0.3703950761272661, + 0.10573847140528882, + 0.9228363144380209, + 0.05295727324972075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9124181936464387, + 0.08675494583628077, + -0.3999582719183513, + -0.055801679109246397 + ], + [ + -0.12234893017530721, + 0.9904030858577498, + -0.06428426563634711, + 0.08142840112346446 + ], + [ + 0.39054292873886176, + 0.10758860021577855, + 0.9142761693906726, + 0.05307661464892806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9017284270367897, + 0.09135722142323274, + -0.42253958627279375, + -0.05460529121683936 + ], + [ + -0.12897527051896088, + 0.9897545852786478, + -0.06124737149015378, + 0.08369414034147385 + ], + [ + 0.41261510329642337, + 0.10972565339845766, + 0.9042726676826871, + 0.05383677511568518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8900536864860601, + 0.096076463354003, + -0.4456161446379174, + -0.05311479796700995 + ], + [ + -0.13568434133997573, + 0.9890668067190416, + -0.057763408501706484, + 0.08527893256009254 + ], + [ + 0.43519443319935897, + 0.11187566775659925, + 0.8933586291497406, + 0.05535698950097345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8772118104539368, + 0.10094598165310878, + -0.46937122663007064, + -0.05139353237669448 + ], + [ + -0.1425768145011251, + 0.9883145201128973, + -0.05390975144373802, + 0.0864712042742094 + ], + [ + 0.45844442582153694, + 0.11421172497648427, + 0.8813537259869375, + 0.0567778279424502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8640417272701509, + 0.10479245842174095, + -0.49239256106682017, + -0.04984183507467158 + ], + [ + -0.14919912248563189, + 0.9874568478283026, + -0.05165845067857061, + 0.0875856420958495 + ], + [ + 0.4808029902002815, + 0.11809959498203451, + 0.8688388632419408, + 0.05730825289750178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8499958488995134, + 0.10649879244777419, + -0.515911876254813, + -0.0489756305025099 + ], + [ + -0.15589380462563432, + 0.9863381841627873, + -0.05323634230297978, + 0.08875001825811127 + ], + [ + 0.5031939770435853, + 0.12567813520903864, + 0.8549858640921723, + 0.05774609589137021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8370139677405082, + 0.10680416708722706, + -0.5366567689874927, + -0.04860535264714547 + ], + [ + -0.16196972717869523, + 0.9851738002760018, + -0.05655431661155126, + 0.08996498032853043 + ], + [ + 0.5226599518663645, + 0.13425890340139174, + 0.8419032732876772, + 0.058136338850949175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8245846511402861, + 0.10584772438122682, + -0.5557485153800853, + -0.048383933911149944 + ], + [ + -0.16732213954415115, + 0.9840229430631875, + -0.06084528859024988, + 0.09132556617742182 + ], + [ + 0.5404289543707116, + 0.14316112170760267, + 0.8291208829291424, + 0.05824742697143581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8132914708381224, + 0.10365112176651989, + -0.5725499353056519, + -0.04889106273624318 + ], + [ + -0.17179051930777264, + 0.9829146012148032, + -0.06608255590328399, + 0.092839201546799 + ], + [ + 0.5559181602879418, + 0.1521030298031138, + 0.8172023417653572, + 0.05872956597032168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8026257037202279, + 0.10084431294775875, + -0.5878965931808958, + -0.04989406020502736 + ], + [ + -0.1758179853232007, + 0.9818138730697672, + -0.07162090954905745, + 0.09457181610689508 + ], + [ + 0.5699824696992882, + 0.16084757751933343, + 0.8057592947286816, + 0.05986336504287984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.792144373088976, + 0.09754352597170499, + -0.602488632859144, + -0.050786858262301365 + ], + [ + -0.17949594970249058, + 0.9807234328935452, + -0.07721885918544008, + 0.09626124763586577 + ], + [ + 0.5833425205004982, + 0.16931275414010358, + 0.7943832167547465, + 0.06113738618540297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.7818076629090073, + 0.0934590378596016, + -0.6164756170840122, + -0.051349880664166625 + ], + [ + -0.18269343404238894, + 0.9796454904534955, + -0.08317344643532298, + 0.09769710396614631 + ], + [ + 0.596154247971576, + 0.17765168526216635, + 0.7829687039396638, + 0.06205082051657292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7714232650893936, + 0.08912388581032574, + -0.6300500607546095, + -0.051996317725743375 + ], + [ + -0.185712513534981, + 0.9785688661626963, + -0.08895974647881044, + 0.09905204904467671 + ], + [ + 0.6086189352914831, + 0.18563379852581463, + 0.7714422106998934, + 0.06253826636492239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.7597598583530477, + 0.08472090065225096, + -0.6446606290351757, + -0.052918119966410694 + ], + [ + -0.18905114391112865, + 0.9774238073173399, + -0.09435234960068362, + 0.10047259782247032 + ], + [ + 0.6221130304223268, + 0.19355895712146032, + 0.7586239565798077, + 0.06286315020558339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7486314417895973, + 0.08177012030171617, + -0.6579244727093468, + -0.054112544730968715 + ], + [ + -0.19214164624120023, + 0.97653543321091, + -0.09726322770349614, + 0.10209896104057499 + ], + [ + 0.6345333341470333, + 0.19922900167752566, + 0.7467765748514251, + 0.06312659544460553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7363220386070483, + 0.0796220639440268, + -0.6719301916083648, + -0.05569967015908542 + ], + [ + -0.19546843339748668, + 0.9757431096213643, + -0.09857725686771036, + 0.10378077988652801 + ], + [ + 0.6477823299586775, + 0.20392574864328328, + 0.734024755736197, + 0.06298049753837891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7220104735863424, + 0.07819065549234, + -0.6874497053787308, + -0.05725913442456805 + ], + [ + -0.19932992222203172, + 0.9749737112212594, + -0.09845732341681554, + 0.10526403853886696 + ], + [ + 0.6625469478750804, + 0.2081165150129197, + 0.7195269682508731, + 0.06255518084833124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7057240001582026, + 0.0778121560881054, + -0.7042008974473304, + -0.058877113984656726 + ], + [ + -0.20321142143888363, + 0.9744192489078161, + -0.09598044360553959, + 0.10665438564264657 + ], + [ + 0.6787184643115978, + 0.2108373679470697, + 0.7034833690142634, + 0.062215421465745144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.6882946407698312, + 0.07805923904029748, + -0.7212192750391371, + -0.06085657338200133 + ], + [ + -0.20709454977286706, + 0.9739641743915969, + -0.09222599663906152, + 0.1082472672772473 + ], + [ + 0.695242644651421, + 0.21283924027806622, + 0.6865399645002126, + 0.06229608735317645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.6705356752756427, + 0.07812847552732594, + -0.7377518888450332, + -0.06313868502759513 + ], + [ + -0.21035703847587806, + 0.9736485934364827, + -0.08808139907390922, + 0.1096715740993617 + ], + [ + 0.7114294234471161, + 0.2142530228746734, + 0.6693009918136749, + 0.06268705165653819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.651385616632028, + 0.07819178553822545, + -0.7547071108180029, + -0.06622831488991637 + ], + [ + -0.21349810339908912, + 0.973375171694388, + -0.08342262866820375, + 0.11101025651375465 + ], + [ + 0.7280901992815897, + 0.21546883719755233, + 0.6507363843422543, + 0.06345463651747225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.6342635373034018, + 0.07838319200993871, + -0.7691331747218485, + -0.06945879409206429 + ], + [ + -0.21637384932553705, + 0.9730876767102012, + -0.07926367871095259, + 0.11245831714691368 + ], + [ + 0.7422210739230101, + 0.21669436689742633, + 0.6341541049141743, + 0.0641875947790646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.6176590517835887, + 0.07852033735333346, + -0.7825163591719453, + -0.07307155064063156 + ], + [ + -0.21915255731615246, + 0.9727750972834537, + -0.07537086125922782, + 0.11390165090751536 + ], + [ + 0.7552942819666972, + 0.21804395595174375, + 0.6180512769190963, + 0.06473546675176226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.6023207269928791, + 0.07848841828194716, + -0.7943861214990909, + -0.07748634049595714 + ], + [ + -0.2217195199456856, + 0.972446388863477, + -0.07203107150000398, + 0.11545264354997262 + ], + [ + 0.7668443103458648, + 0.21951671686225188, + 0.6031270303246188, + 0.06504471638813086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.5876131676410352, + 0.07868081857285057, + -0.8053074530907901, + -0.0830637878887152 + ], + [ + -0.22427312178471276, + 0.972103951797862, + -0.06866930714605667, + 0.11676404486101294 + ], + [ + 0.7774396002647462, + 0.22095980559297712, + 0.5888670751982197, + 0.06475394769770683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.5727661150383547, + 0.07916196137043731, + -0.8158874685493432, + -0.0896079236877084 + ], + [ + -0.2264549480458541, + 0.9718718218284048, + -0.06467857791794006, + 0.11747605084062761 + ], + [ + 0.7878179573793808, + 0.22180745210186897, + 0.5745818655532537, + 0.0640205038542156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.5578561304886633, + 0.08009215964634335, + -0.8260640311981874, + -0.09711975461533665 + ], + [ + -0.22874221911285436, + 0.9716195924776967, + -0.060269102438989516, + 0.11766008084355054 + ], + [ + 0.7977929147789807, + 0.22257720790022312, + 0.5603444044976256, + 0.06379192155578522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.5419931242033046, + 0.08103820698857435, + -0.8364665338938659, + -0.10463149691753523 + ], + [ + -0.23086963766872637, + 0.971401523903247, + -0.05548233738010924, + 0.11749942340880407 + ], + [ + 0.8080486765777493, + 0.22318577097683948, + 0.5452022082809473, + 0.06440470970650271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.5284443188922314, + 0.08162125979442077, + -0.8450352488388266, + -0.111418782162125 + ], + [ + -0.23222125857126819, + 0.971303796493292, + -0.05140254843190466, + 0.11787648258609086 + ], + [ + 0.81659040460815, + 0.22339853371785984, + 0.532234164850969, + 0.06554832578741772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.5144713229099156, + 0.08172612812674995, + -0.853604181037518, + -0.11954764494357713 + ], + [ + -0.23316642354941108, + 0.9712741740934119, + -0.047538381002487404, + 0.11928113986590308 + ], + [ + 0.8251985681231507, + 0.22348896778268734, + 0.5187484982599284, + 0.06803365630588241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.5007035891207833, + 0.08217141956827845, + -0.8617097966529683, + -0.13023996449021624 + ], + [ + -0.23418347338869527, + 0.9712205343700806, + -0.0434600323228328, + 0.12087971060575958 + ], + [ + 0.8333390766267788, + 0.22355878740060603, + 0.5055367958346835, + 0.07174819495004886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.48871781968446226, + 0.08336864224158813, + -0.8684495162147652, + -0.1429186785077816 + ], + [ + -0.2355982352398393, + 0.9710530076075088, + -0.039364044104802876, + 0.12175431078644172 + ], + [ + 0.8400287877654782, + 0.22384308322395313, + 0.4942124136624409, + 0.07546168512090974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.47797861038168166, + 0.08490119466572023, + -0.8742586774873501, + -0.15597039203718743 + ], + [ + -0.23679016318097856, + 0.9709240247806902, + -0.03517039556774741, + 0.12079362132453628 + ], + [ + 0.8458527452448933, + 0.22382655170466204, + 0.48418468389001956, + 0.07889381304428261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.4685858035474113, + 0.08594237291551758, + -0.8792276458639577, + -0.17032208675449131 + ], + [ + -0.23783731770354877, + 0.9707822024465933, + -0.03186417613124125, + 0.11954369784947771 + ], + [ + 0.8508000675960293, + 0.2240442455199233, + 0.47533506185426755, + 0.08241227685958105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.4605843154685725, + 0.08663316612467262, + -0.8833780520657968, + -0.1851367637926173 + ], + [ + -0.23887527892359753, + 0.970606317120197, + -0.02935946671077927, + 0.11909703393884359 + ], + [ + 0.8548688141835097, + 0.22453968845970806, + 0.46774056788234364, + 0.08522145827132455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.4527093981574057, + 0.08701141879736583, + -0.8874025094729162, + -0.2010284836404022 + ], + [ + -0.23959178899439515, + 0.9704962843522105, + -0.027069109793614224, + 0.11905577563133385 + ], + [ + 0.8588655165195683, + 0.22486879520605552, + 0.4602000102956891, + 0.08740455213467978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.4454706604550713, + 0.08709119436947484, + -0.8910505117764207, + -0.2163818207170174 + ], + [ + -0.24025650351351174, + 0.970380496914969, + -0.02526863127516009, + 0.11840323950288945 + ], + [ + 0.862457363116105, + 0.22533711427626923, + 0.45320026669945707, + 0.08926039463217697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.4384359550495626, + 0.08698739623249345, + -0.8945429594024367, + -0.233375590750893 + ], + [ + -0.24062660910135153, + 0.9703313084226308, + -0.02357937419039753, + 0.11687187107449432 + ], + [ + 0.8659519318716044, + 0.22558888445913422, + 0.4463596161127484, + 0.09059697889213873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.4306123260361118, + 0.08759779231142208, + -0.8982759328001249, + -0.2510473392207244 + ], + [ + -0.2414480408681885, + 0.9701835799584475, + -0.021134444395923768, + 0.11531050607118917 + ], + [ + 0.8696412296037275, + 0.22598771639444426, + 0.4389233233859205, + 0.0924846537967669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.42279227039727735, + 0.08846168903500765, + -0.9018986781592429, + -0.2684774560959971 + ], + [ + -0.2422293495934235, + 0.9700443997779484, + -0.018406647032717646, + 0.11437969320597684 + ], + [ + 0.8732534788295223, + 0.22624851829904574, + 0.4315552915671685, + 0.09506009868912585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.4168472848742062, + 0.08896888813481378, + -0.9046120041415864, + -0.2864583729747446 + ], + [ + -0.2425503857310482, + 0.9700007230774521, + -0.016367883520474566, + 0.11311231172129296 + ], + [ + 0.8760180657239451, + 0.22623689834612543, + 0.42592160587601424, + 0.09801346320317522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.41222642767358153, + 0.08920159369342354, + -0.906704167857428, + -0.3053456634652225 + ], + [ + -0.24249884759605086, + 0.9700385243718583, + -0.014817899616853078, + 0.11132708233692615 + ], + [ + 0.8782161927692206, + 0.22598304564064364, + 0.4215067992819499, + 0.10166526379985973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.406591581116493, + 0.08949915093120092, + -0.9092156994617858, + -0.32660027059119157 + ], + [ + -0.24232371233431438, + 0.9701100705840102, + -0.012871262253696572, + 0.11004084677045198 + ], + [ + 0.8808873393378446, + 0.22555787047691572, + 0.416126353960203, + 0.10612489865896886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.4007650360507227, + 0.08988884837339443, + -0.9117605940253, + -0.34576951233920883 + ], + [ + -0.24221231730305465, + 0.9701629579158759, + -0.010817968136523914, + 0.1091611200390977 + ], + [ + 0.8835839401131889, + 0.22517510969470714, + 0.4105795790684546, + 0.11022858514753926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.3949738072123017, + 0.09023559643379729, + -0.9142500909228595, + -0.3642460196267635 + ], + [ + -0.24286750040119093, + 0.9700159969184025, + -0.009183842947023013, + 0.10775005558471493 + ], + [ + 0.8860085038333985, + 0.2256690117376219, + 0.40504620511278455, + 0.11433273173814147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.38949517597643596, + 0.09015235487332017, + -0.9166057281088089, + -0.3832954028848146 + ], + [ + -0.2430887036089548, + 0.9699719329891507, + -0.007895023179689584, + 0.10631948454081484 + ], + [ + 0.8883700749512011, + 0.22589157160922374, + 0.39971440780526296, + 0.11803458404121968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_111/boom_up/transforms.json b/spatialvid_eval/camera_controls/scene_111/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..507eda690ae5ba1462130544ecd0f8dc47c0481d --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_111/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": [ + [ + 0.9999999524119574, + 0.00026836285620802865, + 0.00015217575514159427, + -0.0007659227459198677 + ], + [ + -0.00026837067044208535, + 0.9999999626711056, + 5.133196482756385e-05, + 0.00035253993877736 + ], + [ + -0.00015216197386834566, + -5.1372801894208495e-05, + 0.9999999871037843, + 0.001043040173354239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999937256559763, + 0.003707498036609733, + -0.010570591376253297, + -0.00038564078518489944 + ], + [ + -0.003825549926725112, + 0.9999302991155894, + -0.011169694640691865, + 0.0029087928112567505 + ], + [ + 0.01052844297573573, + 0.011209432140688574, + 0.9998817432674677, + 0.0007523335018980953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997471964524856, + 0.006553552964454761, + -0.02150800150961087, + -0.0004169846233946249 + ], + [ + -0.0070471794801583105, + 0.9997116412299707, + -0.0229558630997176, + 0.006038315093648761 + ], + [ + 0.021351357024081, + 0.023101630522987474, + 0.9995050946445494, + 0.0025910639399596654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9994275594546429, + 0.009464818579377806, + -0.0324803111406838, + -0.0001681957247112793 + ], + [ + -0.010590532881299838, + 0.9993429364514755, + -0.03466317899201139, + 0.008881029021920499 + ], + [ + 0.032130888811644644, + 0.03498732018605566, + 0.9988711095083149, + 0.002903369819090542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.998889297301687, + 0.012345580757636384, + -0.045472611228066145, + 7.266015466460545e-05 + ], + [ + -0.014520781307830946, + 0.9987504177589193, + -0.047819974242930385, + 0.012505619776336917 + ], + [ + 0.0448254241067758, + 0.048427158311644264, + 0.9978203704532729, + 0.004311965382391418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9981641006257813, + 0.014854709177628869, + -0.0587176790853776, + -5.438908983649389e-06 + ], + [ + -0.01836756390974503, + 0.9980445770787306, + -0.05974658785034814, + 0.015472399476749683 + ], + [ + 0.057715343002937736, + 0.060715399850334556, + 0.9964851124844102, + 0.006060242579763882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9971648555320675, + 0.017046675114015825, + -0.07329162134424676, + -0.00021633926683457138 + ], + [ + -0.022316982512577948, + 0.9971763887538623, + -0.07170217572249614, + 0.018514201253769368 + ], + [ + 0.07186239060346199, + 0.07313453752751582, + 0.9947296799821508, + 0.008652620313839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9958578201923345, + 0.01930401887250791, + -0.0888513186010295, + 0.0002964389443100594 + ], + [ + -0.02665882957703136, + 0.9962469155386282, + -0.08234919602128603, + 0.020822193079553186 + ], + [ + 0.08692818166368484, + 0.08437676300462853, + 0.992634904230909, + 0.010854566418522945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9943310555511653, + 0.02188079441196305, + -0.10405278853739013, + 0.0013793504865021286 + ], + [ + -0.03089146417536892, + 0.9958342116962522, + -0.08579009416247316, + 0.021872484328478582 + ], + [ + 0.10174217123497668, + 0.08851809787385581, + 0.9908648126466028, + 0.015479271408197007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9928639213323563, + 0.02475535192202334, + -0.1166550739048822, + 0.0009372734394226263 + ], + [ + -0.03484667608280733, + 0.9957477847288589, + -0.08527636468301221, + 0.020571537048456226 + ], + [ + 0.11404798499980898, + 0.08873286740992294, + 0.9895046919336444, + 0.020046966192602222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9914184381988419, + 0.027912542448994312, + -0.12771206040700553, + -0.00234872517185184 + ], + [ + -0.03891183074840468, + 0.9956669670793549, + -0.08445803747901516, + 0.018545200065843575 + ], + [ + 0.12480124128860677, + 0.08870276568987188, + 0.9882087175955244, + 0.026677587698528016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9895987612538392, + 0.03125403214273323, + -0.1404189346195457, + -0.006014358982044066 + ], + [ + -0.0433758443189413, + 0.9955117773549533, + -0.08411205191410465, + 0.016471623763722992 + ], + [ + 0.1371598624032782, + 0.08932797222820557, + 0.9865128917166318, + 0.03226312618648758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9877627586443815, + 0.03434301673658921, + -0.15213576120252523, + -0.010717787194553859 + ], + [ + -0.047548349006671015, + 0.9953281723792834, + -0.08402966009008617, + 0.01340569409535959 + ], + [ + 0.1485391771283968, + 0.09023517312858642, + 0.9847810550515647, + 0.03698985893989588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9856725544610684, + 0.03734259096956981, + -0.16448448644742003, + -0.014995107077372085 + ], + [ + -0.05169138568559081, + 0.995137927620062, + -0.08383618346484834, + 0.010536945069548848 + ], + [ + 0.16055409066135812, + 0.09113745614031377, + 0.9828104334306677, + 0.042204040480761366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9832596137627343, + 0.04052796825077601, + -0.17764575911803446, + -0.018293747064305123 + ], + [ + -0.056031183910205784, + 0.9949614458367273, + -0.0831398083237508, + 0.008718671694413573 + ], + [ + 0.17338119382672193, + 0.09170171802072967, + 0.9805762369847983, + 0.04652194762576616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.980518919520942, + 0.04358840469365724, + -0.1915272811840303, + -0.02152439687803346 + ], + [ + -0.06027747473758871, + 0.9947920775718307, + -0.0821909267473009, + 0.007597493341213294 + ], + [ + 0.18694725058353764, + 0.09213453954181779, + 0.9780398520114981, + 0.049719633303154875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9774428920673306, + 0.04657323115984125, + -0.20600079341202693, + -0.024487641213656187 + ], + [ + -0.06462729749183242, + 0.994551531092004, + -0.08179587044253939, + 0.006342110267724396 + ], + [ + 0.20106890651205817, + 0.09326406672391296, + 0.975127226925883, + 0.05133167117748583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9741159931355815, + 0.04968870893654277, + -0.22051998576478146, + -0.028113143507846824 + ], + [ + -0.06923426432579646, + 0.9942406830151223, + -0.0818051396972643, + 0.0061426977095183355 + ], + [ + 0.2151851494893308, + 0.09495523388335533, + 0.9719459115595949, + 0.05477957201749309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9709082798509169, + 0.052523291400780964, + -0.23362023880084193, + -0.030919099040873015 + ], + [ + -0.07337454104661192, + 0.9939711392018832, + -0.08147116766015891, + 0.005635036059219327 + ], + [ + 0.2279326410217124, + 0.0962428090515822, + 0.9689086813847464, + 0.055843542954702244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9677347246044595, + 0.055567569507337156, + -0.24576767080675624, + -0.03608154990802889 + ], + [ + -0.07751149570608368, + 0.9937339712860049, + -0.08052802211374219, + 0.005389799299126686 + ], + [ + 0.23975293705841563, + 0.0969795830636162, + 0.9659779964578233, + 0.05675755498550976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9649477064560787, + 0.057887584377795065, + -0.2559784197545906, + -0.040366092184343005 + ], + [ + -0.08075962186594923, + 0.9935377073978582, + -0.07975404350048612, + 0.005532855337925531 + ], + [ + 0.2497074433836978, + 0.09763120174161635, + 0.9633869114562776, + 0.057443270385058864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9622066006155191, + 0.05988699936800542, + -0.2656539196748725, + -0.04284160364424121 + ], + [ + -0.08360929566969402, + 0.993370354152358, + -0.07889756123503962, + 0.004784840572797173 + ], + [ + 0.25916779006957014, + 0.09812689130873177, + 0.9608346214581049, + 0.056575726449208476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9594791903727414, + 0.06185556241844736, + -0.2749064798064361, + -0.04534737444340765 + ], + [ + -0.08639906581683324, + 0.9931965909144918, + -0.0780751767324961, + 0.004032173655148182 + ], + [ + 0.26820679459634766, + 0.09866317040177426, + 0.9582957237401319, + 0.05589432125490509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9568558389365258, + 0.0636660139450795, + -0.2835022789351476, + -0.047877000640920944 + ], + [ + -0.08895665435180099, + 0.9930365669641532, + -0.07723399716823524, + 0.003181059042364969 + ], + [ + 0.2766109490595257, + 0.0991212153900148, + 0.9558563529736017, + 0.05540797659817373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9543075278815936, + 0.06512981683632581, + -0.2916423309250364, + -0.04956926149000648 + ], + [ + -0.09112877556199812, + 0.9928998906328164, + -0.07645491119550499, + 0.002290797826579278 + ], + [ + 0.2845921441169675, + 0.09953850581663476, + 0.953467040524579, + 0.05437407980672426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9516976029954911, + 0.06658896971083125, + -0.2997291803703585, + -0.05140519261333579 + ], + [ + -0.0932982648893528, + 0.9927573688957702, + -0.07568513904185054, + 0.0014457579389337179 + ], + [ + 0.29251855705454494, + 0.09999357787377192, + 0.9510174436690051, + 0.05337604660465531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9486856801153009, + 0.06848631066822004, + -0.3087152500205087, + -0.053177323959239305 + ], + [ + -0.09595576456685, + 0.9925804521932371, + -0.07467621555930878, + 0.0007687662339329188 + ], + [ + 0.30131042396598295, + 0.10046726419548382, + 0.9482185176606258, + 0.052503145486929775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9458095998718847, + 0.07019885962777135, + -0.3170430899690864, + -0.05488035332215866 + ], + [ + -0.09836646909036671, + 0.9924166393836096, + -0.0737105937653267, + -2.2937804607367496e-05 + ], + [ + 0.3094644382621042, + 0.10090259650526116, + 0.9455423985573662, + 0.05182152660741465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9429898631359165, + 0.07180905867689114, + -0.32498242585537573, + -0.056745941881796144 + ], + [ + -0.10064124462871632, + 0.9922575987330049, + -0.07277497946543444, + -0.0008280490730928347 + ], + [ + 0.3172403787390389, + 0.10133270374637367, + 0.9429158102656681, + 0.051110922663054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9403011679460822, + 0.07343808491258812, + -0.3323259864103404, + -0.05873029962203517 + ], + [ + -0.1029178460646374, + 0.9920828632485948, + -0.07196880859015367, + -0.0015822288214263416 + ], + [ + 0.32440966465358245, + 0.1018746294856677, + 0.9404147645302623, + 0.050580997848856106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9377207563032094, + 0.07496412614675088, + -0.3392051930457307, + -0.060392471763950316 + ], + [ + -0.10507409299384618, + 0.9919077937835176, + -0.07126263826884081, + -0.002358751081568286 + ], + [ + 0.33111813326916717, + 0.10246613305170206, + 0.9380093141316739, + 0.04962129905311708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9351268780162109, + 0.0762620437542429, + -0.3460084141954947, + -0.06169510997610939 + ], + [ + -0.10699463316352033, + 0.9917514309316081, + -0.07057795491023976, + -0.003108891351613831 + ], + [ + 0.3377719208073087, + 0.10302038598031975, + 0.9355730487709698, + 0.04804033209036569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9323063152401777, + 0.07764136635150479, + -0.35323753027439453, + -0.0625989572707058 + ], + [ + -0.10903114643450912, + 0.9915833684371612, + -0.06981856877643447, + -0.004145503309436534 + ], + [ + 0.3448436510513989, + 0.10360618548081241, + 0.9329247636651397, + 0.04633266571377588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9280124563657319, + 0.0796033520097074, + -0.3639453079500533, + -0.0633022957384313 + ], + [ + -0.1119665732743398, + 0.9913363242334117, + -0.06867152775779706, + -0.005118426958171975 + ], + [ + 0.3553257200080546, + 0.1044777421473426, + 0.928885371882102, + 0.04472032506977083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9215617564881727, + 0.08258575333554058, + -0.37934617742167276, + -0.06361173133967064 + ], + [ + -0.11632461716726492, + 0.990958611149262, + -0.06685517504288722, + -0.005423841033633879 + ], + [ + 0.3703950761272661, + 0.10573847140528882, + 0.9228363144380209, + 0.0439695031802712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9124181936464387, + 0.08675494583628077, + -0.3999582719183513, + -0.06339273686992096 + ], + [ + -0.12234893017530721, + 0.9904030858577498, + -0.06428426563634711, + -0.005231868889088664 + ], + [ + 0.39054292873886176, + 0.10758860021577855, + 0.9142761693906726, + 0.043662612130047435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9017284270367897, + 0.09135722142323274, + -0.42253958627279375, + -0.0628274411449303 + ], + [ + -0.12897527051896088, + 0.9897545852786478, + -0.06124737149015378, + -0.0053837723336044654 + ], + [ + 0.41261510329642337, + 0.10972565339845766, + 0.9042726676826871, + 0.043961466309823984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8900536864860601, + 0.096076463354003, + -0.4456161446379174, + -0.06200187082725522 + ], + [ + -0.13568434133997573, + 0.9890668067190416, + -0.057763408501706484, + -0.006209747061418816 + ], + [ + 0.43519443319935897, + 0.11187566775659925, + 0.8933586291497406, + 0.04500849023348802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8772118104539368, + 0.10094598165310878, + -0.46937122663007064, + -0.06098340063373981 + ], + [ + -0.1425768145011251, + 0.9883145201128973, + -0.05390975144373802, + -0.007418675136515854 + ], + [ + 0.45844442582153694, + 0.11421172497648427, + 0.8813537259869375, + 0.04592771406968419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8640417272701509, + 0.10479245842174095, + -0.49239256106682017, + -0.06005909977079133 + ], + [ + -0.14919912248563189, + 0.9874568478283026, + -0.05165845067857061, + -0.008691400567410024 + ], + [ + 0.4808029902002815, + 0.11809959498203451, + 0.8688388632419408, + 0.04579354238675341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8499958488995134, + 0.10649879244777419, + -0.515911876254813, + -0.05962550974728732 + ], + [ + -0.15589380462563432, + 0.9863381841627873, + -0.05323634230297978, + -0.009883800158167463 + ], + [ + 0.5031939770435853, + 0.12567813520903864, + 0.8549858640921723, + 0.04517828237046635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8370139677405082, + 0.10680416708722706, + -0.5366567689874927, + -0.05955277977358624 + ], + [ + -0.16196972717869523, + 0.9851738002760018, + -0.05655431661155126, + -0.011015334199759773 + ], + [ + 0.5226599518663645, + 0.13425890340139174, + 0.8419032732876772, + 0.04437480125230652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8245846511402861, + 0.10584772438122682, + -0.5557485153800853, + -0.059497944971178766 + ], + [ + -0.16732213954415115, + 0.9840229430631875, + -0.06084528859024988, + -0.011996842844212867 + ], + [ + 0.5404289543707116, + 0.14316112170760267, + 0.8291208829291424, + 0.04321550919213753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8132914708381224, + 0.10365112176651989, + -0.5725499353056519, + -0.06003355832614407 + ], + [ + -0.17179051930777264, + 0.9829146012148032, + -0.06608255590328399, + -0.012824118083792337 + ], + [ + 0.5559181602879418, + 0.1521030298031138, + 0.8172023417653572, + 0.04237849026648695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8026257037202279, + 0.10084431294775875, + -0.5878965931808958, + -0.06098693462928083 + ], + [ + -0.1758179853232007, + 0.9818138730697672, + -0.07162090954905745, + -0.013427709930779325 + ], + [ + 0.5699824696992882, + 0.16084757751933343, + 0.8057592947286816, + 0.04217013151575316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.792144373088976, + 0.09754352597170499, + -0.602488632859144, + -0.06176050493411818 + ], + [ + -0.17949594970249058, + 0.9807234328935452, + -0.07721885918544008, + -0.01407013856465806 + ], + [ + 0.5833425205004982, + 0.16931275414010358, + 0.7943832167547465, + 0.04208970134464132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.7818076629090073, + 0.0934590378596016, + -0.6164756170840122, + -0.062097670018020815 + ], + [ + -0.18269343404238894, + 0.9796454904534955, + -0.08317344643532298, + -0.014962127436005689 + ], + [ + 0.596154247971576, + 0.17765168526216635, + 0.7829687039396638, + 0.04162087671142379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7714232650893936, + 0.08912388581032574, + -0.6300500607546095, + -0.06246837430845665 + ], + [ + -0.185712513534981, + 0.9785688661626963, + -0.08895974647881044, + -0.015929792729440118 + ], + [ + 0.6086189352914831, + 0.18563379852581463, + 0.7714422106998934, + 0.040726295038139175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.7597598583530477, + 0.08472090065225096, + -0.6446606290351757, + -0.06308462804468082 + ], + [ + -0.18905114391112865, + 0.9774238073173399, + -0.09435234960068362, + -0.01681825905561049 + ], + [ + 0.6221130304223268, + 0.19355895712146032, + 0.7586239565798077, + 0.039636075351008146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7486314417895973, + 0.08177012030171617, + -0.6579244727093468, + -0.06412938446792894 + ], + [ + -0.19214164624120023, + 0.97653543321091, + -0.09726322770349614, + -0.01752662952776149 + ], + [ + 0.6345333341470333, + 0.19922900167752566, + 0.7467765748514251, + 0.038721042739108626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7363220386070483, + 0.0796220639440268, + -0.6719301916083648, + -0.06565242815208877 + ], + [ + -0.19546843339748668, + 0.9757431096213643, + -0.09857725686771036, + -0.018187108816142543 + ], + [ + 0.6477823299586775, + 0.20392574864328328, + 0.734024755736197, + 0.0374897789579685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7220104735863424, + 0.07819065549234, + -0.6874497053787308, + -0.0672284429998414 + ], + [ + -0.19932992222203172, + 0.9749737112212594, + -0.09845732341681554, + -0.01904510964184366 + ], + [ + 0.6625469478750804, + 0.2081165150129197, + 0.7195269682508731, + 0.036020325184183966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7057240001582026, + 0.0778121560881054, + -0.7042008974473304, + -0.06899269427611043 + ], + [ + -0.20321142143888363, + 0.9744192489078161, + -0.09598044360553959, + -0.020020116715369525 + ], + [ + 0.6787184643115978, + 0.2108373679470697, + 0.7034833690142634, + 0.034806563632626075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.6882946407698312, + 0.07805923904029748, + -0.7212192750391371, + -0.07119942255484075 + ], + [ + -0.20709454977286706, + 0.9739641743915969, + -0.09222599663906152, + -0.02080298582963931 + ], + [ + 0.695242644651421, + 0.21283924027806622, + 0.6865399645002126, + 0.03409488801633267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.6705356752756427, + 0.07812847552732594, + -0.7377518888450332, + -0.07368602922378413 + ], + [ + -0.21035703847587806, + 0.9736485934364827, + -0.08808139907390922, + -0.021770986014563468 + ], + [ + 0.7114294234471161, + 0.2142530228746734, + 0.6693009918136749, + 0.03376289356845728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.651385616632028, + 0.07819178553822545, + -0.7547071108180029, + -0.07697968540142239 + ], + [ + -0.21349810339908912, + 0.973375171694388, + -0.08342262866820375, + -0.02282882959422372 + ], + [ + 0.7280901992815897, + 0.21546883719755233, + 0.6507363843422543, + 0.033827671402808804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.6342635373034018, + 0.07838319200993871, + -0.7691331747218485, + -0.0804324409734557 + ], + [ + -0.21637384932553705, + 0.9730876767102012, + -0.07926367871095259, + -0.02377395759251453 + ], + [ + 0.7422210739230101, + 0.21669436689742633, + 0.6341541049141743, + 0.03385038341342491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.6176590517835887, + 0.07852033735333346, + -0.7825163591719453, + -0.08426069871348157 + ], + [ + -0.21915255731615246, + 0.9727750972834537, + -0.07537086125922782, + -0.024718800455376805 + ], + [ + 0.7552942819666972, + 0.21804395595174375, + 0.6180512769190963, + 0.03366420302863876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.6023207269928791, + 0.07848841828194716, + -0.7943861214990909, + -0.08886716114683947 + ], + [ + -0.2217195199456856, + 0.972446388863477, + -0.07203107150000398, + -0.025552082835231554 + ], + [ + 0.7668443103458648, + 0.21951671686225188, + 0.6031270303246188, + 0.03321479244310433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.5876131676410352, + 0.07868081857285057, + -0.8053074530907901, + -0.09466920862821067 + ], + [ + -0.22427312178471276, + 0.972103951797862, + -0.06866930714605667, + -0.02662128802917174 + ], + [ + 0.7774396002647462, + 0.22095980559297712, + 0.5888670751982197, + 0.032162376372742704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.5727661150383547, + 0.07916196137043731, + -0.8158874685493432, + -0.101482217893274 + ], + [ + -0.2264549480458541, + 0.9718718218284048, + -0.06467857791794006, + -0.028304722433633148 + ], + [ + 0.7878179573793808, + 0.22180745210186897, + 0.5745818655532537, + 0.030749386038935237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.5578561304886633, + 0.08009215964634335, + -0.8260640311981874, + -0.10933380896140402 + ], + [ + -0.22874221911285436, + 0.9716195924776967, + -0.060269102438989516, + -0.030511907009298227 + ], + [ + 0.7977929147789807, + 0.22257720790022312, + 0.5603444044976256, + 0.02984889735100119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.5419931242033046, + 0.08103820698857435, + -0.8364665338938659, + -0.11719241900076427 + ], + [ + -0.23086963766872637, + 0.971401523903247, + -0.05548233738010924, + -0.03306781279619925 + ], + [ + 0.8080486765777493, + 0.22318577097683948, + 0.5452022082809473, + 0.029810915205092586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.5284443188922314, + 0.08162125979442077, + -0.8450352488388266, + -0.12427413057974626 + ], + [ + -0.23222125857126819, + 0.971303796493292, + -0.05140254843190466, + -0.03510386536160266 + ], + [ + 0.81659040460815, + 0.22339853371785984, + 0.532234164850969, + 0.030363056726854788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.5144713229099156, + 0.08172612812674995, + -0.853604181037518, + -0.13262382544385712 + ], + [ + -0.23316642354941108, + 0.9712741740934119, + -0.047538381002487404, + -0.03612272798904285 + ], + [ + 0.8251985681231507, + 0.22348896778268734, + 0.5187484982599284, + 0.03227542146065243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.5007035891207833, + 0.08217141956827845, + -0.8617097966529683, + -0.14359282017006147 + ], + [ + -0.23418347338869527, + 0.9712205343700806, + -0.0434600323228328, + -0.03694362622937852 + ], + [ + 0.8333390766267788, + 0.22355878740060603, + 0.5055367958346835, + 0.035419891997450374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.48871781968446226, + 0.08336864224158813, + -0.8684495162147652, + -0.1566745044776436 + ], + [ + -0.2355982352398393, + 0.9710530076075088, + -0.039364044104802876, + -0.03846943546879727 + ], + [ + 0.8400287877654782, + 0.22384308322395313, + 0.4942124136624409, + 0.03852757638895747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.47797861038168166, + 0.08490119466572023, + -0.8742586774873501, + -0.17019134214369558 + ], + [ + -0.23679016318097856, + 0.9709240247806902, + -0.03517039556774741, + -0.04183615282622936 + ], + [ + 0.8458527452448933, + 0.22382655170466204, + 0.48418468389001956, + 0.04140286563375173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.4685858035474113, + 0.08594237291551758, + -0.8792276458639577, + -0.18493229015012932 + ], + [ + -0.23783731770354877, + 0.9707822024465933, + -0.03186417613124125, + -0.045489276566443186 + ], + [ + 0.8508000675960293, + 0.2240442455199233, + 0.47533506185426755, + 0.044324755121194076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.4605843154685725, + 0.08663316612467262, + -0.8833780520657968, + -0.2000809849491233 + ], + [ + -0.23887527892359753, + 0.970606317120197, + -0.02935946671077927, + -0.0483325557643904 + ], + [ + 0.8548688141835097, + 0.22453968845970806, + 0.46774056788234364, + 0.04648836201202491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.4527093981574057, + 0.08701141879736583, + -0.8874025094729162, + -0.2162554819299412 + ], + [ + -0.23959178899439515, + 0.9704962843522105, + -0.027069109793614224, + -0.05078107413030299 + ], + [ + 0.8588655165195683, + 0.22486879520605552, + 0.4602000102956891, + 0.04805251297362005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.4454706604550713, + 0.08709119436947484, + -0.8910505117764207, + -0.23184050771759918 + ], + [ + -0.24025650351351174, + 0.970380496914969, + -0.02526863127516009, + -0.05383929869951757 + ], + [ + 0.862457363116105, + 0.22533711427626923, + 0.45320026669945707, + 0.04926305684813917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.4384359550495626, + 0.08698739623249345, + -0.8945429594024367, + -0.24903332207274184 + ], + [ + -0.24062660910135153, + 0.9703313084226308, + -0.02357937419039753, + -0.05778776444157926 + ], + [ + 0.8659519318716044, + 0.22558888445913422, + 0.4463596161127484, + 0.04999097968949458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.4306123260361118, + 0.08759779231142208, + -0.8982759328001249, + -0.267033936317559 + ], + [ + -0.2414480408681885, + 0.9701835799584475, + -0.021134444395923768, + -0.06174799727122751 + ], + [ + 0.8696412296037275, + 0.22598771639444426, + 0.4389233233859205, + 0.051241895554780814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.42279227039727735, + 0.08846168903500765, + -0.9018986781592429, + -0.2848428685674735 + ], + [ + -0.2422293495934235, + 0.9700443997779484, + -0.018406647032717646, + -0.06507852075294364 + ], + [ + 0.8732534788295223, + 0.22624851829904574, + 0.4315552915671685, + 0.05320412280380238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.4168472848742062, + 0.08896888813481378, + -0.9046120041415864, + -0.30314003950002216 + ], + [ + -0.2425503857310482, + 0.9700007230774521, + -0.016367883520474566, + -0.06876282385572932 + ], + [ + 0.8760180657239451, + 0.22623689834612543, + 0.42592160587601424, + 0.0555940447632767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.41222642767358153, + 0.08920159369342354, + -0.906704167857428, + -0.32229396626697304 + ], + [ + -0.24249884759605086, + 0.9700385243718583, + -0.014817899616853078, + -0.07298023729372696 + ], + [ + 0.8782161927692206, + 0.22598304564064364, + 0.4215067992819499, + 0.05872848512813743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.406591581116493, + 0.08949915093120092, + -0.9092156994617858, + -0.34382885714544775 + ], + [ + -0.24232371233431438, + 0.9701100705840102, + -0.012871262253696572, + -0.07670534181697 + ], + [ + 0.8808873393378446, + 0.22555787047691572, + 0.416126353960203, + 0.06270500859216259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.4007650360507227, + 0.08988884837339443, + -0.9117605940253, + -0.36329783777202074 + ], + [ + -0.24221231730305465, + 0.9701629579158759, + -0.010817968136523914, + -0.08002065675449815 + ], + [ + 0.8835839401131889, + 0.22517510969470714, + 0.4105795790684546, + 0.06631943875707137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.3949738072123017, + 0.09023559643379729, + -0.9142500909228595, + -0.3820675499224385 + ], + [ + -0.24286750040119093, + 0.9700159969184025, + -0.009183842947023013, + -0.08382810380666958 + ], + [ + 0.8860085038333985, + 0.2256690117376219, + 0.40504620511278455, + 0.06976310191996114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.38949517597643596, + 0.09015235487332017, + -0.9166057281088089, + -0.40132587385947865 + ], + [ + -0.2430887036089548, + 0.9699719329891507, + -0.007895023179689584, + -0.08767490205701532 + ], + [ + 0.8883700749512011, + 0.22589157160922374, + 0.39971440780526296, + 0.07285626971937494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_111/pan_left/transforms.json b/spatialvid_eval/camera_controls/scene_111/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7010f75042f547e458be645cac873424e5662008 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_111/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": [ + [ + 0.9999999524119574, + 0.00026836285620802865, + 0.00015217575514159427, + -0.0007659227459198677 + ], + [ + -0.00026837067044208535, + 0.9999999626711056, + 5.133196482756385e-05, + 0.00035253993877736 + ], + [ + -0.00015216197386834566, + -5.1372801894208495e-05, + 0.9999999871037843, + 0.001043040173354239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9998973101797805, + 0.003707498036609733, + -0.01384281595444772, + -0.0003810064126391373 + ], + [ + -0.003862082117435651, + 0.9999302991155894, + -0.011157115770948639, + 0.004158705685151237 + ], + [ + 0.01380048611311794, + 0.011209432140688574, + 0.9998419351148086, + 0.000766345292073956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999585014995564, + 0.006553552964454761, + -0.028050824227826076, + -0.000400600740983488 + ], + [ + -0.007197273241275936, + 0.9997116412299707, + -0.022909248070789093, + 0.008537594196723688 + ], + [ + 0.027892598556045683, + 0.023101630522987474, + 0.9993439436014864, + 0.002648818016267134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9990605264138385, + 0.009464818579377806, + -0.0422904453862029, + -0.00013270265503861252 + ], + [ + -0.01093032200990437, + 0.9993429364514755, + -0.03455753789409646, + 0.012628565033613533 + ], + [ + 0.04193557704937117, + 0.03498732018605566, + 0.9985075336740001, + 0.003034572269788251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9982085019417404, + 0.012345580757636384, + -0.05854377240136953, + 0.00013438805845278738 + ], + [ + -0.01514548140034106, + 0.9987504177589193, + -0.04762580623502663, + 0.017499371865131515 + ], + [ + 0.057882648906028844, + 0.048427158311644264, + 0.9971481380885593, + 0.004554101173949639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9970697613857459, + 0.014854709177628869, + -0.07504151214774213, + 8.740302337653105e-05 + ], + [ + -0.01934266282524952, + 0.9980445770787306, + -0.05943806489587835, + 0.02171017808349175 + ], + [ + 0.07401183908673241, + 0.060715399850334556, + 0.9954073979512177, + 0.006439713828828473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9955336573617994, + 0.017046675114015825, + -0.09285552179271121, + -8.848920347945266e-05 + ], + [ + -0.023720459168680475, + 0.9971763887538623, + -0.07125018967436779, + 0.025993024169423336 + ], + [ + 0.09137875506192036, + 0.07313453752751582, + 0.9931270122919676, + 0.009201129345295368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9935613640570952, + 0.01930401887250791, + -0.11163857177684612, + 0.0004653491094445036 + ], + [ + -0.02853808007613209, + 0.9962469155386282, + -0.08171695824819758, + 0.029539353590516185 + ], + [ + 0.10964211708359357, + 0.08437676300462853, + 0.990383343976608, + 0.011592863094813445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.991266538665567, + 0.021880794411963052, + -0.13004568488761056, + 0.001598158430621759 + ], + [ + -0.03312660130234619, + 0.9958342116962524, + -0.08495205177898596, + 0.03183082644544111 + ], + [ + 0.12764512371470244, + 0.08851809787385582, + 0.9878619684655611, + 0.016364452386935565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9889980458644199, + 0.02475535192202334, + -0.14584251035818088, + 0.001215771148545389 + ], + [ + -0.03734279653679923, + 0.9957477847288589, + -0.08421321009426849, + 0.03177369962665589 + ], + [ + 0.14313762895608734, + 0.08873286740992294, + 0.9857170473406873, + 0.021045210950963854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9867089988690718, + 0.027912542448994312, + -0.16008198376090832, + -0.001999818391239411 + ], + [ + -0.041654386390145015, + 0.9956669670793549, + -0.08313965817502333, + 0.030991037154335512 + ], + [ + 0.1570677040172649, + 0.08870276568987188, + 0.9835962361221767, + 0.027786372269651416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9839040353621623, + 0.03125403214273323, + -0.17594327117816758, + -0.005584616040081484 + ], + [ + -0.04637490647787814, + 0.9955117773549533, + -0.08249647990520641, + 0.030159910702353604 + ], + [ + 0.17257525096960244, + 0.08932797222820557, + 0.9809374578077728, + 0.033491385804625406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9810284073995265, + 0.03434301673658922, + -0.19079785396219587, + -0.01020264194350502 + ], + [ + -0.05081067992620737, + 0.9953281723792836, + -0.08209813684580256, + 0.028335616681048843 + ], + [ + 0.18708698159034362, + 0.09023517312858644, + 0.9781902038202329, + 0.038343386536824675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9777852720361584, + 0.03734259096956981, + -0.20625589128278218, + -0.014388289974116576 + ], + [ + -0.055210132517737286, + 0.995137927620062, + -0.0815619168449473, + 0.02670793639337486 + ], + [ + 0.20220732691114177, + 0.09113745614031377, + 0.975092898667467, + 0.043685024143041463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.974091886637249, + 0.04052796825077601, + -0.22249152832624675, + -0.01758450761991654 + ], + [ + -0.05978009836299097, + 0.9949614458367273, + -0.08048640343685665, + 0.026130496996556302 + ], + [ + 0.21810854230679752, + 0.09170171802072967, + 0.9716066378349062, + 0.04812672769112893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9699400432827681, + 0.04358840469365724, + -0.23940836120086526, + -0.020707114290027386 + ], + [ + -0.06423778550573091, + 0.9947920775718307, + -0.07913424867679314, + 0.026249844795685123 + ], + [ + 0.23471220537062346, + 0.09213453954181779, + 0.9676886933686243, + 0.05144715591956396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.96532209204434, + 0.04657323115984126, + -0.25687388491333785, + -0.023556176590459364 + ], + [ + -0.0688195931230483, + 0.9945515310920042, + -0.07830144063124626, + 0.02623314088956448 + ], + [ + 0.2518275644434438, + 0.09326406672391298, + 0.9632677154584809, + 0.05319695251196409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9603472343693499, + 0.04968870893654277, + -0.27434325514464697, + -0.02705725844294529 + ], + [ + -0.07367581991644338, + 0.9942406830151223, + -0.07782890078411095, + 0.02727031222358969 + ], + [ + 0.26889600777769307, + 0.09495523388335533, + 0.9584771466025553, + 0.05679737073751439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9554709352113802, + 0.052523291400780964, + -0.2903732009444385, + -0.029737324984355443 + ], + [ + -0.07804355410447385, + 0.9939711392018832, + -0.07701024669777863, + 0.027999386691261702 + ], + [ + 0.2845777497082874, + 0.0962428090515822, + 0.9538096382805262, + 0.058009006158362846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9505933453467049, + 0.055567569507337156, + -0.30542517414516995, + -0.034761820132229636 + ], + [ + -0.08236550714244459, + 0.9937339712860049, + -0.07555605564952084, + 0.028990981117169308 + ], + [ + 0.2993129048599944, + 0.0969795830636162, + 0.9492137511925747, + 0.05906082008327065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9461398896784856, + 0.057887584377795065, + -0.3185409498543122, + -0.03891890257489813 + ], + [ + -0.08580287333000162, + 0.9935377073978582, + -0.07430135198584367, + 0.030371298022871987 + ], + [ + 0.3121813192481246, + 0.09763120174161635, + 0.9449925779385725, + 0.059884050428599275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.941693367190687, + 0.05988699936800542, + -0.33109990863146244, + -0.04126956991083106 + ], + [ + -0.08882969820500744, + 0.993370354152358, + -0.07297002266702704, + 0.03086081236929657 + ], + [ + 0.3245348777957056, + 0.09812689130873177, + 0.9407700177494025, + 0.059151557346062686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9372188987559993, + 0.06185556241844736, + -0.34321221600125185, + -0.04364634647690034 + ], + [ + -0.09179140289643825, + 0.9931965909144918, + -0.07165800827636597, + 0.03134507990529671 + ], + [ + 0.3364447564889311, + 0.09866317040177426, + 0.9365204240364301, + 0.05860755844095388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9328284268088196, + 0.06366601394507951, + -0.35465161046543664, + -0.04604660273999991 + ], + [ + -0.09451250505139709, + 0.9930365669641534, + -0.0703261193366903, + 0.03173086034258438 + ], + [ + 0.3477046340305123, + 0.09912121539001482, + 0.9323499729893887, + 0.05825771154063666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9284837226968319, + 0.06512981683632582, + -0.36561740063336695, + -0.04761536698491671 + ], + [ + -0.09684643915598383, + 0.9928998906328166, + -0.06906934489444581, + 0.032077794545563774 + ], + [ + 0.35852300332034437, + 0.09953850581663479, + 0.928198977563514, + 0.05736023498122331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9240202116943749, + 0.06658896971083125, + -0.376500408357193, + -0.04932428730987231 + ], + [ + -0.09917127537888527, + 0.9927573688957702, + -0.06780755594233871, + 0.032469425716926535 + ], + [ + 0.36925831950006005, + 0.09999357787377192, + 0.9239315872206091, + 0.05650084591321068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9190184885030196, + 0.06848631066822004, + -0.388219838545999, + -0.05095151886252215 + ], + [ + -0.10195478925075287, + 0.9925804521932371, + -0.06625154241754426, + 0.033027630930213124 + ], + [ + 0.38080209917811647, + 0.10046726419548382, + 0.9191822942630123, + 0.055768331573283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9141433942565746, + 0.07019885962777135, + -0.399266796570952, + -0.05251114180972138 + ], + [ + -0.10448714229161266, + 0.9924166393836096, + -0.06474296077779715, + 0.03347112377458946 + ], + [ + 0.39169413045487644, + 0.10090259650526116, + 0.9145459934774715, + 0.05522698923946722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9092975343607754, + 0.07180905867689114, + -0.40990419990206695, + -0.05423262482810495 + ], + [ + -0.10687807573780578, + 0.9922575987330049, + -0.06326084636799743, + 0.03390096688256234 + ], + [ + 0.40218785527660905, + 0.10133270374637367, + 0.9099322019905941, + 0.054657567294177076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9045787880216875, + 0.07343808491258812, + -0.4199334041792661, + -0.056068169043953855 + ], + [ + -0.10927448814212475, + 0.9920828632485948, + -0.06189247684288626, + 0.03438077497133522 + ], + [ + 0.4120634690220573, + 0.1018746294856677, + 0.9054420231934601, + 0.05427395316771156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.8999574515491762, + 0.07496412614675088, + -0.4294845342875187, + -0.057581317033447155 + ], + [ + -0.11155309253186149, + 0.9919077937835176, + -0.06062042706953687, + 0.034837791185313625 + ], + [ + 0.4214646995273634, + 0.10246613305170206, + 0.9010372903657987, + 0.053463779042555906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8952776231190143, + 0.0762620437542429, + -0.43893288578642037, + -0.05873995578063248 + ], + [ + -0.11359220054370373, + 0.9917514309316081, + -0.059379383802352796, + 0.03532147659698599 + ], + [ + 0.43078392439598745, + 0.10302038598031975, + 0.8965556371773358, + 0.052032372047103086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8902756674884289, + 0.07764136635150479, + -0.448755004550483, + -0.059493302616645614 + ], + [ + -0.11573189010797144, + 0.9915833684371612, + -0.05803923716633003, + 0.03551783142804992 + ], + [ + 0.4404717533396086, + 0.10360618548081241, + 0.8917681272842436, + 0.05047691313300838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8833794000624607, + 0.0796033520097074, + -0.46184861361067814, + -0.06001865746803086 + ], + [ + -0.1187158986414559, + 0.9913363242334117, + -0.0562034488722851, + 0.035774196416456266 + ], + [ + 0.4533733240443668, + 0.1044777421473426, + 0.8851762708301408, + 0.04903003193334871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8737424245406361, + 0.0825857533355406, + -0.47932636992330435, + -0.06010183682291016 + ], + [ + -0.12302860447257108, + 0.9909586111492622, + -0.05352563377165657, + 0.036691899940209764 + ], + [ + 0.4705721390386205, + 0.10573847140528884, + 0.8760029895071652, + 0.048463388214995975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8607298110040549, + 0.08675494583628077, + -0.501615163070125, + -0.05959720798958368 + ], + [ + -0.1288941265627647, + 0.9904030858577498, + -0.04988017302564856, + 0.0380982661171879 + ], + [ + 0.49247385370854574, + 0.10758860021577855, + 0.8636516638767412, + 0.048369613389487746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8458138543364021, + 0.09135722142323274, + -0.5255975474699502, + -0.058716366180884834 + ], + [ + -0.13528012952569474, + 0.9897545852786478, + -0.045663415065052934, + 0.03915518400393469 + ], + [ + 0.5160408998985558, + 0.10972565339845766, + 0.8495069573689026, + 0.04889912071275458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8297127121636719, + 0.096076463354003, + -0.549860098991908, + -0.057558334397132586 + ], + [ + -0.14166797247945695, + 0.9890668067190416, + -0.04095164734364048, + 0.039534592749336864 + ], + [ + 0.5399138828068453, + 0.11187566775659925, + 0.8342522604802767, + 0.050182739867230736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8122197011302256, + 0.10094598165310881, + -0.5745511864786444, + -0.056188466505217145 + ], + [ + -0.14816249025605224, + 0.9883145201128976, + -0.03580901862853935, + 0.039526264568846774 + ], + [ + 0.5642225036074447, + 0.1142117249764843, + 0.817684932171826, + 0.051352771006067194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.7943419955517255, + 0.10479245842174095, + -0.5983638815644128, + -0.05495046742273146 + ], + [ + -0.1545607803677455, + 0.9874568478283026, + -0.032248082874900184, + 0.03944712076421974 + ], + [ + 0.5874791564600539, + 0.11809959498203451, + 0.8005752471754691, + 0.05155089764212759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.7753840038518494, + 0.10649879244777422, + -0.6224449001942595, + -0.05430057012489861 + ], + [ + -0.16150884856462916, + 0.9863381841627875, + -0.0324326733061458, + 0.0394331090499719 + ], + [ + 0.6104871320560357, + 0.12567813520903867, + 0.7819913477298681, + 0.05146218913091828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.7577026601922285, + 0.10680416708722706, + -0.6438008610047239, + -0.05407906621036585 + ], + [ + -0.16807927923939683, + 0.9851738002760018, + -0.034379341763701776, + 0.03947482306438533 + ], + [ + 0.6305838838949066, + 0.13425890340139174, + 0.7644203766445992, + 0.05125557005162785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.7406638685414277, + 0.10584772438122682, + -0.6634857143002877, + -0.053940939441164355 + ], + [ + -0.17408073687992326, + 0.9840229430631875, + -0.03734627923376176, + 0.03966436166660448 + ], + [ + 0.6489321465951505, + 0.14316112170760267, + 0.7472562896000484, + 0.05073146808178667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.7249506463475451, + 0.10365112176651989, + -0.6809574181377417, + -0.054462310531193624 + ], + [ + -0.1793607764167331, + 0.9829146012148032, + -0.04133519809958029, + 0.04000754173150334 + ], + [ + 0.6650385494416573, + 0.1521030298031138, + 0.7311555211316194, + 0.050554028118404315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.7099608171686288, + 0.10084431294775875, + -0.696983545452364, + -0.055440497417154094 + ], + [ + -0.1842755851035333, + 0.9818138730697672, + -0.04565114875327811, + 0.04057205308805788 + ], + [ + 0.6797044554951832, + 0.16084757751933343, + 0.7156325244049202, + 0.0510167482793165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.6951671634070081, + 0.09754352597170499, + -0.7121993228455508, + -0.05627368159820977 + ], + [ + -0.18888353692470486, + 0.9807234328935452, + -0.05004555576985329, + 0.04109555453560386 + ], + [ + 0.6935889448365419, + 0.16931275414010358, + 0.7001910931210316, + 0.05161354376502215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.6805153830117414, + 0.0934590378596016, + -0.7267490775547916, + -0.05672377534109372 + ], + [ + -0.193100613182571, + 0.9796454904534955, + -0.05483489967753518, + 0.04136748826507031 + ], + [ + 0.706831639552799, + 0.17765168526216635, + 0.6847108236698279, + 0.051835848613998356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.6657920285727184, + 0.08912388581032574, + -0.7407954560248683, + -0.05723234601710001 + ], + [ + -0.1971489343239705, + 0.9785688661626963, + -0.059458152275171657, + 0.041561128157618296 + ], + [ + 0.7196202278868676, + 0.18563379852581463, + 0.6690940296108835, + 0.05163228070153079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.6495588131119022, + 0.08472090065225096, + -0.755576413939271, + -0.05800137400554575 + ], + [ + -0.20148356995226704, + 0.9774238073173399, + -0.0636166010453704, + 0.04182716938342992 + ], + [ + 0.7331287194947059, + 0.19355895712146032, + 0.6519641177013547, + 0.05124961277829577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.6339792873665524, + 0.08177012030171618, + -0.7690148962250615, + -0.05912096459944883 + ], + [ + -0.20520629796200007, + 0.9765354332109102, + -0.0653369953419312, + 0.04228616575640675 + ], + [ + 0.7456276808615208, + 0.19922900167752572, + 0.6358829817062627, + 0.05092381909185707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.6170328430086278, + 0.0796220639440268, + -0.782898970226672, + -0.060676049155587095 + ], + [ + -0.20891541536811317, + 0.9757431096213643, + -0.06541967019176256, + 0.04279683553519273 + ], + [ + 0.7586994265651313, + 0.20392574864328328, + 0.6186998215370824, + 0.0502351382481737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.5977766531969216, + 0.07819065549234, + -0.7978403939926615, + -0.06224378871220473 + ], + [ + -0.21291629129168754, + 0.9749737112212594, + -0.06397589647701606, + 0.043109464448511645 + ], + [ + 0.7728710926120089, + 0.2081165150129197, + 0.5994645864299215, + 0.0492877530162576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.576274491785877, + 0.0778121560881054, + -0.8135434705544929, + -0.06393490413038358 + ], + [ + -0.2165304881727037, + 0.9744192489078161, + -0.06018035434939169, + 0.04331713446363852 + ], + [ + 0.7880496544054946, + 0.2108373679470697, + 0.5783816615942559, + 0.04851099254918561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.5535043101495183, + 0.07805923904029748, + -0.8291801576535434, + -0.06602799796842104 + ], + [ + -0.21990321705577834, + 0.9739641743915969, + -0.05510319528134396, + 0.043722140723803996 + ], + [ + 0.803290454178577, + 0.21283924027806622, + 0.5562588462428536, + 0.04819548768475456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.5303990960199387, + 0.07812847552732594, + -0.8441402373142797, + -0.06841235712568963 + ], + [ + -0.22256543974896847, + 0.9736485934364827, + -0.04972968458081737, + 0.04395029404239911 + ], + [ + 0.8180106502794328, + 0.2142530228746734, + 0.533811032312451, + 0.04822497261249774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.5057578390799726, + 0.07819178553822546, + -0.8591245851932661, + -0.07160400014566938 + ], + [ + -0.22498331344582792, + 0.9733751716943883, + -0.04385525966013107, + 0.044090713459765465 + ], + [ + 0.8328214195612968, + 0.2154688371975524, + 0.5098839704448864, + 0.04864115396014053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.4834793474735635, + 0.07838319200993871, + -0.8718393176364958, + -0.07494561753276 + ], + [ + -0.22719530736016916, + 0.9730876767102012, + -0.03850539894951871, + 0.04434217977719957 + ], + [ + 0.8453579199842254, + 0.21669436689742633, + 0.48827608837098313, + 0.049018989096244754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.46182528257607053, + 0.07852033735333346, + -0.8834885200133906, + -0.07866612467705657 + ], + [ + -0.22932867402935098, + 0.9727750972834537, + -0.03342109174020112, + 0.04459142522606928 + ], + [ + 0.8568113956066833, + 0.21804395595174375, + 0.4672590990354728, + 0.04919983489020051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.4416293076229256, + 0.07848841828194716, + -0.8937578658921522, + -0.0831767508213983 + ], + [ + -0.23132757101700552, + 0.972446388863477, + -0.028906325843251545, + 0.04495028035737053 + ], + [ + 0.8668627974113714, + 0.21951671686225188, + 0.4476173605683211, + 0.049129754415617594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.4221722805719747, + 0.07868081857285057, + -0.9030946209037924, + -0.08886649825846293 + ], + [ + -0.23328202565666384, + 0.972103951797862, + -0.024359872834309165, + 0.0450713784159206 + ], + [ + 0.8759851950930347, + 0.22095980559297712, + 0.42875016302053137, + 0.04845816203522477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.4025888257751466, + 0.07916196137043731, + -0.911951545441409, + -0.0955450707904912 + ], + [ + -0.23472184431140816, + 0.9718718218284048, + -0.019256628442917766, + 0.04458566420349723 + ], + [ + 0.8847756174104483, + 0.22180745210186897, + 0.40984577712602743, + 0.047384944946575414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.382970423844251, + 0.08009215964634335, + -0.9202819678901349, + -0.10322678178837033 + ], + [ + -0.23615105997976943, + 0.9716195924776967, + -0.013712927619798043, + 0.04357408691712616 + ], + [ + 0.893065692617842, + 0.22257720790022312, + 0.391015415543115, + 0.046820409453393205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.362322988117768, + 0.08103820698857435, + -0.9285229460220615, + -0.11091195795914975 + ], + [ + -0.23731389193183147, + 0.971401523903247, + -0.007822790717912762, + 0.04221580530630241 + ], + [ + 0.9013346598115365, + 0.22318577097683948, + 0.37119259509841385, + 0.04710781245579765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.34426649208766263, + 0.08162125979442077, + -0.9353173538298257, + -0.11784645637093563 + ], + [ + -0.23782604650421793, + 0.971303796493292, + -0.002776062299674436, + 0.0413863086122441 + ], + [ + 0.908250710998802, + 0.22339853371785984, + 0.3537990122977753, + 0.04795569125713625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.3257546015820618, + 0.08172612812674997, + -0.9419154842816434, + -0.12608573519371713 + ], + [ + -0.23795496293950483, + 0.9712741740934121, + 0.001978472041735294, + 0.04157920593843011 + ], + [ + 0.915019876921027, + 0.2234889677826874, + 0.33584416939833556, + 0.05015453888326742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.3075018262289992, + 0.08217141956827845, + -0.9479928716356282, + -0.13691639233013886 + ], + [ + -0.23808035528690355, + 0.9712205343700806, + 0.006958307578514249, + 0.04196804218819053 + ], + [ + 0.921281917380501, + 0.22355878740060603, + 0.3182154887551491, + 0.053584043473749614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.2912462115615696, + 0.08336864224158813, + -0.9530085591125756, + -0.1497965914927126 + ], + [ + -0.23856039283499947, + 0.9710530076075088, + 0.012041403025489072, + 0.04164243765882223 + ], + [ + 0.9264257030228835, + 0.22384308322395313, + 0.30270396573442876, + 0.056994630754933606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.27638032051872524, + 0.08490119466572024, + -0.9572908155698042, + -0.1630808670904415 + ], + [ + -0.23877096524044894, + 0.9709240247806904, + 0.01717452362689095, + 0.039478734249153456 + ], + [ + 0.930914789112361, + 0.2238265517046621, + 0.2886162333686192, + 0.06014833933901717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.26298827874711, + 0.08594237291551758, + -0.9609636173025922, + -0.17762718845231032 + ], + [ + -0.23900514329373793, + 0.9707822024465933, + 0.021411606480630268, + 0.03702721064151727 + ], + [ + 0.9347265411449343, + 0.2240442455199233, + 0.27584500961343533, + 0.06336851599038756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.25111453448500926, + 0.08663316612467262, + -0.9640727073709702, + -0.1926088743708703 + ], + [ + -0.23938463225936457, + 0.970606317120197, + 0.024867147090421957, + 0.0353822390872266 + ], + [ + 0.9378893796223658, + 0.22453968845970806, + 0.2644720021060668, + 0.06585491014167473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.23937521550955923, + 0.08701141879736583, + -0.9670204337027329, + -0.2086419827851717 + ], + [ + -0.23947968002111494, + 0.9704962843522105, + 0.0280436252210358, + 0.03413735075051543 + ], + [ + 0.9409298534198692, + 0.22486879520605552, + 0.25315022394981324, + 0.06772853255414991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.22832515283056057, + 0.08709119436947484, + -0.9696817768980708, + -0.22411116421730828 + ], + [ + -0.239618896199964, + 0.970380496914969, + 0.030732324854605052, + 0.032281970401685935 + ], + [ + 0.9436367993930783, + 0.22533711427626923, + 0.24243097112545559, + 0.06926172574015807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.21749502806858223, + 0.08698739623249345, + -0.9721775072805059, + -0.24120445641181743 + ], + [ + -0.23948257232481593, + 0.9703313084226308, + 0.033245292110533856, + 0.029542053316457532 + ], + [ + 0.946226194056229, + 0.22558888445913422, + 0.23187420057079972, + 0.07029397929081665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.20582766250582912, + 0.08759779231142208, + -0.9746597355639308, + -0.2590406377691417 + ], + [ + -0.2395920645558569, + 0.9701835799584475, + 0.036598685507445494, + 0.026781254399980834 + ], + [ + 0.9488048355427203, + 0.22598771639444426, + 0.2206783543748132, + 0.07186327467577386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.19417637317160508, + 0.08846168903500766, + -0.9769698386721034, + -0.2766601623317353 + ], + [ + -0.23957538602653095, + 0.9700443997779487, + 0.04021811618759289, + 0.024650586226516603 + ], + [ + 0.9512618832436002, + 0.2262485182990458, + 0.20955294666342944, + 0.07413211074646411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.1845521066282946, + 0.0889688881348138, + -0.9787875443032129, + -0.29479920623738337 + ], + [ + -0.23925852591594934, + 0.9700007230774523, + 0.043057577797027874, + 0.022174743932781817 + ], + [ + 0.9532554105357002, + 0.22623689834612548, + 0.2003022419024294, + 0.07680375398322596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.1763543787780123, + 0.08920159369342355, + -0.9802765980927909, + -0.3138198148660978 + ], + [ + -0.23868485344482143, + 0.9700385243718586, + 0.04532992356591795, + 0.019173422521599596 + ], + [ + 0.954949566114277, + 0.2259830456406437, + 0.1923616106740981, + 0.08019687446399858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.16706240884912288, + 0.08949915093120094, + -0.9818757831478089, + -0.33521456386831966 + ], + [ + -0.23788028633095537, + 0.9701100705840104, + 0.04795227133921487, + 0.016667752476740988 + ], + [ + 0.9568192728643334, + 0.22555787047691578, + 0.18335900889044876, + 0.08441495362556573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.15756801488668087, + 0.08988884837339443, + -0.9834085191937151, + -0.3545336750556148 + ], + [ + -0.23709586421580156, + 0.9701629579158759, + 0.05068911381826135, + 0.014570231642299767 + ], + [ + 0.9586229038868375, + 0.22517510969470714, + 0.17417892558384826, + 0.08827401195230532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.1481137509385742, + 0.0902355964337973, + -0.9848450913311919, + -0.373156784774601 + ], + [ + -0.2371443500159602, + 0.9700159969184027, + 0.05321205669682236, + 0.01196097588902268 + ], + [ + 0.9601171147513278, + 0.22566901173762197, + 0.1650715696386003, + 0.09204791682905131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.13898843040602224, + 0.09015235487332017, + -0.9861819148230536, + -0.39231063837214664 + ], + [ + -0.2368490392554476, + 0.9699719329891507, + 0.05528997935486636, + 0.009322291241899766 + ], + [ + 0.961553300039598, + 0.22589157160922374, + 0.15616737514241955, + 0.09544542688029731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_111/pull_out/transforms.json b/spatialvid_eval/camera_controls/scene_111/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..80e9b2e884cb34e5e5e0687eaf98182420aeeba5 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_111/pull_out/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999524119574, + 0.00026836285620802865, + 0.00015217575514159427, + -0.0007659227459198677 + ], + [ + -0.00026837067044208535, + 0.9999999626711056, + 5.133196482756385e-05, + 0.00035253993877736 + ], + [ + -0.00015216197386834566, + -5.1372801894208495e-05, + 0.9999999871037843, + 0.001043040173354239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999937256559763, + 0.003707498036609733, + -0.010570591376253297, + -0.0003677931734188207 + ], + [ + -0.003825549926725112, + 0.9999302991155894, + -0.011169694640691865, + 0.004172667803452102 + ], + [ + 0.01052844297573573, + 0.011209432140688574, + 0.9998817432674677, + -0.00048350688701037886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997471964524856, + 0.006553552964454761, + -0.02150800150961087, + -0.0003468307372094608 + ], + [ + -0.0070471794801583105, + 0.9997116412299707, + -0.0229558630997176, + 0.008594983854472982 + ], + [ + 0.021351357024081, + 0.023101630522987474, + 0.9995050946445494, + 0.00015005527965576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9994275594546429, + 0.009464818579377806, + -0.0324803111406838, + -1.0901488261048234e-05 + ], + [ + -0.010590532881299838, + 0.9993429364514755, + -0.03466317899201139, + 0.012758551954833577 + ], + [ + 0.032130888811644644, + 0.03498732018605566, + 0.9988711095083149, + -0.000711194390867931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.998889297301687, + 0.012345580757636384, + -0.045472611228066145, + 0.00036175111459311814 + ], + [ + -0.014520781307830946, + 0.9987504177589193, + -0.047819974242930385, + 0.017738471736346167 + ], + [ + 0.0448254241067758, + 0.048427158311644264, + 0.9978203704532729, + -0.0004350006783167262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9981641006257813, + 0.014854709177628869, + -0.0587176790853776, + 0.0004543885176601411 + ], + [ + -0.01836756390974503, + 0.9980445770787306, + -0.05974658785034814, + 0.022083594257556426 + ], + [ + 0.057715343002937736, + 0.060715399850334556, + 0.9964851124844102, + 0.00021168187580090925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9971648555320675, + 0.017046675114015825, + -0.07329162134424676, + 0.0004611979566023981 + ], + [ + -0.022316982512577948, + 0.9971763887538623, + -0.07170217572249614, + 0.026530790487342058 + ], + [ + 0.07186239060346199, + 0.07313453752751582, + 0.9947296799821508, + 0.001740656745429235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9958578201923345, + 0.01930401887250791, + -0.0888513186010295, + 0.0012427981472035118 + ], + [ + -0.02665882957703136, + 0.9962469155386282, + -0.08234919602128603, + 0.030259909055702437 + ], + [ + 0.08692818166368484, + 0.08437676300462853, + 0.992634904230909, + 0.00290730768279299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9943310555511653, + 0.02188079441196305, + -0.10405278853739013, + 0.0026386863159956605 + ], + [ + -0.03089146417536892, + 0.9958342116962522, + -0.08579009416247316, + 0.03268872738706584 + ], + [ + 0.10174217123497668, + 0.08851809787385581, + 0.9908648126466028, + 0.006455804260469536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9928639213323563, + 0.02475535192202334, + -0.1166550739048822, + 0.0025281407299753136 + ], + [ + -0.03484667608280733, + 0.9957477847288589, + -0.08527636468301221, + 0.03273305872933978 + ], + [ + 0.11404798499980898, + 0.08873286740992294, + 0.9895046919336444, + 0.009913283166710354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9914184381988419, + 0.027912542448994312, + -0.12771206040700553, + -0.0004034176361518418 + ], + [ + -0.03891183074840468, + 0.9956669670793549, + -0.08445803747901516, + 0.0320467626228232 + ], + [ + 0.12480124128860677, + 0.08870276568987188, + 0.9882087175955244, + 0.01543376329970736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9895987612538392, + 0.03125403214273323, + -0.1404189346195457, + -0.0036538556890627306 + ], + [ + -0.0433758443189413, + 0.9955117773549533, + -0.08411205191410465, + 0.03131645141617254 + ], + [ + 0.1371598624032782, + 0.08932797222820557, + 0.9865128917166318, + 0.01992683354352172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9877627586443815, + 0.03434301673658921, + -0.15213576120252523, + -0.007920605525467143 + ], + [ + -0.047548349006671015, + 0.9953281723792834, + -0.08402966009008617, + 0.029596061582400135 + ], + [ + 0.1485391771283968, + 0.09023517312858642, + 0.9847810550515647, + 0.0235716707110512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9856725544610684, + 0.03734259096956981, + -0.16448448644742003, + -0.011715417069346 + ], + [ + -0.05169138568559081, + 0.995137927620062, + -0.08383618346484834, + 0.028070274374678645 + ], + [ + 0.16055409066135812, + 0.09113745614031377, + 0.9828104334306677, + 0.027714354599793115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9832596137627343, + 0.04052796825077601, + -0.17764575911803446, + -0.014475706835350937 + ], + [ + -0.056031183910205784, + 0.9949614458367273, + -0.0831398083237508, + 0.02758544364222194 + ], + [ + 0.17338119382672193, + 0.09170171802072967, + 0.9805762369847983, + 0.03096664354389496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.980518919520942, + 0.04358840469365724, + -0.1915272811840303, + -0.017115977767826817 + ], + [ + -0.06027747473758871, + 0.9947920775718307, + -0.0821909267473009, + 0.027790924672197015 + ], + [ + 0.18694725058353764, + 0.09213453954181779, + 0.9780398520114981, + 0.03310890869434837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9774428920673306, + 0.04657323115984125, + -0.20600079341202693, + -0.019436160722218824 + ], + [ + -0.06462729749183242, + 0.994551531092004, + -0.08179587044253939, + 0.027869058298415267 + ], + [ + 0.20106890651205817, + 0.09326406672391296, + 0.975127226925883, + 0.03369440797344642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9741159931355815, + 0.04968870893654277, + -0.22051998576478146, + -0.022371208745443683 + ], + [ + -0.06923426432579646, + 0.9942406830151223, + -0.0818051396972643, + 0.029008671442156558 + ], + [ + 0.2151851494893308, + 0.09495523388335533, + 0.9719459115595949, + 0.036143520116872996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9709082798509169, + 0.052523291400780964, + -0.23362023880084193, + -0.024480869611336498 + ], + [ + -0.07337454104661192, + 0.9939711392018832, + -0.08147116766015891, + 0.029832487963615276 + ], + [ + 0.2279326410217124, + 0.0962428090515822, + 0.9689086813847464, + 0.03620856082720605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9677347246044595, + 0.055567569507337156, + -0.24576767080675624, + -0.028924837950569174 + ], + [ + -0.07751149570608368, + 0.9937339712860049, + -0.08052802211374219, + 0.030903521642370684 + ], + [ + 0.23975293705841563, + 0.0969795830636162, + 0.9659779964578233, + 0.036118842667397344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9649477064560787, + 0.057887584377795065, + -0.2559784197545906, + -0.03251944208103336 + ], + [ + -0.08075962186594923, + 0.9935377073978582, + -0.07975404350048612, + 0.03236514911038414 + ], + [ + 0.2497074433836978, + 0.09763120174161635, + 0.9633869114562776, + 0.035799377642192334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9622066006155191, + 0.05988699936800542, + -0.2656539196748725, + -0.03429615451936566 + ], + [ + -0.08360929566969402, + 0.993370354152358, + -0.07889756123503962, + 0.03293187335171636 + ], + [ + 0.25916779006957014, + 0.09812689130873177, + 0.9608346214581049, + 0.03392964853278743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9594791903727414, + 0.06185556241844736, + -0.2749064798064361, + -0.036086418282223344 + ], + [ + -0.08639906581683324, + 0.9931965909144918, + -0.0780751767324961, + 0.03349214726544035 + ], + [ + 0.26820679459634766, + 0.09866317040177426, + 0.9582957237401319, + 0.03225442603810025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9568558389365258, + 0.0636660139450795, + -0.2835022789351476, + -0.03789591222061441 + ], + [ + -0.08895665435180099, + 0.9930365669641532, + -0.07723399716823524, + 0.03395133776117114 + ], + [ + 0.2766109490595257, + 0.0991212153900148, + 0.9558563529736017, + 0.030776841392645603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9543075278815936, + 0.06512981683632581, + -0.2916423309250364, + -0.038866097057165615 + ], + [ + -0.09112877556199812, + 0.9928998906328164, + -0.07645491119550499, + 0.034371441881428925 + ], + [ + 0.2845921441169675, + 0.09953850581663476, + 0.953467040524579, + 0.028756223765485932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9516976029954911, + 0.06658896971083125, + -0.2997291803703585, + -0.039957750423298605 + ], + [ + -0.0932982648893528, + 0.9927573688957702, + -0.07568513904185054, + 0.03483458631198436 + ], + [ + 0.29251855705454494, + 0.09999357787377192, + 0.9510174436690051, + 0.026781550798554273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9486856801153009, + 0.06848631066822004, + -0.3087152500205087, + -0.040918273236855617 + ], + [ + -0.09595576456685, + 0.9925804521932371, + -0.07467621555930878, + 0.03545460793589066 + ], + [ + 0.30131042396598295, + 0.10046726419548382, + 0.9482185176606258, + 0.024951229749312662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9458095998718847, + 0.07019885962777135, + -0.3170430899690864, + -0.04181093752326471 + ], + [ + -0.09836646909036671, + 0.9924166393836096, + -0.0737105937653267, + 0.03595885631416924 + ], + [ + 0.3094644382621042, + 0.10090259650526116, + 0.9455423985573662, + 0.023314933288156106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9429898631359165, + 0.07180905867689114, + -0.32498242585537573, + -0.0428582399231668 + ], + [ + -0.10064124462871632, + 0.9922575987330049, + -0.07277497946543444, + 0.036448091163852545 + ], + [ + 0.3172403787390389, + 0.10133270374637367, + 0.9429158102656681, + 0.02165551393487869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9403011679460822, + 0.07343808491258812, + -0.3323259864103404, + -0.04402135203657902 + ], + [ + -0.1029178460646374, + 0.9920828632485948, + -0.07196880859015367, + 0.036989644282728294 + ], + [ + 0.32440966465358245, + 0.1018746294856677, + 0.9404147645302623, + 0.020183917953489547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9377207563032094, + 0.07496412614675088, + -0.3392051930457307, + -0.04486112229423225 + ], + [ + -0.10507409299384618, + 0.9919077937835176, + -0.07126263826884081, + 0.037510140120395156 + ], + [ + 0.33111813326916717, + 0.10246613305170206, + 0.9380093141316739, + 0.01828842976261813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9351268780162109, + 0.0762620437542429, + -0.3460084141954947, + -0.04533212973055706 + ], + [ + -0.10699463316352033, + 0.9917514309316081, + -0.07057795491023976, + 0.03805637234975778 + ], + [ + 0.3377719208073087, + 0.10302038598031975, + 0.9355730487709698, + 0.015778916407228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9323063152401777, + 0.07764136635150479, + -0.35323753027439453, + -0.045363801405669826 + ], + [ + -0.10903114643450912, + 0.9915833684371612, + -0.06981856877643447, + 0.0383105741791073 + ], + [ + 0.3448436510513989, + 0.10360618548081241, + 0.9329247636651397, + 0.013159922586402785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9280124563657319, + 0.0796033520097074, + -0.3639453079500533, + -0.04500591351509116 + ], + [ + -0.1119665732743398, + 0.9913363242334117, + -0.06867152775779706, + 0.03860689693646539 + ], + [ + 0.3553257200080546, + 0.1044777421473426, + 0.928885371882102, + 0.010713510343211996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9215617564881727, + 0.08258575333554058, + -0.37934617742167276, + -0.04397962428248907 + ], + [ + -0.11632461716726492, + 0.990958611149262, + -0.06685517504288722, + 0.03953324487953247 + ], + [ + 0.3703950761272661, + 0.10573847140528882, + 0.9228363144380209, + 0.009242844851380078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9124181936464387, + 0.08675494583628077, + -0.3999582719183513, + -0.04209903359315581 + ], + [ + -0.12234893017530721, + 0.9904030858577498, + -0.06428426563634711, + 0.04091070273877808 + ], + [ + 0.39054292873886176, + 0.10758860021577855, + 0.9142761693906726, + 0.008370030978645818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9017284270367897, + 0.09135722142323274, + -0.42253958627279375, + -0.03970208479860911 + ], + [ + -0.12897527051896088, + 0.9897545852786478, + -0.06124737149015378, + 0.04191131572099161 + ], + [ + 0.41261510329642337, + 0.10972565339845766, + 0.9042726676826871, + 0.008206850667033659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8900536864860601, + 0.096076463354003, + -0.4456161446379174, + -0.036948587707628905 + ], + [ + -0.13568434133997573, + 0.9890668067190416, + -0.057763408501706484, + 0.04220615039254079 + ], + [ + 0.43519443319935897, + 0.11187566775659925, + 0.8933586291497406, + 0.008864903269055223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8772118104539368, + 0.10094598165310878, + -0.46937122663007064, + -0.03389333324028879 + ], + [ + -0.1425768145011251, + 0.9883145201128973, + -0.05390975144373802, + 0.04208697776242433 + ], + [ + 0.45844442582153694, + 0.11421172497648427, + 0.8813537259869375, + 0.009488469021687658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8640417272701509, + 0.10479245842174095, + -0.49239256106682017, + -0.03094633007072397 + ], + [ + -0.14919912248563189, + 0.9874568478283026, + -0.05165845067857061, + 0.04196547023480006 + ], + [ + 0.4808029902002815, + 0.11809959498203451, + 0.8688388632419408, + 0.009195003059082968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8499958488995134, + 0.10649879244777419, + -0.515911876254813, + -0.028504976312157957 + ], + [ + -0.15589380462563432, + 0.9863381841627873, + -0.05323634230297978, + 0.042094926165120894 + ], + [ + 0.5031939770435853, + 0.12567813520903864, + 0.8549858640921723, + 0.008712895926309666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8370139677405082, + 0.10680416708722706, + -0.5366567689874927, + -0.026575406799756843 + ], + [ + -0.16196972717869523, + 0.9851738002760018, + -0.05655431661155126, + 0.042373231790727335 + ], + [ + 0.5226599518663645, + 0.13425890340139174, + 0.8419032732876772, + 0.008108027295634382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8245846511402861, + 0.10584772438122682, + -0.5557485153800853, + -0.024764142383709876 + ], + [ + -0.16732213954415115, + 0.9840229430631875, + -0.06084528859024988, + 0.0428587393175926 + ], + [ + 0.5404289543707116, + 0.14316112170760267, + 0.8291208829291424, + 0.007202621728006689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8132914708381224, + 0.10365112176651989, + -0.5725499353056519, + -0.023687751508514834 + ], + [ + -0.17179051930777264, + 0.9829146012148032, + -0.06608255590328399, + 0.04355947911130485 + ], + [ + 0.5559181602879418, + 0.1521030298031138, + 0.8172023417653572, + 0.006629402248516367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8026257037202279, + 0.10084431294775875, + -0.5878965931808958, + -0.023106184792204817 + ], + [ + -0.1758179853232007, + 0.9818138730697672, + -0.07162090954905745, + 0.044511203113256036 + ], + [ + 0.5699824696992882, + 0.16084757751933343, + 0.8057592947286816, + 0.006699987069239008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.792144373088976, + 0.09754352597170499, + -0.602488632859144, + -0.02238369599988292 + ], + [ + -0.17949594970249058, + 0.9807234328935452, + -0.07721885918544008, + 0.045439115364784864 + ], + [ + 0.5833425205004982, + 0.16931275414010358, + 0.7943832167547465, + 0.006929487822567651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.7818076629090073, + 0.0934590378596016, + -0.6164756170840122, + -0.021276427358763013 + ], + [ + -0.18269343404238894, + 0.9796454904534955, + -0.08317344643532298, + 0.04614996143510138 + ], + [ + 0.596154247971576, + 0.17765168526216635, + 0.7829687039396638, + 0.006815148137467683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7714232650893936, + 0.08912388581032574, + -0.6300500607546095, + -0.020216904947766706 + ], + [ + -0.185712513534981, + 0.9785688661626963, + -0.08895974647881044, + 0.04678751326324841 + ], + [ + 0.6086189352914831, + 0.18563379852581463, + 0.7714422106998934, + 0.006310050822912049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.7597598583530477, + 0.08472090065225096, + -0.6446606290351757, + -0.019321736263435203 + ], + [ + -0.18905114391112865, + 0.9774238073173399, + -0.09435234960068362, + 0.04748831035947094 + ], + [ + 0.6221130304223268, + 0.19355895712146032, + 0.7586239565798077, + 0.0057321753835072944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7486314417895973, + 0.08177012030171617, + -0.6579244727093468, + -0.01882309064600133 + ], + [ + -0.19214164624120023, + 0.97653543321091, + -0.09726322770349614, + 0.04824353845324589 + ], + [ + 0.6345333341470333, + 0.19922900167752566, + 0.7467765748514251, + 0.005183753882207279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7363220386070483, + 0.0796220639440268, + -0.6719301916083648, + -0.018680412180064297 + ], + [ + -0.19546843339748668, + 0.9757431096213643, + -0.09857725686771036, + 0.048957914089424626 + ], + [ + 0.6477823299586775, + 0.20392574864328328, + 0.734024755736197, + 0.004358591014661392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7220104735863424, + 0.07819065549234, + -0.6874497053787308, + -0.018418869994310624 + ], + [ + -0.19932992222203172, + 0.9749737112212594, + -0.09845732341681554, + 0.04938611881633364 + ], + [ + 0.6625469478750804, + 0.2081165150129197, + 0.7195269682508731, + 0.0034179087902644276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7057240001582026, + 0.0778121560881054, + -0.7042008974473304, + -0.0181618457963071 + ], + [ + -0.20321142143888363, + 0.9744192489078161, + -0.09598044360553959, + 0.04955586329799859 + ], + [ + 0.6787184643115978, + 0.2108373679470697, + 0.7034833690142634, + 0.002784573563258487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.6882946407698312, + 0.07805923904029748, + -0.7212192750391371, + -0.0182472209970782 + ], + [ + -0.20709454977286706, + 0.9739641743915969, + -0.09222599663906152, + 0.04983211300114182 + ], + [ + 0.695242644651421, + 0.21283924027806622, + 0.6865399645002126, + 0.0027122150366154646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.6705356752756427, + 0.07812847552732594, + -0.7377518888450332, + -0.01861410462864989 + ], + [ + -0.21035703847587806, + 0.9736485934364827, + -0.08808139907390922, + 0.04989578847988799 + ], + [ + 0.7114294234471161, + 0.2142530228746734, + 0.6693009918136749, + 0.0030471556650746787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.651385616632028, + 0.07819178553822545, + -0.7547071108180029, + -0.019717886276931676 + ], + [ + -0.21349810339908912, + 0.973375171694388, + -0.08342262866820375, + 0.04982601918070447 + ], + [ + 0.7280901992815897, + 0.21546883719755233, + 0.6507363843422543, + 0.003903027536610537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.6342635373034018, + 0.07838319200993871, + -0.7691331747218485, + -0.021106295302230592 + ], + [ + -0.21637384932553705, + 0.9730876767102012, + -0.07926367871095259, + 0.04989063728696625 + ], + [ + 0.7422210739230101, + 0.21669436689742633, + 0.6341541049141743, + 0.004628201752252543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.6176590517835887, + 0.07852033735333346, + -0.7825163591719453, + -0.02291183408605546 + ], + [ + -0.21915255731615246, + 0.9727750972834537, + -0.07537086125922782, + 0.04996159909078926 + ], + [ + 0.7552942819666972, + 0.21804395595174375, + 0.6180512769190963, + 0.00516368140971489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.6023207269928791, + 0.07848841828194716, + -0.7943861214990909, + -0.025583757012714203 + ], + [ + -0.2217195199456856, + 0.972446388863477, + -0.07203107150000398, + 0.05017253304112082 + ], + [ + 0.7668443103458648, + 0.21951671686225188, + 0.6031270303246188, + 0.005403044717082729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.5876131676410352, + 0.07868081857285057, + -0.8053074530907901, + -0.029475073593017154 + ], + [ + -0.22427312178471276, + 0.972103951797862, + -0.06866930714605667, + 0.05013573981794228 + ], + [ + 0.7774396002647462, + 0.22095980559297712, + 0.5888670751982197, + 0.005029215239356059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.5727661150383547, + 0.07916196137043731, + -0.8158874685493432, + -0.034353510649290445 + ], + [ + -0.2264549480458541, + 0.9718718218284048, + -0.06467857791794006, + 0.04943655754734273 + ], + [ + 0.7878179573793808, + 0.22180745210186897, + 0.5745818655532537, + 0.004291305030081377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.5578561304886633, + 0.08009215964634335, + -0.8260640311981874, + -0.04023939940950853 + ], + [ + -0.22874221911285436, + 0.9716195924776967, + -0.060269102438989516, + 0.048169605978099106 + ], + [ + 0.7977929147789807, + 0.22257720790022312, + 0.5603444044976256, + 0.0040941486104492456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.5419931242033046, + 0.08103820698857435, + -0.8364665338938659, + -0.04608580158237513 + ], + [ + -0.23086963766872637, + 0.971401523903247, + -0.05548233738010924, + 0.046515686453260874 + ], + [ + 0.8080486765777493, + 0.22318577097683948, + 0.5452022082809473, + 0.004854641314024223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.5284443188922314, + 0.08162125979442077, + -0.8450352488388266, + -0.051299930524878024 + ], + [ + -0.23222125857126819, + 0.971303796493292, + -0.05140254843190466, + 0.045434259301256594 + ], + [ + 0.81659040460815, + 0.22339853371785984, + 0.532234164850969, + 0.0060422507751224375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.5144713229099156, + 0.08172612812674995, + -0.853604181037518, + -0.05779740071071568 + ], + [ + -0.23316642354941108, + 0.9712741740934119, + -0.047538381002487404, + 0.0453822764186291 + ], + [ + 0.8251985681231507, + 0.22348896778268734, + 0.5187484982599284, + 0.008654659022473143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.5007035891207833, + 0.08217141956827845, + -0.8617097966529683, + -0.06690247135208519 + ], + [ + -0.23418347338869527, + 0.9712205343700806, + -0.0434600323228328, + 0.0454991698144207 + ], + [ + 0.8333390766267788, + 0.22355878740060603, + 0.5055367958346835, + 0.012509178812181582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.48871781968446226, + 0.08336864224158813, + -0.8684495162147652, + -0.07814950640499446 + ], + [ + -0.2355982352398393, + 0.9710530076075088, + -0.039364044104802876, + 0.04488997129746847 + ], + [ + 0.8400287877654782, + 0.22384308322395313, + 0.4942124136624409, + 0.016222106627782222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.47797861038168166, + 0.08490119466572023, + -0.8742586774873501, + -0.08986170285087593 + ], + [ + -0.23679016318097856, + 0.9709240247806902, + -0.03517039556774741, + 0.0424242548779523 + ], + [ + 0.8458527452448933, + 0.22382655170466204, + 0.48418468389001956, + 0.01959787206322803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.4685858035474113, + 0.08594237291551758, + -0.8792276458639577, + -0.10289283855387389 + ], + [ + -0.23783731770354877, + 0.9707822024465933, + -0.03186417613124125, + 0.03973566561267278 + ], + [ + 0.8508000675960293, + 0.2240442455199233, + 0.47533506185426755, + 0.022965035732774815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.4605843154685725, + 0.08663316612467262, + -0.8833780520657968, + -0.11641751738019532 + ], + [ + -0.23887527892359753, + 0.970606317120197, + -0.02935946671077927, + 0.03791449309103131 + ], + [ + 0.8548688141835097, + 0.22453968845970806, + 0.46774056788234364, + 0.025512286161822585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.4527093981574057, + 0.08701141879736583, + -0.8874025094729162, + -0.13099426320629154 + ], + [ + -0.23959178899439515, + 0.9704962843522105, + -0.027069109793614224, + 0.03650589785745668 + ], + [ + 0.8588655165195683, + 0.22486879520605552, + 0.4602000102956891, + 0.027461031653277117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.4454706604550713, + 0.08709119436947484, + -0.8910505117764207, + -0.14503043129715093 + ], + [ + -0.24025650351351174, + 0.970380496914969, + -0.02526863127516009, + 0.034524561427356396 + ], + [ + 0.862457363116105, + 0.22533711427626923, + 0.45320026669945707, + 0.02904020207058125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.4384359550495626, + 0.08698739623249345, + -0.8945429594024367, + -0.1606955900655981 + ], + [ + -0.24062660910135153, + 0.9703313084226308, + -0.02357937419039753, + 0.03166419699359331 + ], + [ + 0.8659519318716044, + 0.22558888445913422, + 0.4463596161127484, + 0.030121613840669297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.4306123260361118, + 0.08759779231142208, + -0.8982759328001249, + -0.1770729589011303 + ], + [ + -0.2414480408681885, + 0.9701835799584475, + -0.021134444395923768, + 0.028709772451108877 + ], + [ + 0.8696412296037275, + 0.22598771639444426, + 0.4389233233859205, + 0.03181152141680861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.42279227039727735, + 0.08846168903500765, + -0.9018986781592429, + -0.19323453460200532 + ], + [ + -0.2422293495934235, + 0.9700443997779484, + -0.018406647032717646, + 0.026353201077042986 + ], + [ + 0.8732534788295223, + 0.22624851829904574, + 0.4315552915671685, + 0.034213246276501026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.4168472848742062, + 0.08896888813481378, + -0.9046120041415864, + -0.20999183084910966 + ], + [ + -0.2425503857310482, + 0.9700007230774521, + -0.016367883520474566, + 0.02370923301282631 + ], + [ + 0.8760180657239451, + 0.22623689834612543, + 0.42592160587601424, + 0.036873603432349626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.41222642767358153, + 0.08920159369342354, + -0.906704167857428, + -0.2276829189196421 + ], + [ + -0.24249884759605086, + 0.9700385243718583, + -0.014817899616853078, + 0.020581122985200637 + ], + [ + 0.8782161927692206, + 0.22598304564064364, + 0.4215067992819499, + 0.04015372853221333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.406591581116493, + 0.08949915093120092, + -0.9092156994617858, + -0.24770255279512277 + ], + [ + -0.24232371233431438, + 0.9701100705840102, + -0.012871262253696572, + 0.017906611468659284 + ], + [ + 0.8808873393378446, + 0.22555787047691572, + 0.416126353960203, + 0.04436279205689619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.4007650360507227, + 0.08988884837339443, + -0.9117605940253, + -0.265637017138148 + ], + [ + -0.24221231730305465, + 0.9701629579158759, + -0.010817968136523914, + 0.01562498353561085 + ], + [ + 0.8835839401131889, + 0.22517510969470714, + 0.4105795790684546, + 0.04824250299313099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.3949738072123017, + 0.09023559643379729, + -0.9142500909228595, + -0.2828745882959686 + ], + [ + -0.24286750040119093, + 0.9700159969184025, + -0.009183842947023013, + 0.012867880380041203 + ], + [ + 0.8860085038333985, + 0.2256690117376219, + 0.40504620511278455, + 0.052049604074163834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.38949517597643596, + 0.09015235487332017, + -0.9166057281088089, + -0.3006500655612657 + ], + [ + -0.2430887036089548, + 0.9699719329891507, + -0.007895023179689584, + 0.010111793559868723 + ], + [ + 0.8883700749512011, + 0.22589157160922374, + 0.39971440780526296, + 0.05547398609977101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_111/tilt_up/transforms.json b/spatialvid_eval/camera_controls/scene_111/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..938268a94782ab0cc175a6e77057983afe572751 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_111/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": [ + [ + 0.9999999524119574, + 0.00026836285620802865, + 0.00015217575514159427, + -0.0007659227459198677 + ], + [ + -0.00026837067044208535, + 0.9999999626711056, + 5.133196482756385e-05, + 0.00035253993877736 + ], + [ + -0.00015216197386834566, + -5.1372801894208495e-05, + 0.9999999871037843, + 0.001043040173354239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999937256559763, + 0.0036728860668022397, + -0.010582667512280423, + -0.0003810064126391373 + ], + [ + -0.003825549926725112, + 0.9998883922155123, + -0.014441893242786788, + 0.004158705685151237 + ], + [ + 0.01052844297573573, + 0.014481471631647355, + 0.9998397065869551, + 0.000766345292073956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997471964524856, + 0.006412644062574108, + -0.021550433441628738, + -0.000400600740983488 + ], + [ + -0.0070471794801583105, + 0.9995399843702902, + -0.0294984221004212, + 0.008537594196723688 + ], + [ + 0.021351357024081, + 0.029642834567006494, + 0.9993324881700101, + 0.002648818016267134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9994275594546429, + 0.009145492873282623, + -0.032571665027150525, + -0.00013270265503861252 + ], + [ + -0.010590532881299838, + 0.9989544775779744, + -0.04447237727181172, + 0.012628565033613533 + ], + [ + 0.032130888811644644, + 0.04479187076938164, + 0.9984794911750329, + 0.003034572269788251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.998889297301687, + 0.011749304991234225, + -0.04563031413835684, + 0.00013438805845278738 + ], + [ + -0.014520781307830946, + 0.9980389082645964, + -0.060889116434901636, + 0.017499371865131515 + ], + [ + 0.0448254241067758, + 0.061484074541590196, + 0.9971009928444621, + 0.004554101173949639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9981641006257813, + 0.013891997788280375, + -0.058952867779063424, + 8.740302337653105e-05 + ], + [ + -0.01836756390974503, + 0.9969334191092866, + -0.07606832756863463, + 0.02171017808349175 + ], + [ + 0.057715343002937736, + 0.0770114943402482, + 0.9953583118262164, + 0.006439713828828473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9971648555320675, + 0.01560440405172469, + -0.07361218286331259, + -8.848920347945266e-05 + ], + [ + -0.022316982512577948, + 0.9955763950469763, + -0.09126660899146223, + 0.025993024169423336 + ], + [ + 0.07186239060346199, + 0.09265065676754637, + 0.9931020353504961, + 0.009201129345295368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9958578201923345, + 0.017263775374714997, + -0.08927017431137443, + 0.0004653491094445036 + ], + [ + -0.02665882957703136, + 0.9940992913170956, + -0.10514706752178583, + 0.029539353590516185 + ], + [ + 0.08692818166368484, + 0.10709136782514067, + 0.9904417853513581, + 0.011592863094813445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9943310555511655, + 0.01914951194336979, + -0.10458990466979191, + 0.001598158430621759 + ], + [ + -0.030891464175368928, + 0.9932472413231999, + -0.11182859672264352, + 0.03183082644544111 + ], + [ + 0.10174217123497671, + 0.11442558191324381, + 0.9882081343503547, + 0.016364452386935565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9928639213323563, + 0.02130933690976037, + -0.11733348148334762, + 0.001215771148545389 + ], + [ + -0.03484667608280733, + 0.9928047042193491, + -0.11456233432464163, + 0.03177369962665589 + ], + [ + 0.11404798499980898, + 0.11783349031747037, + 0.9864625313092669, + 0.021045210950963854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9914184381988419, + 0.023718976242404155, + -0.12855695455859947, + -0.001999818391239411 + ], + [ + -0.03891183074840468, + 0.992370484992571, + -0.11699012754680338, + 0.030991037154335512 + ], + [ + 0.12480124128860677, + 0.12098855599444967, + 0.9847773451350317, + 0.027786372269651416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9895987612538392, + 0.026180157436886245, + -0.14145278746439427, + -0.005584616040081484 + ], + [ + -0.0433758443189413, + 0.9918396853433261, + -0.11988567348799907, + 0.030159910702353604 + ], + [ + 0.1371598624032782, + 0.12477434806334195, + 0.9826589104113808, + 0.033491385804625406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9877627586443817, + 0.02834371756012426, + -0.15336677055383718, + -0.01020264194350502 + ], + [ + -0.04754834900667103, + 0.9912618214563578, + -0.12304127693487352, + 0.028335616681048843 + ], + [ + 0.14853917712839682, + 0.12882792786463784, + 0.9804792082752815, + 0.038343386536824675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9856725544610684, + 0.030313349384276024, + -0.1659238265931054, + -0.014388289974116576 + ], + [ + -0.05169138568559081, + 0.990672018579082, + -0.12608311643654074, + 0.02670793639337486 + ], + [ + 0.16055409066135812, + 0.13285349996727072, + 0.9780451582203915, + 0.043685024143041463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9832596137627343, + 0.03234946701451886, + -0.17931548713659728, + -0.01758450761991654 + ], + [ + -0.056031183910205784, + 0.990109705225848, + -0.12862067503790048, + 0.026130496996556302 + ], + [ + 0.17338119382672193, + 0.136514774297367, + 0.9753474652787897, + 0.04812672769112893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.980518919520942, + 0.034138102293303246, + -0.19343535983189997, + -0.020707114290027386 + ], + [ + -0.06027747473758871, + 0.9895608893213428, + -0.13090405786228645, + 0.026249844795685123 + ], + [ + 0.18694725058353764, + 0.1400137003916597, + 0.9723409325961191, + 0.05144715591956396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9774428920673308, + 0.03572815565514595, + -0.20815593107219954, + -0.023556176590459364 + ], + [ + -0.06462729749183244, + 0.9889076676875229, + -0.13373457745746245, + 0.02623314088956448 + ], + [ + 0.20106890651205822, + 0.14417046744151693, + 0.9689097848364109, + 0.05319695251196409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9741159931355815, + 0.0373501142572995, + -0.2229416983932045, + -0.02705725844294529 + ], + [ + -0.06923426432579646, + 0.9881538453097045, + -0.1369620189793889, + 0.02727031222358969 + ], + [ + 0.2151851494893308, + 0.14885209761575885, + 0.9651623720776952, + 0.05679737073751439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9709082798509169, + 0.03867878433172199, + -0.23630713861319108, + -0.029737324984355443 + ], + [ + -0.07337454104661192, + 0.9874509326668108, + -0.13984574466763258, + 0.027999386691261702 + ], + [ + 0.2279326410217124, + 0.15311631924150268, + 0.9615623245212978, + 0.058009006158362846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9677347246044595, + 0.04018885206018961, + -0.24874557074411402, + -0.034761820132229636 + ], + [ + -0.07751149570608368, + 0.9868098968530742, + -0.14212035570681203, + 0.028990981117169308 + ], + [ + 0.23975293705841563, + 0.1568154445292593, + 0.9580853018019607, + 0.05906082008327065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9649477064560787, + 0.0410218529487731, + -0.25921637947051684, + -0.03891890257489813 + ], + [ + -0.08075962186594923, + 0.9861943028872888, + -0.144563759043282, + 0.030371298022871987 + ], + [ + 0.2497074433836978, + 0.16043068451298348, + 0.954938840023524, + 0.059884050428599275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9622066006155191, + 0.041503646925370466, + -0.26913919265655323, + -0.04126956991083106 + ], + [ + -0.08360929566969402, + 0.9856077941916733, + -0.1469243400742099, + 0.03086081236929657 + ], + [ + 0.25916779006957014, + 0.1638741081456085, + 0.9518284158764839, + 0.059151557346062686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9594791903727414, + 0.04192057258571836, + -0.27864376690633946, + -0.04364634647690034 + ], + [ + -0.08639906581683324, + 0.985007551933967, + -0.14931618820152107, + 0.03134507990529671 + ], + [ + 0.26820679459634766, + 0.16734033652153046, + 0.9487161467505515, + 0.05860755844095388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.956855838936526, + 0.04216744374680618, + -0.28748706089307263, + -0.04604660273999991 + ], + [ + -0.088956654351801, + 0.9844173250918552, + -0.15168798141425388, + 0.03173086034258438 + ], + [ + 0.27661094905952577, + 0.17071741781920427, + 0.9456965401827014, + 0.05825771154063666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9543075278815938, + 0.04204704978665765, + -0.2958533214834002, + -0.04761536698491671 + ], + [ + -0.09112877556199814, + 0.9838405284372298, + -0.15412125378715288, + 0.032077794545563774 + ], + [ + 0.28459214411696754, + 0.17403982362836198, + 0.9427181186857058, + 0.05736023498122331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9516976029954911, + 0.041872054973430606, + -0.30416838012018754, + -0.04932428730987231 + ], + [ + -0.0932982648893528, + 0.9832517622143099, + -0.15656118890418078, + 0.032469425716926535 + ], + [ + 0.29251855705454494, + 0.17737729030165172, + 0.9396649353168239, + 0.05650084591321068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9486856801153009, + 0.042003265353267545, + -0.3134185796085359, + -0.05095151886252215 + ], + [ + -0.09595576456685, + 0.982643616730985, + -0.15875772026657659, + 0.033027630930213124 + ], + [ + 0.30131042396598295, + 0.18068549526044506, + 0.9362503832906706, + 0.055768331573283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9458095998718847, + 0.04194838239461897, + -0.3220008291987159, + -0.05251114180972138 + ], + [ + -0.09836646909036671, + 0.9820408575465854, + -0.16099624799311818, + 0.03347112377458946 + ], + [ + 0.3094644382621042, + 0.18394588150769373, + 0.9329499847941894, + 0.05522698923946722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9429898631359165, + 0.041771396472020175, + -0.33018974614558105, + -0.05423262482810495 + ], + [ + -0.10064124462871632, + 0.9814359778224445, + -0.1632628595709552, + 0.03390096688256234 + ], + [ + 0.3172403787390389, + 0.1871859286177245, + 0.9296881037342748, + 0.054657567294177076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9403011679460822, + 0.04161645222091709, + -0.33778955647529774, + -0.056068169043953855 + ], + [ + -0.1029178460646374, + 0.9807988905807482, + -0.16565462021021213, + 0.03438077497133522 + ], + [ + 0.32440966465358245, + 0.1905298064348939, + 0.9265294179567276, + 0.05427395316771156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9377207563032094, + 0.041355230382295285, + -0.3449195965992143, + -0.057581317033447155 + ], + [ + -0.10507409299384618, + 0.9801465266250201, + -0.1681434546047799, + 0.034837791185313625 + ], + [ + 0.33111813326916717, + 0.19391372118789424, + 0.9234491055577486, + 0.053463779042555906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9351268780162109, + 0.040828523802952224, + -0.3519527719108444, + -0.05873995578063248 + ], + [ + -0.10699463316352033, + 0.9795048123871974, + -0.17065307200436042, + 0.03532147659698599 + ], + [ + 0.3377719208073087, + 0.1972393321687981, + 0.920329710136399, + 0.052032372047103086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9323063152401777, + 0.04029266261483734, + -0.3594181908344224, + -0.059493302616645614 + ], + [ + -0.10903114643450912, + 0.9788533432920349, + -0.1730847810559397, + 0.03551783142804992 + ], + [ + 0.3448436510513989, + 0.2005558118465103, + 0.9169843088429204, + 0.05047691313300838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9280124563657319, + 0.03991270114741694, + -0.3704049906752844, + -0.06001865746803086 + ], + [ + -0.1119665732743398, + 0.9781597101730288, + -0.1751201526478836, + 0.035774196416456266 + ], + [ + 0.3553257200080546, + 0.20398666054752979, + 0.9122132837332639, + 0.04903003193334871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.921561756488173, + 0.03995426133728647, + -0.38617041054361717, + -0.06010183682291016 + ], + [ + -0.11632461716726494, + 0.9774076959873246, + -0.17647316868475885, + 0.036691899940209764 + ], + [ + 0.37039507612726613, + 0.20755204847397174, + 0.9053892172733974, + 0.048463388214995975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9124181936464387, + 0.040476491249072294, + -0.40725261639323285, + -0.05959720798958368 + ], + [ + -0.12234893017530721, + 0.9765668923646851, + -0.17705322369880624, + 0.0380982661171879 + ], + [ + 0.39054292873886176, + 0.21137350447335043, + 0.8959896553078763, + 0.048369613389487746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9017284270367897, + 0.041059771617043654, + -0.4303486249873625, + -0.058716366180884834 + ], + [ + -0.12897527051896088, + 0.9756952021206439, + -0.17715601077388585, + 0.03915518400393469 + ], + [ + 0.41261510329642337, + 0.21525094126045655, + 0.8851077950273456, + 0.04889912071275458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8900536864860601, + 0.0415485933302781, + -0.4539583125848117, + -0.057558334397132586 + ], + [ + -0.13568434133997573, + 0.9748483099647556, + -0.17680648199089546, + 0.039534592749336864 + ], + [ + 0.43519443319935897, + 0.2189622957295047, + 0.8733048255684575, + 0.050182739867230736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.877211810453937, + 0.041948265288531794, + -0.47826748022357735, + -0.056188466505217145 + ], + [ + -0.14257681450112514, + 0.9739960020734806, + -0.1760785049674969, + 0.039526264568846774 + ], + [ + 0.45844442582153705, + 0.22264799793431791, + 0.8603816463924612, + 0.051352771006067194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8640417272701509, + 0.041267930461383606, + -0.5017258728144772, + -0.05495046742273146 + ], + [ + -0.14919912248563189, + 0.9728504234281266, + -0.17692279526740662, + 0.03944712076421974 + ], + [ + 0.4808029902002815, + 0.22772573756857103, + 0.8467404992459725, + 0.05155089764212759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8499958488995136, + 0.03824766778621849, + -0.5253990604887973, + -0.05430057012489861 + ], + [ + -0.15589380462563435, + 0.9709511872164396, + -0.18152386543463517, + 0.0394331090499719 + ], + [ + 0.5031939770435854, + 0.23620099058196617, + 0.8312670530672788, + 0.05146218913091828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8370139677405082, + 0.03405568775285417, + -0.546120708212911, + -0.05407906621036585 + ], + [ + -0.16196972717869523, + 0.9687541895162183, + -0.18783271220006922, + 0.03947482306438533 + ], + [ + 0.5226599518663645, + 0.24567362582592195, + 0.8163767783864228, + 0.05125557005162785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8245846511402861, + 0.028705105049262672, + -0.5650098849117278, + -0.053940939441164355 + ], + [ + -0.16732213954415115, + 0.9664064022213841, + -0.19509476508581217, + 0.03966436166660448 + ], + [ + 0.5404289543707116, + 0.2554108116146053, + 0.8016868856281412, + 0.05073146808178667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8132914708381224, + 0.022324620000459712, + -0.5814280650293716, + -0.054462310531193624 + ], + [ + -0.17179051930777264, + 0.9639308522185877, + -0.20328632422549672, + 0.04000754173150334 + ], + [ + 0.5559181602879418, + 0.26521486286213874, + 0.7877918986503274, + 0.050554028118404315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8026257037202279, + 0.015441890546417853, + -0.5962830936258059, + -0.055440497417154094 + ], + [ + -0.1758179853232007, + 0.9613763889816993, + -0.21176277941460667, + 0.04057205308805788 + ], + [ + 0.5699824696992882, + 0.2748035420529747, + 0.7743403628319004, + 0.0510167482793165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.792144373088976, + 0.008084321636965654, + -0.6102802109909374, + -0.05627368159820977 + ], + [ + -0.17949594970249058, + 0.9587782227451347, + -0.2202850962504765, + 0.04109555453560386 + ], + [ + 0.5833425205004982, + 0.2840404255266331, + 0.7609418771777349, + 0.05161354376502215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.7818076629090073, + -4.8734849891369796e-05, + -0.6235196675660444, + -0.05672377534109372 + ], + [ + -0.18269343404238894, + 0.9560934667053693, + -0.22914709703836106, + 0.04136748826507031 + ], + [ + 0.596154247971576, + 0.29306190565855395, + 0.7474722951904114, + 0.051835848613998356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7714232650893936, + -0.008452793977485029, + -0.6362662150018601, + -0.05723234601710001 + ], + [ + -0.185712513534981, + 0.9533880822599013, + -0.23782772529986268, + 0.041561128157618296 + ], + [ + 0.6086189352914831, + 0.30162843844498755, + 0.7338959576982965, + 0.05163228070153079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.7597598583530477, + -0.017169294856669157, + -0.6499770557100318, + -0.05800137400554575 + ], + [ + -0.18905114391112865, + 0.9506301389723734, + -0.24609348602362527, + 0.04182716938342992 + ], + [ + 0.6221130304223268, + 0.30985085798088613, + 0.7190047448989876, + 0.05124961277829577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7486314417895974, + -0.024326951748306277, + -0.6625399337267641, + -0.05912096459944883 + ], + [ + -0.19214164624120028, + 0.9484779661025442, + -0.2519347844139496, + 0.04228616575640675 + ], + [ + 0.6345333341470334, + 0.3159078144595625, + 0.7053862067120624, + 0.05092381909185707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7363220386070483, + -0.030895808172951372, + -0.6759255169757247, + -0.060676049155587095 + ], + [ + -0.19546843339748668, + 0.9466526440122787, + -0.256204728937025, + 0.04279683553519273 + ], + [ + 0.6477823299586775, + 0.3207712902083077, + 0.6910020494697573, + 0.0502351382481737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7220104735863424, + -0.037097272923306404, + -0.6908868708936936, + -0.06224378871220473 + ], + [ + -0.19932992222203172, + 0.9450703647086064, + -0.2590551830334623, + 0.043109464448511645 + ], + [ + 0.6625469478750804, + 0.3247549816264495, + 0.6749561050692261, + 0.0492877530162576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7057240001582026, + -0.042567830691738084, + -0.7072069113002959, + -0.06393490413038358 + ], + [ + -0.20321142143888363, + 0.9440905543201118, + -0.2596115240899995, + 0.04331713446363852 + ], + [ + 0.6787184643115978, + 0.32692660496469766, + 0.6576170931239264, + 0.04851099254918561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.6882946407698312, + -0.047575478330218995, + -0.7238695057461528, + -0.06602799796842104 + ], + [ + -0.20709454977286706, + 0.9434355962790277, + -0.25892300617752845, + 0.043722140723803996 + ], + [ + 0.695242644651421, + 0.3281247469108141, + 0.6395090425653195, + 0.04819548768475456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.6705356752756427, + -0.05278229054003971, + -0.7399972553921974, + -0.06841235712568963 + ], + [ + -0.21035703847587806, + 0.9430011610736204, + -0.2578734700923351, + 0.04395029404239911 + ], + [ + 0.7114294234471161, + 0.3285769925286177, + 0.6212127940042389, + 0.04822497261249774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.6513856166320281, + -0.05817662226370494, + -0.7565132246477252, + -0.07160400014566938 + ], + [ + -0.21349810339908917, + 0.9427172177964792, + -0.2563255881004828, + 0.044090713459765465 + ], + [ + 0.7280901992815898, + 0.3284809399220185, + 0.601651837708523, + 0.04864115396014053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.6342635373034018, + -0.06309273005457972, + -0.7705381708011851, + -0.07494561753276 + ], + [ + -0.21637384932553705, + 0.9423485754729811, + -0.2552675451993331, + 0.04434217977719957 + ], + [ + 0.7422210739230101, + 0.32863120624539555, + 0.5840457239859482, + 0.049018989096244754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.6176590517835887, + -0.06796114317296391, + -0.7835040387696939, + -0.07866612467705657 + ], + [ + -0.21915255731615246, + 0.9419229444879158, + -0.25446674295279736, + 0.04459142522606928 + ], + [ + 0.7552942819666972, + 0.3288806009265953, + 0.5668933744211277, + 0.04919983489020051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.6023207269928791, + -0.07279556353369673, + -0.79492801420291, + -0.0831767508213983 + ], + [ + -0.2217195199456856, + 0.9413924646953779, + -0.254205983190438, + 0.04495028035737053 + ], + [ + 0.7668443103458648, + 0.3293645903016505, + 0.5508799963200712, + 0.049129754415617594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.5876131676410352, + -0.07730332125620111, + -0.805440849310258, + -0.08886649825846293 + ], + [ + -0.22427312178471276, + 0.9408645184472353, + -0.25392031185391933, + 0.0450713784159206 + ], + [ + 0.7774396002647462, + 0.32984565246462294, + 0.5355273228233823, + 0.04845816203522477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.5727661150383547, + -0.08153086248824104, + -0.8156541521538365, + -0.0955450707904912 + ], + [ + -0.2264549480458541, + 0.9405794126944144, + -0.25303858385823375, + 0.04458566420349723 + ], + [ + 0.7878179573793808, + 0.3296408452806697, + 0.5202689488651288, + 0.047384944946575414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.5578561304886633, + -0.08530591812134304, + -0.8255419056654181, + -0.10322678178837033 + ], + [ + -0.22874221911285436, + 0.9403734845056732, + -0.25174333523250453, + 0.04357408691712616 + ], + [ + 0.7977929147789807, + 0.3292728503416778, + 0.5050800482659406, + 0.046820409453393205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.5419931242033046, + -0.08917655427794419, + -0.8356380768511292, + -0.11091195795914975 + ], + [ + -0.23086963766872637, + 0.9402955857265639, + -0.2500868286532673, + 0.04221580530630241 + ], + [ + 0.8080486765777493, + 0.3284688016086924, + 0.4890455834078221, + 0.04710781245579765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.5284443188922314, + -0.09309408398466558, + -0.8438483829205232, + -0.11784645637093563 + ], + [ + -0.23222125857126819, + 0.9402116592116188, + -0.24914919817272477, + 0.0413863086122441 + ], + [ + 0.81659040460815, + 0.3276210118560644, + 0.47523108451816015, + 0.04795569125713625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.5144713229099157, + -0.09753407242417506, + -0.8519426991410148, + -0.12608573519371713 + ], + [ + -0.23316642354941114, + 0.9401657178712137, + -0.24843880910373659, + 0.04157920593843011 + ], + [ + 0.825198568123151, + 0.32645907500950566, + 0.46094662978639955, + 0.05015453888326742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.5007035891207833, + -0.10159745479921002, + -0.8596358956092333, + -0.13691639233013886 + ], + [ + -0.23418347338869527, + 0.9401562267418861, + -0.24751640371915903, + 0.04196804218819053 + ], + [ + 0.8333390766267788, + 0.32524487159182375, + 0.4469471522115852, + 0.053584043473749614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.48871781968446226, + -0.10468503498611001, + -0.8661385201991784, + -0.1497965914927126 + ], + [ + -0.2355982352398393, + 0.9400553718317166, + -0.24655500287401694, + 0.04164243765882223 + ], + [ + 0.8400287877654782, + 0.3245565302690582, + 0.4347582022055146, + 0.056994630754933606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.47797861038168177, + -0.10728655744980227, + -0.8717947250403432, + -0.1630808670904415 + ], + [ + -0.23679016318097862, + 0.9400297326566132, + -0.24550869708070006, + 0.039478734249153456 + ], + [ + 0.8458527452448935, + 0.3237803210698693, + 0.42390970388700744, + 0.06014833933901717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.4685858035474113, + -0.11022005281273932, + -0.8765151936343055, + -0.17762718845231032 + ], + [ + -0.23783731770354877, + 0.9398126241013869, + -0.24532762153342355, + 0.03702721064151727 + ], + [ + 0.8508000675960293, + 0.3234250632490044, + 0.41416841193042425, + 0.06336851599038756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.4605843154685725, + -0.1133438157821693, + -0.8803495145499227, + -0.1926088743708703 + ], + [ + -0.23887527892359753, + 0.9393941144994897, + -0.24592132636860412, + 0.0353822390872266 + ], + [ + 0.8548688141835097, + 0.3235612416029734, + 0.40559515957272274, + 0.06585491014167473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.4527093981574057, + -0.1167696279574211, + -0.8839791031504337, + -0.2086419827851717 + ], + [ + -0.23959178899439515, + 0.9389972375092059, + -0.24673865241697587, + 0.03413735075051543 + ], + [ + 0.8588655165195683, + 0.3234950415953318, + 0.39711583020173064, + 0.06772853255414991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.4454706604550713, + -0.12042417697014796, + -0.8871605876473466, + -0.22411116421730828 + ], + [ + -0.24025650351351174, + 0.9384866664399756, + -0.2480314283187602, + 0.032281970401685935 + ], + [ + 0.862457363116105, + 0.3236368250299166, + 0.3891355834299539, + 0.06926172574015807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.4384359550495626, + -0.12424297909224946, + -0.8901334705908216, + -0.24120445641181743 + ], + [ + -0.24062660910135153, + 0.938016481542915, + -0.2494472195600417, + 0.029542053316457532 + ], + [ + 0.8659519318716044, + 0.3235564286181518, + 0.3813639851738802, + 0.07029397929081665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.4306123260361118, + -0.1274455215340594, + -0.8934935163204493, + -0.2590406377691417 + ], + [ + -0.2414480408681885, + 0.9376301474930506, + -0.2501050780633485, + 0.026781254399980834 + ], + [ + 0.8696412296037275, + 0.32343058846230305, + 0.372983627281742, + 0.07186327467577386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.42279227039727746, + -0.13039884584059103, + -0.8967958725907239, + -0.2766601623317353 + ], + [ + -0.24222934959342354, + 0.9373256802824275, + -0.2504905412957386, + 0.024650586226516603 + ], + [ + 0.8732534788295225, + 0.323135745603186, + 0.36470762485258046, + 0.07413211074646411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.4168472848742063, + -0.13350018545623615, + -0.8991195924770816, + -0.29479920623738337 + ], + [ + -0.24255038573104826, + 0.9369539457239943, + -0.25156830876316366, + 0.022174743932781817 + ], + [ + 0.8760180657239454, + 0.32294737044197974, + 0.35818618684964487, + 0.07680375398322596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.41222642767358164, + -0.13673127491844955, + -0.9007629714784313, + -0.3138198148660978 + ], + [ + -0.24249884759605092, + 0.9365438466410726, + -0.2531401434647039, + 0.019173422521599596 + ], + [ + 0.8782161927692208, + 0.3227850395819468, + 0.352910947662461, + 0.08019687446399858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.40659158111649313, + -0.14001630153962577, + -0.9028171029994697, + -0.33521456386831966 + ], + [ + -0.24232371233431443, + 0.9362650638836534, + -0.2543362903548279, + 0.016667752476740988 + ], + [ + 0.8808873393378448, + 0.3221849863884155, + 0.346748222692186, + 0.08441495362556573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.4007650360507227, + -0.14323550214631972, + -0.9049149003106063, + -0.3545336750556148 + ], + [ + -0.24221231730305465, + 0.9359973516860558, + -0.2554254313559526, + 0.014570231642299767 + ], + [ + 0.8835839401131889, + 0.3215471171719344, + 0.3404216094969164, + 0.08827401195230532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.3949738072123018, + -0.1464972886876236, + -0.9069367320951309, + -0.373156784774601 + ], + [ + -0.24286750040119098, + 0.9354321614032285, + -0.25686971145186105, + 0.01196097588902268 + ], + [ + 0.8860085038333987, + 0.3217222650356359, + 0.33389177185915053, + 0.09204791682905131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.38949517597643596, + -0.1501545314117056, + -0.9087062917068506, + -0.39231063837214664 + ], + [ + -0.2430887036089548, + 0.9348775584893205, + -0.2586732162609113, + 0.009322291241899766 + ], + [ + 0.8883700749512011, + 0.32164820430025337, + 0.32762942877833723, + 0.09544542688029731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 587.3970540364583, + "fy": 587.3973655700684, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_133/boom_down/transforms.json b/spatialvid_eval/camera_controls/scene_133/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..49504551db6646f63acfef9a7dd4ee5bc65468dc --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_133/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": [ + [ + 0.9999999669701852, + 0.00016419212101392527, + 0.00019773865560669535, + -0.0004031295684778571 + ], + [ + -0.0001641125915896736, + 0.9999999056737412, + -0.0004021437133154268, + 0.0006001212608661309 + ], + [ + -0.00019780466578398943, + 0.00040211124862946535, + 0.999999899589924, + 0.0003528208875476602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999781622843036, + 0.0007135381747582114, + -0.006570069845916454, + -0.00629789325735632 + ], + [ + -0.0007163495872049094, + 0.9999996528671751, + -0.00042556879396548264, + 0.0021590775419931315 + ], + [ + 0.006569763905649068, + 0.0004302659673371804, + 0.9999783263018361, + 0.012808962728373131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999102531475518, + 0.0012626808856164694, + -0.013337589264184619, + -0.012191284089457638 + ], + [ + -0.0012687322492621303, + 0.9999990960324221, + -0.00044525590229554707, + 0.00371803243103325 + ], + [ + 0.01333701499131932, + 0.00046213777160666544, + 0.9999109512650621, + 0.025265184248709275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997962426909568, + 0.00181159493474749, + -0.02010450757511711, + -0.018083302922263286 + ], + [ + -0.0018212351095385393, + 0.9999982351951556, + -0.0004612041306093881, + 0.0052769847879770605 + ], + [ + 0.020103636579517848, + 0.0004977251919526023, + 0.9997977775860036, + 0.03772149938211637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9996361361710989, + 0.002360255013852772, + -0.026870512782347967, + -0.023973950739796236 + ], + [ + -0.002373832694269469, + 0.9999970703950658, + -0.0004734127435960339, + 0.006835933473013587 + ], + [ + 0.026869316687559434, + 0.0005370265875770216, + 0.9996388104826605, + 0.05017792205395074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9994299409698681, + 0.002908635826343384, + -0.033635292931610855, + -0.029863228652547764 + ], + [ + -0.0029264995253228693, + 0.9999956016858564, + -0.00048188117836367607, + 0.008394877346617893 + ], + [ + 0.0336337433761668, + 0.0005800401464449542, + 0.9994340572843886, + 0.06263446618029445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9992009101043003, + 0.0027950462270771473, + -0.03987140533423093, + -0.03512260225789509 + ], + [ + -0.002816923438422721, + 0.9999959111723636, + -0.0004925250210423119, + 0.009730861337040549 + ], + [ + 0.0398698656767251, + 0.0006044461454834656, + 0.9992046979752333, + 0.0752778351351774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9990839546806796, + 0.002407375704909614, + -0.042725355959073744, + -0.03743683023951752 + ], + [ + -0.002431019401087909, + 0.9999969193467179, + -0.0005014396730864028, + 0.010912373857176616 + ], + [ + 0.042724017183379204, + 0.0006048465008758456, + 0.9990867292264596, + 0.0816932530514929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9988251402107183, + 0.001632038115274866, + -0.04843217664558366, + -0.042070233740457354 + ], + [ + -0.0016592945611060542, + 0.9999984868269719, + -0.0005225756652243187, + 0.012025403300452583 + ], + [ + 0.04843125049591651, + 0.0006023249593789342, + 0.9988263368474246, + 0.09452330160525194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9985331281937466, + 0.0008567266062323043, + -0.05413739852572378, + -0.04670557529196461 + ], + [ + -0.0008877020746032402, + 0.9999994557746124, + -0.0005481199740991905, + 0.013138429928937281 + ], + [ + 0.05413689947381186, + 0.0005953738333476476, + 0.9985333452846534, + 0.10735329402233124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9982079283351144, + 8.146694613863078e-05, + -0.0598408319799789, + -0.05134285447413261 + ], + [ + -0.0001162675863302409, + 0.9999998261574347, + -0.000578071750716962, + 0.014251451497730853 + ], + [ + 0.059840774483354967, + 0.000583993353810537, + 0.9982077642760525, + 0.12018321369467663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9978495514432073, + -0.0006937150983727085, + -0.06554228744827413, + -0.05598207073823658 + ], + [ + 0.000654983264213419, + 0.9999995979631288, + -0.0006124299995963913, + 0.01536446576204597 + ], + [ + 0.06554268594979536, + 0.0005681838990107378, + 0.9978496046426752, + 0.13301304401741335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9974683842551156, + -0.0009496746382928998, + -0.0711049965162113, + -0.06082967984722471 + ], + [ + 0.0009018135194552954, + 0.999999344709495, + -0.0007052041950132372, + 0.016429376681794422 + ], + [ + 0.07110561963632106, + 0.0006392954418106421, + 0.9974685870529824, + 0.14570788543033183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9970671196678628, + -0.0006871465513395447, + -0.07652899259005667, + -0.06588374665846769 + ], + [ + 0.000623776209816609, + 0.9999994425360051, + -0.0008519571110801679, + 0.017446190275270144 + ], + [ + 0.0765295353472895, + 0.0008017214578863475, + 0.9970669924645145, + 0.1582681352811529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9966362884029601, + -0.0004255057053098204, + -0.0819507631646369, + -0.07093717267620944 + ], + [ + 0.00034494481983537106, + 0.9999994433068112, + -0.0009971956371530705, + 0.018463002414837323 + ], + [ + 0.08195114185563815, + 0.0009655728673886644, + 0.9966358803583156, + 0.1708288161413991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9961759032464096, + -0.00016475986505397913, + -0.08737014733527196, + -0.07598996137319437 + ], + [ + 6.532762453446737e-05, + 0.999999347021891, + -0.0011409154629133417, + 0.01947981273653665 + ], + [ + 0.08737027826155605, + 0.0011308448076148539, + 0.9961752635287224, + 0.18338993326512015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9956859778612984, + 9.508323113927464e-05, + -0.09278698426810435, + -0.08104211626045993 + ], + [ + -0.0002150670777424667, + 0.9999991536841012, + -0.001283112323113632, + 0.020496620876466285 + ], + [ + 0.09278678373853876, + 0.0012975323737043562, + 0.9956851556456976, + 0.19595149188120906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9951665267873947, + 0.000354015871772438, + -0.09820111320487228, + -0.08609364088716565 + ], + [ + -0.000496230965577321, + 0.9999988632991799, + -0.0014237819977044254, + 0.0215134264707999 + ], + [ + 0.09820049753816122, + 0.001465630618784353, + 0.9951655712544254, + 0.2085134971931417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9946464519602487, + 0.000854313966459129, + -0.10333298481383249, + -0.09164376712354792 + ], + [ + -0.0010037516409168673, + 0.9999985243642577, + -0.0013941850488872116, + 0.022331084462713546 + ], + [ + 0.10333164126022765, + 0.0014904418653194128, + 0.9946458417434388, + 0.22155240284808728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.994099663004144, + 0.0013544772092598375, + -0.10846209202544968, + -0.09719264581742577 + ], + [ + -0.001511112666591942, + 0.9999979307850868, + -0.0013619706508176588, + 0.023148735559488983 + ], + [ + 0.10846002283586512, + 0.0015178330061040872, + 0.9940996527659636, + 0.23459143180363756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9938162552888743, + 0.0016045040632201315, + -0.11102556593105249, + -0.09996561478124141 + ], + [ + -0.001764729052385892, + 0.9999975385086229, + -0.0013448821759408274, + 0.024182556685471448 + ], + [ + 0.11102313477366345, + 0.0015324958096543796, + 0.9938166405336664, + 0.24111195334679647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9932294228983792, + 0.002104439842433467, + -0.11615026828166357, + -0.10551231130031048 + ], + [ + -0.002271825055552791, + 0.9999965629951073, + -0.0013087432481922467, + 0.025000195040202865 + ], + [ + 0.11614711490118816, + 0.0015637553908155971, + 0.993230790083155, + 0.254151204894189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9926159144365752, + 0.0026042071946889922, + -0.12127186199662618, + -0.11105776261167286 + ], + [ + -0.0027787273519600114, + 0.99999533289002, + -0.0012699891659319214, + 0.02581782395488227 + ], + [ + 0.12126798869258565, + 0.0015975928972192027, + 0.9926185181706966, + 0.2671906054834787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9919757463806759, + 0.0031037926975585584, + -0.12639020952349062, + -0.11660196973282444 + ], + [ + -0.0032854223275536917, + 0.9999938482263988, + -0.0012286209699919153, + 0.02663544247574111 + ], + [ + 0.12638561861474146, + 0.001634007420079345, + 0.9919798412402948, + 0.2802301647557575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9914271810619698, + 0.002753007519550574, + -0.13063141123448563, + -0.12192738366525041 + ], + [ + -0.002918385101996493, + 0.9999951641561697, + -0.0010745662713351227, + 0.027654089133553373 + ], + [ + 0.13062782123235633, + 0.0014465869736535529, + 0.9914304210110839, + 0.2939453287390899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9908603503321954, + 0.002403026732673627, + -0.13487027694077366, + -0.12725364942339853 + ], + [ + -0.0025506918676977846, + 0.9999963218605185, + -0.0009220826592132972, + 0.02867273413664561 + ], + [ + 0.13486756507980333, + 0.0012576676653303096, + 0.9908628351903651, + 0.30765997733187195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9902752646503684, + 0.002053856794683789, + -0.13910672842788757, + -0.132580763780925 + ], + [ + -0.002182349409239193, + 0.9999973213180832, + -0.0007711729472150945, + 0.029691376890978245 + ], + [ + 0.13910477192641207, + 0.0010672529810004294, + 0.9902770942510867, + 0.32137410502666297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.98967193481234, + 0.001705504148375555, + -0.1433406875259067, + -0.13790872347970223 + ], + [ + -0.0018133645231816634, + 0.9999981625104221, + -0.0006218399198879686, + 0.030710016802503425 + ], + [ + 0.14333936358832425, + 0.000875346434147024, + 0.9896732090011908, + 0.335087706334383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9890503719505984, + 0.0013579752214629627, + -0.14757207611089945, + -0.14323752522991637 + ], + [ + -0.0014437440179400501, + 0.9999988454220136, + -0.0004740863326867907, + 0.03172865327718329 + ], + [ + 0.1475712619299363, + 0.0006819515657806702, + 0.9890511905834138, + 0.34880077578448293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9884363114870199, + 0.0011834383206803121, + -0.15163198082092125, + -0.14862429006138406 + ], + [ + -0.0012576751081343873, + 0.9999991316343814, + -0.00039367982655802566, + 0.03274145420210745 + ], + [ + 0.15163138325312955, + 0.000579831203545448, + 0.9884369415438287, + 0.36255590386580544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9878319414321378, + 0.0011813003813136052, + -0.15552060961757663, + -0.15406839149393406 + ], + [ + -0.0012555882102370313, + 0.999999139761313, + -0.0003794402194637761, + 0.033748422537670866 + ], + [ + 0.15552002759985567, + 0.0005700930125350435, + 0.9878325748877171, + 0.37635347439518946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9872122730478666, + 0.0011792007812748081, + -0.15940682993266625, + -0.15951249678568352 + ], + [ + -0.001253445291048902, + 0.9999991477483049, + -0.00036520893517033565, + 0.034755390888128936 + ], + [ + 0.15940626342326353, + 0.0005603464833670316, + 0.9872129097581999, + 0.39015102025599235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.986577315930954, + 0.0011771395530802337, + -0.16329058158065057, + -0.16495660579155932 + ], + [ + -0.0012512463837571915, + 0.9999991555952328, + -0.00035098619407630626, + 0.03576235925295192 + ], + [ + 0.1632900305375734, + 0.0005505917669850209, + 0.9865779557519742, + 0.4039485414229837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9859270799149231, + 0.0011751167286519356, + -0.16717180441422216, + -0.17040071836635026 + ], + [ + -0.0012489915224161777, + 0.9999991633019756, + -0.000336772216447981, + 0.036769327631609595 + ], + [ + 0.1671712687952384, + 0.0005408290144594132, + 0.9859277227025149, + 0.41774603787169323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9855962354574199, + 0.0011741197276631666, + -0.16911144874025305, + -0.17312204212184376 + ], + [ + -0.0012478431198561066, + 0.9999991671027401, + -0.000329668582729657, + 0.037897811305399806 + ], + [ + 0.16911092081740417, + 0.0005359446718863563, + 0.98559687967424, + 0.42464511178467323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9849480450120791, + 0.0014377919780648746, + -0.17284467414737223, + -0.17899181597303987 + ], + [ + -0.00151470739682673, + 0.9999988038139342, + -0.000313100946492201, + 0.038921721717412025 + ], + [ + 0.1728440172189523, + 0.0005701972715720556, + 0.9849490446650964, + 0.43818829192251907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9843109712977118, + 0.0019668948726886764, + -0.1764314119070499, + -0.1852862628687061 + ], + [ + -0.002050706416441076, + 0.9999978544614927, + -0.000292703954558755, + 0.039962563079097194 + ], + [ + 0.17643045764875429, + 0.0006499207422739551, + 0.9843128929445556, + 0.4514774046142872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9836605533340403, + 0.0024957032801682204, + -0.18001579730597755, + -0.1915794006271662 + ], + [ + -0.0025866269943377058, + 0.9999966181288702, + -0.00027035460901757443, + 0.04100338879456789 + ], + [ + 0.1800145137908652, + 0.0007315708850215018, + 0.9836636821742879, + 0.4647668057233142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.98299679993807, + 0.0030242100320263844, + -0.18359778175456357, + -0.1978712306932496 + ], + [ + -0.0031224618656275826, + 0.9999950948328268, + -0.0002460532128342894, + 0.04204419778844454 + ], + [ + 0.18359613706015673, + 0.0008151465929730276, + 0.9830014211549342, + 0.47805650242204517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.982319720107579, + 0.0035524079638752544, + -0.1871773166957629, + -0.2041617545474288 + ], + [ + -0.0036582037665834934, + 0.9999932845940118, + -0.00021980009543634484, + 0.043084988985620964 + ], + [ + 0.18717527890448002, + 0.0009006467331840807, + 0.9823261188640421, + 0.4913465018761187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9816293230209984, + 0.004080289915513256, + -0.19075435360573595, + -0.21045097370578894 + ], + [ + -0.004193845434738528, + 0.9999911874369649, + -0.00019159561270853568, + 0.044125761311288744 + ], + [ + 0.19075189080532418, + 0.0009880701466227879, + 0.9816377844559465, + 0.5046368112442042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.980920472821251, + 0.004209128488284879, + -0.19436385784785823, + -0.21695922202006895 + ], + [ + -0.004336344337046669, + 0.9999905717812114, + -0.00022905561869346753, + 0.045314080876928606 + ], + [ + 0.1943610612183518, + 0.0010675139600962642, + 0.9809294767189032, + 0.517531708455255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9801983328834362, + 0.0043376738875461765, + -0.1979707372259295, + -0.22346716362952634 + ], + [ + -0.004478979969896269, + 0.999989933942891, + -0.00026599120645505133, + 0.046502397738844306 + ], + [ + 0.19796759065807212, + 0.001147431103789431, + 0.9802078945054974, + 0.5304268291256762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9794629129937845, + 0.0044659243712871334, + -0.20157494286056515, + -0.22997479972719478 + ], + [ + -0.004621750400330548, + 0.9999892739306471, + -0.0003024018754529006, + 0.04769071181431581 + ], + [ + 0.2015714302498427, + 0.001227820494688306, + 0.9794730475944019, + 0.5433221749722438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9787142231184938, + 0.004593878201494346, + -0.2051764259086145, + -0.2364821315145982 + ], + [ + -0.0047646536935659935, + 0.9999885917534244, + -0.00033828713226017644, + 0.048879023020682894 + ], + [ + 0.20517253115547346, + 0.001308681043379151, + 0.9787249459440498, + 0.5562177477059673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.977952273403592, + 0.0047215336441745704, + -0.20877513756382252, + -0.24298916020172454 + ], + [ + -0.004907687913018565, + 0.9999878874204671, + -0.0003736464905702727, + 0.050067331275346835 + ], + [ + 0.20877084457388798, + 0.001390011654063232, + 0.9779635996924974, + 0.5691135490320496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9771576803570038, + 0.004456425209688358, + -0.21246884005347721, + -0.24905120462051983 + ], + [ + -0.004645375251957532, + 0.9999891340904249, + -0.0003901151763938262, + 0.05115005837660053 + ], + [ + 0.2124647928671669, + 0.0013682015322336008, + 0.9771677644173896, + 0.5821568420623978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9767452464626034, + 0.004127723109244075, + -0.21436344234650082, + -0.2518576721115119 + ], + [ + -0.0043114951325182675, + 0.9999906295088019, + -0.0003897490377478158, + 0.05226362214164822 + ], + [ + 0.2143598248796412, + 0.0013049124582003514, + 0.9767538905379625, + 0.5887528483650359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9759090303015058, + 0.0034706888577353363, + -0.21815022093692127, + -0.2574773880609221 + ], + [ + -0.00364373449486981, + 0.9999932851523565, + -0.0003909592418004728, + 0.053240748750357544 + ], + [ + 0.21814739919353993, + 0.0011764221396442414, + 0.9759151234897653, + 0.6019427986541398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9750576937967231, + 0.0028141563531192265, + -0.2219337159870845, + -0.26309871586396383 + ], + [ + -0.0029759819458478817, + 0.9999954938380838, + -0.0003947594011771358, + 0.05421785462200882 + ], + [ + 0.22193160500314885, + 0.0010453839232688485, + 0.9750616749073769, + 0.6151322716587059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9741912501364437, + 0.00215813576584433, + -0.22571386888627207, + -0.26872165300343326 + ], + [ + -0.0023082478297125446, + 0.9999972555317689, + -0.0004011494570089371, + 0.05519493807837177 + ], + [ + 0.22571238368673893, + 0.0009117998390078513, + 0.9741935580117044, + 0.6283212579509883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9733097127428829, + 0.0015026372584290406, + -0.2294906210755391, + -0.2743461969117799 + ], + [ + -0.0016405424904383154, + 0.9999985702061209, + -0.0004101293103065137, + 0.056171997441486474 + ], + [ + 0.2294896766756713, + 0.00077567195623337, + 0.9733107862508832, + 0.6415097481159047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9723896858274665, + 0.0012998316652873064, + -0.23335939949786283, + -0.279880688039142 + ], + [ + -0.0014300873779716226, + 0.9999989017719906, + -0.00038897931084502454, + 0.05710912651078095 + ], + [ + 0.23335863760840864, + 0.0007119638016189089, + 0.9723904767947354, + 0.6545410882703123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9714303271597566, + 0.0015492872698214355, + -0.23731986681111175, + -0.2853234573883156 + ], + [ + -0.0016766904418236582, + 0.9999985382399063, + -0.00033500330326133505, + 0.05800634068029593 + ], + [ + 0.2373190008900479, + 0.0007233443208238125, + 0.9714315048368274, + 0.6674157268058419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9704547764941045, + 0.0017986943301200088, + -0.24127637986028477, + -0.29076560637521376 + ], + [ + -0.0019230714099623106, + 0.9999981116899924, + -0.00028002285904983945, + 0.05890354968727717 + ], + [ + 0.24127542058015322, + 0.000735741229100972, + 0.9704564029922798, + 0.6802904623989319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9694630500909199, + 0.002048048689083709, + -0.24522887269850088, + -0.29620713546767796 + ], + [ + -0.002169226175726954, + 0.9999976221293589, + -0.00022403889462071027, + 0.05980075329589668 + ], + [ + 0.24522783073339974, + 0.000749154319819593, + 0.9694651875140211, + 0.6931652988468353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9684551644802287, + 0.002297346190491639, + -0.24917727944588774, + -0.3016480451542736 + ], + [ + -0.0024151506362272853, + 0.9999970695661657, + -0.00016705234311072418, + 0.06069795127043541 + ], + [ + 0.2491761654712933, + 0.0007635833694112239, + 0.9684578749235614, + 0.7060402399445868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9674311364613976, + 0.0025465826790706026, + -0.25312153429067996, + -0.30708833594427987 + ], + [ + -0.0026608406924117163, + 0.9999964540096231, + -0.00010906415436770874, + 0.06159514337529001 + ], + [ + 0.2531203589832687, + 0.0007790281373734823, + 0.9674344820107161, + 0.7189152894848959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9665887622723471, + 0.002664074525045896, + -0.2563182930571616, + -0.3129217950593379 + ], + [ + -0.0028027875172621937, + 0.9999960567180267, + -0.00017587077705745317, + 0.06253893692341511 + ], + [ + 0.2563168137890003, + 0.0008884004289424047, + 0.9665924175751291, + 0.7319225249767245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.965735808854064, + 0.002781204119175288, + -0.2595122586712129, + -0.3187549871608546 + ], + [ + -0.0029449543448186624, + 0.9999956342801186, + -0.00024220778369550864, + 0.06348272762377073 + ], + [ + 0.2595104520841, + 0.0009981604836054251, + 0.9657397832411976, + 0.7449300624968103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9648722855487908, + 0.00289797017855968, + -0.26270339614991106, + -0.3245879137034919 + ], + [ + -0.0030873396179537673, + 0.9999951867005252, + -0.00030807444770472966, + 0.0644265153824052 + ], + [ + 0.2627012388892301, + 0.0011083070991806674, + 0.9648765883476694, + 0.757937903409101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9644365631396428, + 0.002956216482904901, + -0.2642978934147984, + -0.32750243021118247 + ], + [ + -0.0031586136843563166, + 0.9999949534841177, + -0.0003408311755765874, + 0.06552340497515668 + ], + [ + 0.2642955520605425, + 0.0011635249904704576, + 0.9644410336410463, + 0.7644426652649451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.96355720277381, + 0.003072434843449844, + -0.26748472316534994, + -0.33333488851987664 + ], + [ + -0.0033013237010164538, + 0.9999944682012746, + -0.0004059909745816474, + 0.06646718784184531 + ], + [ + 0.26748199611288276, + 0.0012742491840648995, + 0.9635620156712722, + 0.7774510330117048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9626672963828626, + 0.003188286479452734, + -0.27066863745959713, + -0.3391670851622272 + ], + [ + -0.0034442482600066096, + 0.9999939577895179, + -0.0004706786370704294, + 0.06741096751642488 + ], + [ + 0.27066550136438394, + 0.001385356914622338, + 0.9626724609945928, + 0.7904597077724845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9619487515587453, + 0.003433702544875862, + -0.2732083619902666, + -0.34529941919901774 + ], + [ + -0.0036938723564065887, + 0.9999930817527011, + -0.0004378969630308581, + 0.06871019877879123 + ], + [ + 0.2732049682593379, + 0.0014304312527938705, + 0.9619547802183038, + 0.8030673808597791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9612234452553143, + 0.0036789985756033434, + -0.27574617542403806, + -0.3514311494484637 + ], + [ + -0.003943408838072033, + 0.9999921429399315, + -0.0004044565975205547, + 0.07000942275051938 + ], + [ + 0.27574252087452794, + 0.0014761530693566624, + 0.9612304006604641, + 0.8156752192405384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9604913825700635, + 0.003924172847680753, + -0.27828205992501454, + -0.3575622765029215 + ], + [ + -0.004192855951246387, + 0.9999911413578073, + -0.0003703577755603056, + 0.07130863919674388 + ], + [ + 0.27827814137589024, + 0.001522522042975192, + 0.9604993274120542, + 0.8282832253162964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.959752568647971, + 0.004169223638009394, + -0.280815997670856, + -0.36369280096329554 + ], + [ + -0.004442211942801185, + 0.9999900770133676, + -0.0003356007367985663, + 0.07260784788266911 + ], + [ + 0.2808118119429402, + 0.0015695378477656818, + 0.9597615656110988, + 0.8408914014865989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9590070086814628, + 0.004414149224358405, + -0.2833479708529039, + -0.36982272343903205 + ], + [ + -0.004691475060248365, + 0.9999889499140926, + -0.00030018572550977824, + 0.07390704857357226 + ], + [ + 0.2833435147688968, + 0.0016172001532983864, + 0.9590171204426292, + 0.8534997501489765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9582734680952492, + 0.004656228410985785, + -0.2858151148586936, + -0.3762555111303677 + ], + [ + -0.004944424146326585, + 0.999987735165307, + -0.0002866859275820582, + 0.07513265818396984 + ], + [ + 0.285810274508396, + 0.0016879146733705932, + 0.9582847373977583, + 0.8659833322179782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9575524372642008, + 0.004895380015836884, + -0.28821756564076706, + -0.3829911818147311 + ], + [ + -0.005201145957348744, + 0.9999864304028153, + -0.0002951117859004617, + 0.07628467617830911 + ], + [ + 0.2882122099601606, + 0.0017816466362237495, + 0.9575649052493227, + 0.8783422310968798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9568253224063011, + 0.005134295472959598, + -0.29061820557575946, + -0.3897262755781932 + ], + [ + -0.005457887749731599, + 0.9999850597467358, + -0.00030289375827314744, + 0.07743668506268621 + ], + [ + 0.290612308520113, + 0.001875977961975477, + 0.95683904960202, + 0.8907014174991456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9560921281427531, + 0.005372973263918924, + -0.2930170194063253, + -0.3964607934429673 + ], + [ + -0.005714647891744294, + 0.9999836232057802, + -0.0003100317952415359, + 0.07858868459078429 + ], + [ + 0.2930105549343487, + 0.0019709080510999515, + 0.9561071750690502, + 0.9030608936184294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9553528591333966, + 0.005611411871790356, + -0.29541399188672474, + -0.4031947364387208 + ], + [ + -0.005971424751539347, + 0.9999821207890781, + -0.00031652585143959907, + 0.0797406745163681 + ], + [ + 0.295406933960734, + 0.002066436300265885, + 0.9553692863018655, + 0.9154206616450398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9549809480657979, + 0.005730541008444602, + -0.2966117828595157, + -0.4065579110963913 + ], + [ + -0.006099818940623583, + 0.9999813448802898, + -0.0003195313736920048, + 0.08094165414184185 + ], + [ + 0.29660441844355856, + 0.0021144245452837606, + 0.954998088044474, + 0.9216019773224844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9542997962504731, + 0.0056050790903768135, + -0.29879839685764037, + -0.413182199907945 + ], + [ + -0.005959506948782784, + 0.9999822041608394, + -0.0002750246472205929, + 0.08176365709181893 + ], + [ + 0.298791537954529, + 0.002043147087164734, + 0.9543162171925758, + 0.9338639250638282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.953681075211417, + 0.005116388550718164, + -0.3007760451761305, + -0.4196985822910389 + ], + [ + -0.005421939617578918, + 0.9999852847680389, + -0.0001811578522428449, + 0.08225567143525372 + ], + [ + 0.30077069231289627, + 0.0018035563706691156, + 0.9536947823229605, + 0.9460271043855321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9530579920284119, + 0.0046281943382393935, + -0.3027524461469124, + -0.4262161386289909 + ], + [ + -0.004884177232573511, + 0.999988068427419, + -8.84056585679279e-05, + 0.08274766489897888 + ], + [ + 0.3027484246755587, + 0.0015629523240153864, + 0.9530692254692209, + 0.9581895871974168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9524305495648876, + 0.004140498696476819, + -0.3047275906872744, + -0.4327348668418292 + ], + [ + -0.004346222265097461, + 0.9999905551261872, + 3.2315075538866386e-06, + 0.08323963636819282 + ], + [ + 0.3047247259536858, + 0.001321336052919066, + 0.9524395495061546, + 0.9703513698073019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9517987507043068, + 0.003653303866675543, + -0.30670146972027834, + -0.43925476483859077 + ], + [ + -0.0038080771873666994, + 0.9999927448529154, + 9.375322499652827e-05, + 0.08373158472816472 + ], + [ + 0.30669958706502387, + 0.0010787086677474349, + 0.9518057573274886, + 0.9825124485289941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9511625983501527, + 0.0031666120877791395, + -0.3086740741748025, + -0.4457758305173363 + ], + [ + -0.0032697444724708205, + 0.9999946375975408, + 0.00018315907776006072, + 0.08422350886424317 + ], + [ + 0.30867299893393774, + 0.0008350712835144315, + 0.9511678518458667, + 0.9946728196823175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_133/pan_left/transforms.json b/spatialvid_eval/camera_controls/scene_133/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..b0568fee00fb6a6bb518f8a97092600096580cd2 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_133/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": [ + [ + 0.9999999669701852, + 0.00016419212101392527, + 0.00019773865560669535, + -0.0004031295684778571 + ], + [ + -0.0001641125915896736, + 0.9999999056737412, + -0.0004021437133154268, + 0.0006001212608661309 + ], + [ + -0.00019780466578398943, + 0.00040211124862946535, + 0.999999899589924, + 0.0003528208875476602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999513073380145, + 0.0007135381747582114, + -0.009842449708728277, + -0.006298785180074768 + ], + [ + -0.0007177384195764758, + 0.9999996528671751, + -0.0004232222708574564, + 0.0009090779759091625 + ], + [ + 0.009842144306844242, + 0.0004302659673371804, + 0.9999514723558541, + 0.01280842489591396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998015430395412, + 0.0012626808856164694, + -0.019881654174987873, + -0.012194440791671679 + ], + [ + -0.0012716192473888072, + 0.9999990960324221, + -0.0004369425917864838, + 0.0012180346909521941 + ], + [ + 0.01988108448355834, + 0.00046213777160666544, + 0.9998022449006793, + 0.02526402890428026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995506890985805, + 0.00181159493474749, + -0.02991885770455433, + -0.01809009640326859 + ], + [ + -0.001825675130553107, + 0.9999982351951556, + -0.0004433022580440033, + 0.0015269914059952258 + ], + [ + 0.029918001819484074, + 0.0004977251919526023, + 0.9995522324705011, + 0.03771963291264655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9991987707730875, + 0.002360255013852772, + -0.039953043461311316, + -0.0239857520148655 + ], + [ + -0.0023798261036156424, + 0.9999970703950658, + -0.0004422996752557718, + 0.0018359481210382573 + ], + [ + 0.039951882474651895, + 0.0005370265875770216, + 0.9992014605119313, + 0.050175236921012854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.998745823552598, + 0.002908635826343384, + -0.049983194914611034, + -0.029881407626462412 + ], + [ + -0.0029339921884949847, + 0.9999956016858564, + -0.0004339340729034237, + 0.002144904836081289 + ], + [ + 0.04998171291662718, + 0.0005800401464449542, + 0.9987499646695103, + 0.06263084092937916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.998225481708243, + 0.0027950462270771473, + -0.059481723116727045, + -0.03514356510459817 + ], + [ + -0.0028260505344109795, + 0.9999959111723636, + -0.0004371234736815575, + 0.002230892003247819 + ], + [ + 0.05948025812589783, + 0.0006044461454834656, + 0.9982292990781896, + 0.07527330178908627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9978431877333103, + 0.002407375704909614, + -0.06559860697028061, + -0.03745789477693548 + ], + [ + -0.0024418672867914915, + 0.9999969193467179, + -0.0004456245369235998, + 0.0021624008128928334 + ], + [ + 0.06559733209803302, + 0.0006048465008758456, + 0.9978459922163996, + 0.08168796064461023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9972150611968936, + 0.0016320381152748664, + -0.07456177421216796, + -0.0420865541216101 + ], + [ + -0.0016724053984772992, + 0.9999984868269721, + -0.00047896132364185667, + 0.0020254184321828617 + ], + [ + 0.07456087970416637, + 0.0006023249593789343, + 0.9972162816673144, + 0.09451727835565815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9965058253746194, + 0.0008567266062323043, + -0.08351889614914056, + -0.046715213466284725 + ], + [ + -0.0009034582177186889, + 0.9999994557746124, + -0.0005217410546410589, + 0.0018884360514728905 + ], + [ + 0.08351840370659384, + 0.0005953738333476476, + 0.9965060570675429, + 0.10734659606670607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9957155381714158, + 8.146694613863078e-05, + -0.0924692403296623, + -0.05134387281095934 + ], + [ + -0.00013511931269706435, + 0.9999998261574347, + -0.0005739580750754418, + 0.0017514536707629188 + ], + [ + 0.09246917749596076, + 0.000583993353810537, + 0.99571537608143, + 0.120175913777754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9948442641101588, + -0.0006937150983727085, + -0.10141207485540904, + -0.055972532155633956 + ], + [ + 0.0006325178053767428, + 0.9999995979631288, + -0.0006356058579707162, + 0.0016144712900529475 + ], + [ + 0.10141247501339605, + 0.0005681838990107378, + 0.994844302933235, + 0.13300523148880194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9939078032170549, + -0.0009496746382929, + -0.1102106021321455, + -0.06081543472765032 + ], + [ + 0.0008734320671454274, + 0.9999993447094953, + -0.0007400655407588441, + 0.0014293865111519946 + ], + [ + 0.11021123273365913, + 0.0006392954418106422, + 0.993907981394991, + 0.14569829599870468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9929102367894839, + -0.0006871465513395447, + -0.11886458475201087, + -0.06587258052700842 + ], + [ + 0.0005869784536313675, + 0.9999994425360051, + -0.0008777152009768136, + 0.0011961993340600604 + ], + [ + 0.11886512160825799, + 0.0008017214578863475, + 0.9929100866179968, + 0.15825510730746226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9918372472695789, + -0.0004255057053098204, + -0.12750958345786773, + -0.07092972632636652 + ], + [ + 0.0002989124325101007, + 0.9999994433068112, + -0.0010119473430862248, + 0.0009630121569681264 + ], + [ + 0.12750994306351907, + 0.0009655728673886644, + 0.9918368223094844, + 0.1708119186162198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9906889158082117, + -0.00016475986505397913, + -0.1361449409597624, + -0.07598687212572461 + ], + [ + 9.26686618035634e-06, + 0.999999347021891, + -0.0011427466548773076, + 0.0007298249798761922 + ], + [ + 0.1361450403388809, + 0.0011308448076148539, + 0.9906882704368443, + 0.18336872992497738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9894653292847113, + 9.508323113927467e-05, + -0.14477000069999868, + -0.08104401792508271 + ], + [ + -0.0002819252461842424, + 0.9999991536841014, + -0.0012700981210987995, + 0.0004966378027842582 + ], + [ + 0.14476975741381218, + 0.0012975323737043564, + 0.989464518690835, + 0.19592554123373496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9881665803002613, + 0.000354015871772438, + -0.15338410690306212, + -0.08610116372444081 + ], + [ + -0.0005746307712620495, + 0.9999988632991799, + -0.001393987024654027, + 0.00026345062569232405 + ], + [ + 0.15338343905769022, + 0.001465630618784353, + 0.9881656604789124, + 0.20848235254249253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.986838051424494, + 0.000854313966459129, + -0.1617094011130921, + -0.09166298918779325 + ], + [ + -0.0010840875385602488, + 0.9999985243642577, + -0.0013326753227708246, + -0.00016888233548225528 + ], + [ + 0.16170802396577896, + 0.0014904418653194128, + 0.9868375213621184, + 0.22151886790611758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9854391342536597, + 0.0013544772092598375, + -0.17002316922374835, + -0.0972248146511457 + ], + [ + -0.0015928217868193205, + 0.9999979307850868, + -0.001265442333833112, + -0.0006012152966568346 + ], + [ + 0.17002110339647017, + 0.0015178330061040872, + 0.9854392526091157, + 0.2345553832697426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9844269989631389, + 0.0016045040632201315, + -0.17578654464759172, + -0.10000572738282192 + ], + [ + -0.0018489101347740414, + 0.9999975385086229, + -0.0012265838776977219, + -0.0008173817772441244 + ], + [ + 0.1757841438917122, + 0.0015324958096543796, + 0.9844275423883931, + 0.24107364095155512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9829091170673578, + 0.002104439842433467, + -0.18407943643660185, + -0.10556755284617436 + ], + [ + -0.0023563316445698044, + 0.9999965629951073, + -0.0011496517531518825, + -0.0012497147384187036 + ], + [ + 0.18407638438172388, + 0.0015637553908155971, + 0.9829106975621081, + 0.25411015631518014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9813211275248721, + 0.0026042071946889922, + -0.19235920247859448, + -0.11112937830952681 + ], + [ + -0.0028628827248693947, + 0.99999533289002, + -0.0010668180171704768, + -0.001682047699593283 + ], + [ + 0.19235552650188512, + 0.0015975928972192027, + 0.9813240031310339, + 0.2671466716788052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9796631437896922, + 0.0031037926975585593, + -0.20062525058174477, + -0.11669120377287925 + ], + [ + -0.0033685082049678973, + 0.999993848226399, + -0.000978090911600833, + -0.002114380660767862 + ], + [ + 0.2006209805891955, + 0.0016340074200793455, + 0.9796675722749943, + 0.2801831870424302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9781217195357403, + 0.0027530075195505745, + -0.2080151982958078, + -0.12200997389083693 + ], + [ + -0.0029936981926374233, + 0.99999516415617, + -0.0008422798860507002, + -0.002345765791131727 + ], + [ + 0.20801187356393466, + 0.001446586973653553, + 0.9781252311654932, + 0.2939019311298803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9765244156820072, + 0.002403026732673627, + -0.21539334028571203, + -0.1273287440087946 + ], + [ + -0.0026175139991552556, + 0.9999963218605185, + -0.0007105532341687988, + -0.0025771509214955923 + ], + [ + 0.21539084056054636, + 0.0012576676653303096, + 0.9765271138451123, + 0.3076206752173304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9748713229969365, + 0.002053856794683789, + -0.22275925406247526, + -0.13264751412675224 + ], + [ + -0.002239990654257543, + 0.9999973213180832, + -0.000582922402521927, + -0.002808536051859457 + ], + [ + 0.22275746012215236, + 0.0010672529810004294, + 0.9748733122467773, + 0.32133941930478044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9731625354435931, + 0.001705504148375555, + -0.23011251783550932, + -0.1379662842447099 + ], + [ + -0.0018611632770892726, + 0.9999981625104221, + -0.00045939855889462266, + -0.0030399211822233225 + ], + [ + 0.23011131150000805, + 0.000875346434147024, + 0.9731639214892663, + 0.33505816339223055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9713981501742917, + 0.0013579752214629627, + -0.23745271053677663, + -0.14328505436266759 + ], + [ + -0.0014810670740481803, + 0.9999988454220136, + -0.00033999259160818774, + -0.0032713063125871873 + ], + [ + 0.2374519746775893, + 0.0006819515657806702, + 0.9713990398717592, + 0.3487769074796806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9696198745368134, + 0.0011834383206803121, + -0.24461377389050576, + -0.1486671897005087 + ], + [ + -0.0012893208242297013, + 0.9999991316343814, + -0.0002727311783922837, + -0.003508514319638874 + ], + [ + 0.24461323871578686, + 0.000579831203545448, + 0.9696205583839221, + 0.3625348849846769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9678315752151829, + 0.0011813003813136052, + -0.2515961973995376, + -0.15411269025823332 + ], + [ + -0.0012867338550554331, + 0.999999139761313, + -0.00025454394529655146, + -0.0037515452033783816 + ], + [ + 0.25159568027389545, + 0.0005700930125350435, + 0.9678322626682131, + 0.3763320959072194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9659929947328183, + 0.0011792007812748081, + -0.25856554993393654, + -0.15955819081595793 + ], + [ + -0.0012839868053228778, + 0.9999991477483049, + -0.00023639066761965789, + -0.003994576087117889 + ], + [ + 0.2585650508189483, + 0.0005603464833670316, + 0.9659936855418949, + 0.3901293068297619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9641042286082895, + 0.0011771395530802337, + -0.2655214694183652, + -0.16500369137368254 + ], + [ + -0.0012810799726418588, + 0.9999991555952328, + -0.00021827259331751693, + -0.004237606970857397 + ], + [ + 0.26552098827346765, + 0.0005505917669850209, + 0.9641049225239892, + 0.4039265177523043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9621653749674413, + 0.0011751167286519356, + -0.2724635944753672, + -0.17044919193140715 + ], + [ + -0.0012780136639201248, + 0.9999991633019756, + -0.0002001909680086129, + -0.0044806378545969045 + ], + [ + 0.27246313125786054, + 0.0005408290144594132, + 0.9621660717408086, + 0.4177237286748468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9607244218474432, + 0.0011741197276631669, + -0.277501723794216, + -0.17317194221026944 + ], + [ + -0.0012767318873808278, + 0.9999991671027403, + -0.00018907541869897282, + -0.004602153296466658 + ], + [ + 0.27750127066661145, + 0.0005359446718863565, + 0.9607251206988007, + 0.42462233413611805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9587405545478072, + 0.0014377919780648746, + -0.28427888036150584, + -0.1790547193720802 + ], + [ + -0.0015405660561446798, + 0.9999988038139342, + -0.00013793812870540342, + -0.004828225949447602 + ], + [ + 0.28427834198473545, + 0.0005701972715720556, + 0.9587416227292322, + 0.4381633457918878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9567508884450571, + 0.0019668948726886764, + -0.2909018198364424, + -0.18537477313797707 + ], + [ + -0.0020708955176871593, + 0.9999978544614927, + -4.964036935969509e-05, + -0.005037340371669982 + ], + [ + 0.29090109805799813, + 0.0006499207422739551, + 0.9567529089329597, + 0.45144815818088485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.954715191597473, + 0.0024957032801682204, + -0.29751079711186573, + -0.19169482690387396 + ], + [ + -0.0026003442108409594, + 0.9999966181288702, + 4.405459793788482e-05, + -0.005246454793892361 + ], + [ + 0.29750990091589474, + 0.0007315708850215018, + 0.954718452561306, + 0.46473297056988194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9526335621019419, + 0.0030242100320263853, + -0.3041054924046064, + -0.19801488066977085 + ], + [ + -0.003128869015936971, + 0.999995094832827, + 0.0001431396763800025, + -0.005455569216114741 + ], + [ + 0.3041044336007731, + 0.0008151465929730278, + 0.952638351632132, + 0.478017782958879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.950506100276896, + 0.0035524079638752544, + -0.3106855866210492, + -0.20433493443566772 + ], + [ + -0.003656426866484245, + 0.9999932845940118, + 0.0002476074511231231, + -0.00566468363833712 + ], + [ + 0.3106843798438817, + 0.0009006467331840807, + 0.9505127063624582, + 0.491302595347876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9483329086574672, + 0.004080289915513257, + -0.3172507613725677, + -0.2106549882015646 + ], + [ + -0.004182974751440442, + 0.9999911874369651, + 0.00035745018967422266, + -0.0058737980605595 + ], + [ + 0.3172494240806394, + 0.000988070146622788, + 0.9483416191636265, + 0.504587407736873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9461043092150241, + 0.004209128488284879, + -0.32383470987856033, + -0.21717493985509356 + ], + [ + -0.0043280118069667665, + 0.9999905717812114, + 0.0003530757491644426, + -0.005935435926858488 + ], + [ + 0.3238331428352586, + 0.0010675139600962642, + 0.9461136062943943, + 0.5174769983648001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9438299818164091, + 0.0043376738875461765, + -0.3304030115021386, + -0.2236948915086225 + ], + [ + -0.00447318431270336, + 0.999989933942891, + 0.000350192800080147, + -0.005997073793157477 + ], + [ + 0.3304012046687203, + 0.001147431103789431, + 0.9438398843846983, + 0.5303665889927273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9415100363437491, + 0.0044659243712871334, + -0.3369553486494945, + -0.23021484316215146 + ], + [ + -0.004618480313137035, + 0.9999892739306471, + 0.0003488026009057961, + -0.006058711659456465 + ], + [ + 0.3369532921690922, + 0.001227820494688306, + 0.9415205634255914, + 0.5432561796206543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9391445848849473, + 0.004593878201494346, + -0.3434914044984964, + -0.2367347948156804 + ], + [ + -0.004763887843146939, + 0.9999885917534244, + 0.0003489063217852086, + -0.006120349525755453 + ], + [ + 0.34348908869700323, + 0.001308681043379151, + 0.9391557556124698, + 0.5561457702485815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9367337417282653, + 0.0047215336441745704, + -0.3500108630140077, + -0.24325474646920936 + ], + [ + -0.004909394928636001, + 0.9999878874204671, + 0.00035050504445316736, + -0.006181987392054441 + ], + [ + 0.35000827840095183, + 0.001390011654063232, + 0.9367455753396454, + 0.5690353608765085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9342437804651862, + 0.004456425209688358, + -0.3566072053905635, + -0.2493074490700769 + ], + [ + -0.004651345195527522, + 0.9999891340904249, + 0.000310948475467125, + -0.006349316833598916 + ], + [ + 0.3566047162475409, + 0.0013682015322336008, + 0.9342543574287347, + 0.5820781704742943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9323739648108018, + 0.004127723109244075, + -0.3614716470830308, + -0.25210017584418 + ], + [ + -0.004320307963303031, + 0.9999906295088019, + 0.0002753791792682999, + -0.006485827341993897 + ], + [ + 0.36146939660514554, + 0.0013049124582003514, + 0.9323830610437903, + 0.5886761847581167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9297677575996288, + 0.0034706888577353363, + -0.36813023680079693, + -0.2576856293923862 + ], + [ + -0.0036600335766508165, + 0.9999932851523565, + 0.00018385977167935237, + -0.006758848358783859 + ], + [ + 0.36812840298240485, + 0.0011764221396442414, + 0.9297742171885461, + 0.6018722133257611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9271135681659582, + 0.002814156353119227, + -0.37476994576220446, + -0.26327108294059237 + ], + [ + -0.0030008330223983315, + 0.9999954938380841, + 8.546752900354706e-05, + -0.007031869375573821 + ], + [ + 0.37476849750713725, + 0.0010453839232688487, + 0.92711783525542, + 0.6150682418934057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9244115335986013, + 0.00215813576584433, + -0.38139042856356314, + -0.26885653648879854 + ], + [ + -0.0023427627606867284, + 0.9999972555317689, + -1.9788313994280718e-05, + -0.007304890392363783 + ], + [ + 0.3813893391437801, + 0.0009117998390078513, + 0.9244140525806196, + 0.6282642704610503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.921661793472763, + 0.0015026372584290406, + -0.3879913407974973, + -0.27444199003700476 + ], + [ + -0.0016858791792839542, + 0.9999985702061209, + -0.0001318980930980696, + -0.007577911409153744 + ], + [ + 0.387990587854864, + 0.00077567195623337, + 0.92166300895124, + 0.6414602990286948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9188252481093708, + 0.0012998316652873064, + -0.3946624809560636, + -0.27996517709738566 + ], + [ + -0.0014753047336415522, + 0.9999989017719906, + -0.0001411763287313026, + -0.007890802104398445 + ], + [ + 0.39466186402121023, + 0.0007119638016189089, + 0.9188261566775562, + 0.6544948106232071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9159003625542776, + 0.0015492872698214355, + -0.40140269752693253, + -0.28542609766994126 + ], + [ + -0.001709347162453323, + 0.9999985382399063, + -4.062424290484513e-05, + -0.008243562478097884 + ], + [ + 0.40140204783386535, + 0.0007233443208238125, + 0.9159016719974763, + 0.6673678052445874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9129259750950679, + 0.0017986943301200088, + -0.40812121813920227, + -0.29088701824249685 + ], + [ + -0.0019423495652185305, + 0.9999981116899924, + 6.240685779833532e-05, + -0.008596322851797322 + ], + [ + 0.40812055973068306, + 0.000735741229100972, + 0.9129277449009632, + 0.6802407998659675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9099022466409414, + 0.0020480486890837096, + -0.41481767929336727, + -0.29634793881505245 + ], + [ + -0.0021742912486603185, + 0.9999976221293592, + 0.00016790828973284932, + -0.00894908322549676 + ], + [ + 0.414817036794939, + 0.0007491543198195933, + 0.9099045360654444, + 0.6931137944873477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9068293407703167, + 0.002297346190491639, + -0.4214917186832426, + -0.30180885938760804 + ], + [ + -0.002405151587108163, + 0.9999970695661657, + 0.00027587120915189645, + -0.0093018435991962 + ], + [ + 0.4214911173013208, + 0.0007635833694112239, + 0.9068322088327708, + 0.7059867891087279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9037074237219831, + 0.0025465826790706026, + -0.428142975215564, + -0.30726977996016364 + ], + [ + -0.002634910023700214, + 0.9999964540096231, + 0.0003862866127192881, + -0.009654603972895639 + ], + [ + 0.4281424407354909, + 0.0007790281373734823, + 0.9037109292003821, + 0.7188597837301081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9008711237506455, + 0.002664074525045896, + -0.4340784734344405, + -0.31311494046240373 + ], + [ + -0.0027856336197569116, + 0.9999960567180267, + 0.0003560810773174704, + -0.009960777188641828 + ], + [ + 0.43407771036714815, + 0.0008884004289424047, + 0.9008749924973455, + 0.7318581159456262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.89799582270054, + 0.002781204119175288, + -0.43999519010556043, + -0.3189601009646438 + ], + [ + -0.002936707305123066, + 0.9999956342801186, + 0.0003273696803093259, + -0.010266950404388017 + ], + [ + 0.43999417969171456, + 0.0009981604836054251, + 0.8980000698847771, + 0.7448564481611444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.89508164498566, + 0.00289797017855968, + -0.44589286894792274, + -0.3248052614668839 + ], + [ + -0.003088119596102445, + 0.9999951867005252, + 0.00030015519666259726, + -0.010573123620134206 + ], + [ + 0.44589159257281963, + 0.0011083070991806674, + 0.8950862859681457, + 0.7578547803766625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8928744170993808, + 0.002956216482904901, + -0.4502960538063235, + -0.32772784171800395 + ], + [ + -0.0031634751065686985, + 0.9999949534841177, + 0.0002922867553757206, + -0.0107262102280073 + ], + [ + 0.4502946454430602, + 0.0011635249904704576, + 0.8928792631117073, + 0.7643539464844217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8898925627838443, + 0.003072434843449844, + -0.45615982598880234, + -0.333573002220244 + ], + [ + -0.0033154143752321093, + 0.9999944682012746, + 0.00026757124441727746, + -0.011032383443753489 + ], + [ + 0.4561581246996727, + 0.0012742491840648995, + 0.8898978264719466, + 0.7773522786999398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8868721824390032, + 0.003188286479452734, + -0.46200386020595585, + -0.3394181627224841 + ], + [ + -0.0034676609949874045, + 0.9999939577895179, + 0.0002443597343999158, + -0.011338556659499678 + ], + [ + 0.46200184777022624, + 0.001385356914622338, + 0.8868778796672718, + 0.790350610915458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8841246508791197, + 0.003433702544875863, + -0.4672384951978038, + -0.3455741154026078 + ], + [ + -0.0037041962808237417, + 0.9999930817527013, + 0.0003396713835282209, + -0.011289247761424868 + ], + [ + 0.46723642905684054, + 0.0014304312527938707, + 0.8841312533943382, + 0.8029529463595556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8813461640105077, + 0.0036789985756033434, + -0.47245677490479904, + -0.3517300680827315 + ], + [ + -0.003939917651036215, + 0.9999921429399315, + 0.0004371582168000511, + -0.011239938863350058 + ], + [ + 0.47245467108799577, + 0.0014761530693566624, + 0.8813537341721821, + 0.8155552818036532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8785368192214237, + 0.003924172847680753, + -0.47765851624331457, + -0.35788602076285514 + ], + [ + -0.0041748096996820265, + 0.9999911413578073, + 0.000536814568786171, + -0.01119062996527525 + ], + [ + 0.47765639139058397, + 0.001522522042975192, + 0.8785454192529568, + 0.8281576172477509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8756967149829467, + 0.004169223638009395, + -0.48284353670970137, + -0.36404197344297884 + ], + [ + -0.004408857057298879, + 0.9999900770133678, + 0.0006386346746075503, + -0.011141321067200439 + ], + [ + 0.4828414080705225, + 0.0015695378477656823, + 0.8757064069672097, + 0.8407599526918486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8728259508455225, + 0.004414149224358405, + -0.48801165438669103, + -0.37019792612310254 + ], + [ + -0.004642044391520531, + 0.9999889499140926, + 0.000742612670161918, + -0.011092012169125628 + ], + [ + 0.4880095398191281, + 0.0016172001532983864, + 0.8728367967204336, + 0.8533622881359462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8699569820418975, + 0.004656228410985785, + -0.4931056366880615, + -0.3766571108308152 + ], + [ + -0.0048830948421718255, + 0.999987735165307, + 0.0008275891022759324, + -0.011116283974037897 + ], + [ + 0.4931034422728319, + 0.0016879146733705932, + 0.8699690489682604, + 0.8658377495774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8670909073559389, + 0.004895380015836884, + -0.49812588131430763, + -0.3834195275661168 + ], + [ + -0.005132289195242987, + 0.9999864304028153, + 0.000893654212889209, + -0.011214136481937245 + ], + [ + 0.49812349672372574, + 0.0017816466362237495, + 0.8671042657875652, + 0.8781863370162102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8641958016354352, + 0.005134295472959598, + -0.5031294619138141, + -0.3901819443014184 + ], + [ + -0.00538097193195528, + 0.9999850597467358, + 0.0009619898050294243, + -0.011311988989836593 + ], + [ + 0.5031268841721294, + 0.001875977961975477, + 0.8642105178311191, + 0.8905349244550202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8612717618237314, + 0.005372973263918924, + -0.508116210569345, + -0.39694436103672 + ], + [ + -0.005629127200843209, + 0.9999836232057802, + 0.0010325924643368684, + -0.011409841497735941 + ], + [ + 0.508113437346428, + 0.0019709080510999515, + 0.8612879021032699, + 0.9028835118938304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8583188858354095, + 0.005611411871790356, + -0.5130859599278337, + -0.40370677777202163 + ], + [ + -0.005876739171851595, + 0.9999821207890781, + 0.001105458675822544, + -0.01150769400563529 + ], + [ + 0.5130829895396722, + 0.002066436300265885, + 0.8583365165749676, + 0.9152320993326405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8559869282269353, + 0.005730541008444603, + -0.5169657044759995, + -0.4070879861396724 + ], + [ + -0.005998458645130346, + 0.99998134488029, + 0.00115255598121078, + -0.011556620259584965 + ], + [ + 0.5169626651882112, + 0.002114424545283761, + 0.8560053341015721, + 0.9214063930520456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8530985390568684, + 0.005605079090376814, + -0.5217197195309257, + -0.41370767607266784 + ], + [ + -0.00584773353220885, + 0.9999822041608396, + 0.001181259567347213, + -0.011984674548259754 + ], + [ + 0.5217170561440113, + 0.0020431470871647346, + 0.8531161344614268, + 0.9336723800244066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8503001621129358, + 0.005116388550718165, + -0.5262731770467819, + -0.42018463920335714 + ], + [ + -0.0052997040698087436, + 0.9999852847680392, + 0.0011590445015415556, + -0.012742930617709987 + ], + [ + 0.5262713629369242, + 0.001803556370669116, + 0.8503147650940387, + 0.9458557665303184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8474772171530182, + 0.004628194338239394, + -0.5308115920208826, + -0.42666160233404643 + ], + [ + -0.004751977458724834, + 0.9999880684274193, + 0.001132127656860013, + -0.013501186687160221 + ], + [ + 0.5308104983106573, + 0.0015629523240153868, + 0.8474890984922608, + 0.9580391530362303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8446297853625092, + 0.004140498696476819, + -0.5353348316231875, + -0.4331385654647357 + ], + [ + -0.004204584790465838, + 0.9999905551261872, + 0.0011005113175489459, + -0.014259442756610454 + ], + [ + 0.5353343321189309, + 0.001321336052919066, + 0.8446392170186119, + 0.9702225395421422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8417579486451815, + 0.003653303866675544, + -0.5398427634631351, + -0.43961552859542496 + ], + [ + -0.0036575571418067904, + 0.9999927448529157, + 0.0010641979545921285, + -0.015017698826060688 + ], + [ + 0.539842734662986, + 0.001078708667747435, + 0.8417652037351031, + 0.9824059260480541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8388617896208013, + 0.0031666120877791395, + -0.5443352555935282, + -0.44609249172611426 + ], + [ + -0.0031109255737177734, + 0.9999946375975408, + 0.0010231902256218736, + -0.01577595489551092 + ], + [ + 0.5443355766953516, + 0.0008350712835144315, + 0.8388671424008036, + 0.994589312553966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 447.19278971354163, + "fy": 447.19285011291504, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_144/move_right/transforms.json b/spatialvid_eval/camera_controls/scene_144/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..41af7bfadf0b722a0f5ec5c7198ab59d44eb1eb6 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_144/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": [ + [ + 0.9999999923741559, + -9.617839760197512e-05, + 7.746873081386072e-05, + -5.658659979190201e-05 + ], + [ + 9.618090974411009e-05, + 0.9999999948489343, + -3.242474827210652e-05, + 1.2641879271414986e-07 + ], + [ + -7.746561185448273e-05, + 3.2432199037846836e-05, + 0.9999999964736158, + 3.462775254017088e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999764452194547, + -0.0012392899068512596, + 0.006750790086356041, + 0.019260641179946508 + ], + [ + 0.0012173790352624737, + 0.9999939815669512, + 0.0032488179636626833, + 0.0020147775604958695 + ], + [ + -0.006754775684489443, + -0.0032405231681459294, + 0.9999719356137198, + 0.05211042342211575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998767087203956, + -0.0024280561832789294, + 0.015513603760570137, + 0.0366322730079107 + ], + [ + 0.002341642981793375, + 0.9999816570720947, + 0.0055858954065778135, + -0.006358500337169633 + ], + [ + -0.0155268820635359, + -0.0055488793930171375, + 0.9998640536947344, + 0.10190794093208948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9996516359082012, + -0.0022618607356452674, + 0.026296212884561725, + 0.04776907807195947 + ], + [ + 0.0020495233005219794, + 0.9999651023859383, + 0.008098979227100605, + -0.009775148177712474 + ], + [ + -0.026313613972585772, + -0.008042263132535261, + 0.9996213861874951, + 0.1556862559601777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9993049294906309, + -0.0014987187552250242, + 0.03724797629157837, + 0.050707112627710826 + ], + [ + 0.0011518718935822306, + 0.999955796732862, + 0.009331547111183017, + -0.010986648755460486 + ], + [ + -0.037260315174002794, + -0.009282156130996158, + 0.9992624832798908, + 0.20511306406805807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9988164641179097, + -0.0014318611095116684, + 0.04861708321937532, + 0.058940311668026685 + ], + [ + 0.000960786192667016, + 0.9999523808839723, + 0.009711480544563361, + -0.017015335277471868 + ], + [ + -0.0486286736081561, + -0.00965327603658573, + 0.9987702770731982, + 0.2504512767977897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9980607341464913, + -0.002564339874111245, + 0.062194815828787095, + 0.07781629133196719 + ], + [ + 0.001980270887680712, + 0.9999533795273238, + 0.00945078298848528, + -0.018016095365594408 + ], + [ + -0.06221615129673409, + -0.00930929282459638, + 0.9980192821709046, + 0.29882043416880555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9972968430339032, + -0.00397136636976115, + 0.07337053307539644, + 0.10114044441599998 + ], + [ + 0.0032893264246848684, + 0.9999502741735155, + 0.009414324828880804, + -0.014606620538380568 + ], + [ + -0.07340427239801907, + -0.009147536797900398, + 0.9972603147444749, + 0.3434627251126913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.996729854614991, + -0.005034147875269519, + 0.08064895705679888, + 0.12489741392787358 + ], + [ + 0.004273029793387987, + 0.9999447196292673, + 0.009607231751724185, + -0.016394970246322985 + ], + [ + -0.08069286297786372, + -0.009231199310839199, + 0.9966962660829626, + 0.38836875490439876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9964817326406448, + -0.005326680353441601, + 0.08364079740121412, + 0.14560196413254875 + ], + [ + 0.004536889765080005, + 0.9999433394246836, + 0.009629879099526915, + -0.02038721694561312 + ], + [ + -0.08368735355331892, + -0.009216529532543812, + 0.9964494379739585, + 0.4331907262124588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9964189630717363, + -0.004944226419850676, + 0.08440855795566835, + 0.1633464700871567 + ], + [ + 0.0041357080822088405, + 0.9999439073174277, + 0.009750801885726796, + -0.016821393924749982 + ], + [ + -0.08445203342551869, + -0.009366794748748972, + 0.9963835191362963, + 0.481161623734875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9964345197369177, + -0.005005262034275828, + 0.08422110916288386, + 0.17903932178038318 + ], + [ + 0.004115202979322197, + 0.9999338736476613, + 0.010738409399062187, + -0.014260798174115137 + ], + [ + -0.08426928848101864, + -0.010353534852944015, + 0.9963892268260188, + 0.5427261563915909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9964837555616602, + -0.004732584999357009, + 0.08365242101070952, + 0.19267245616195727 + ], + [ + 0.003724710646482189, + 0.9999186360542546, + 0.012200319749863013, + -0.02226616409187066 + ], + [ + -0.08370335376990051, + -0.011845839380253992, + 0.9964203052211692, + 0.5950072448391707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9965597473246502, + -0.004782354658334973, + 0.08273934430578811, + 0.20958387988835603 + ], + [ + 0.003763307682779319, + 0.9999151905577931, + 0.012467927135558957, + -0.022881091760872486 + ], + [ + -0.08279195327756547, + -0.012113660705780686, + 0.996493227120381, + 0.6426175230273341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.996722051207663, + -0.005197009304153145, + 0.08073502171103865, + 0.22617840622894259 + ], + [ + 0.004207644964915161, + 0.9999140188930772, + 0.012419764286996591, + -0.019875712794771867 + ], + [ + -0.08079262565505939, + -0.012039348628056149, + 0.9966582191124368, + 0.6985241246054167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9970622931411731, + -0.005119674741472434, + 0.07642363853289863, + 0.23501513944444669 + ], + [ + 0.0041404695905298316, + 0.9999073678486342, + 0.012965810178552443, + -0.027820619488896314 + ], + [ + -0.07648293997771999, + -0.012611290677717551, + 0.9969911309734941, + 0.7467099405860744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9975139499445191, + -0.004543948288159551, + 0.07032262935953176, + 0.2373479795664937 + ], + [ + 0.003599302626006462, + 0.9999016633825999, + 0.013553914022025597, + -0.02273344860200918 + ], + [ + -0.07037730235445211, + -0.013267105888797714, + 0.9974322128418781, + 0.8019957949261991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9979210414957101, + -0.0038662018797256115, + 0.06433232020643084, + 0.23415285327503732 + ], + [ + 0.0029105792787883214, + 0.9998841323545634, + 0.014941565976298548, + -0.020279368704170877 + ], + [ + -0.06438263328242666, + -0.014723258762495499, + 0.997816667621379, + 0.8623509237201906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9982458022376296, + -0.0033513883533512552, + 0.05911079859938411, + 0.23015463924103552 + ], + [ + 0.0024247442239186284, + 0.9998731602091601, + 0.015741159703033993, + -0.025942777346029667 + ], + [ + -0.05915605573735035, + -0.015570218028430737, + 0.9981273112084186, + 0.9196067282323196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9984937106173222, + -0.0034127862664044967, + 0.054760047000996764, + 0.23004936356466252 + ], + [ + 0.0025112694808526424, + 0.9998603254401824, + 0.016523411761716053, + -0.026589526916027284 + ], + [ + -0.054808789288270834, + -0.016361005487210104, + 0.9983628168738065, + 0.9809903964127569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9986484323442117, + -0.003923971082748599, + 0.05182577570466712, + 0.23396593437933022 + ], + [ + 0.0030405694041277373, + 0.9998489307738619, + 0.017113461603777427, + -0.025321954570315185 + ], + [ + -0.05188509915329635, + -0.016932751734642384, + 0.9985094984047702, + 1.0385018632305631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9987886907957984, + -0.004204399075561791, + 0.04902524009965073, + 0.23519087163472038 + ], + [ + 0.0033540025904791135, + 0.9998427135502991, + 0.01741547665146066, + -0.030669684497901806 + ], + [ + -0.04909075070762359, + -0.017229950342004096, + 0.9986456964340126, + 1.0956736809107668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.998935368768174, + -0.003969395203023968, + 0.04596055837035253, + 0.23016961129613345 + ], + [ + 0.003162723683773313, + 0.9998399152495383, + 0.017610822033519765, + -0.0341707162609201 + ], + [ + -0.0460231050983359, + -0.01744671245588739, + 0.9987880085491562, + 1.1579271733897267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9990428001790074, + -0.00367497487027347, + 0.04358873673543426, + 0.2241273233649064 + ], + [ + 0.002900424920434992, + 0.9998370141058427, + 0.017819448902644263, + -0.03032900421137708 + ], + [ + -0.04364711841312158, + -0.01767596627106673, + 0.9988906292836145, + 1.2170469939166915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9991284042053542, + -0.003549517918725805, + 0.04159125908898984, + 0.219532675475502 + ], + [ + 0.002791141859523274, + 0.9998290488370978, + 0.018277927361300916, + -0.033557514979202896 + ], + [ + -0.0416490268455681, + -0.0181459092924444, + 0.9989675092508105, + 1.2770872591801505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9991729019946851, + -0.003948203543625818, + 0.04047126892374276, + 0.22303569841704243 + ], + [ + 0.003205818297930451, + 0.9998257128571436, + 0.01839202649915619, + -0.039238178709529586 + ], + [ + -0.04053683076611269, + -0.018247070956268836, + 0.9990114162275407, + 1.3339526836560962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9991936291463637, + -0.004791166153296988, + 0.039863971204719684, + 0.23177106939262782 + ], + [ + 0.004074866582300247, + 0.9998291339198889, + 0.018030486053940673, + -0.03180170395077344 + ], + [ + -0.0399435468587314, + -0.017853506431409986, + 0.9990424242105277, + 1.3903117217330232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.999200282970469, + -0.005564415615369975, + 0.03959585572499186, + 0.24424398880741255 + ], + [ + 0.004850353080335044, + 0.9998242891637212, + 0.018107039328835752, + -0.036572515436624146 + ], + [ + -0.03968965339645873, + -0.01790050494034588, + 0.9990517020335584, + 1.453769809230075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9992113337659758, + -0.0055513175263230165, + 0.03931785023805164, + 0.24788950458913628 + ], + [ + 0.004859469548388997, + 0.9998320634200337, + 0.01767004564074694, + -0.0421310968128466 + ], + [ + -0.03940933936680744, + -0.017465045976456487, + 0.9990705060903922, + 1.5059317910517058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9992273547932295, + -0.004727475255792568, + 0.03901723222668794, + 0.24626874263722753 + ], + [ + 0.004047911437312942, + 0.9998390596615909, + 0.017477676848517355, + -0.036661029519599216 + ], + [ + -0.0390935780649597, + -0.017306234504692156, + 0.9990856752057591, + 1.5611094766766254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9992387632578158, + -0.0037862166405897646, + 0.03882729151694081, + 0.24367635539661786 + ], + [ + 0.00310719983027881, + 0.9998414466969884, + 0.017533589937267596, + -0.03797225610200958 + ], + [ + -0.03888752129161356, + -0.01739959857077333, + 0.9990920951831069, + 1.623529950572283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9992294629000831, + -0.004149302286946617, + 0.03902901181100005, + 0.24728694268191523 + ], + [ + 0.003472238445662365, + 0.999842587694953, + 0.01739952274163581, + -0.042057952722142244 + ], + [ + -0.03909506404379082, + -0.01725059772853616, + 0.9990865792539805, + 1.6765437028658794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9991692160645342, + -0.004835699332416367, + 0.0404659570620882, + 0.25628185902454387 + ], + [ + 0.0041382068297240145, + 0.999841735597788, + 0.017302572093122987, + -0.03902432189494242 + ], + [ + -0.04054322277790363, + -0.017120740894300126, + 0.9990310942698489, + 1.729369504612376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.999068141893323, + -0.005534673724359075, + 0.04280438342725779, + 0.26769142534934964 + ], + [ + 0.0047834436794324964, + 0.9998330865175861, + 0.01763286055304092, + -0.037573800808933584 + ], + [ + -0.042894830928545576, + -0.017411676871633544, + 0.9989278587506354, + 1.7820677333016888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9989657661187776, + -0.00580315711932091, + 0.04509680132971938, + 0.27563323628713066 + ], + [ + 0.004991865541652753, + 0.9998240486449141, + 0.018081842541802142, + -0.040528101133686746 + ], + [ + -0.045193798259692275, + -0.0178380245190139, + 0.9988189653186014, + 1.8345653513863744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9988655154708347, + -0.005425481741167438, + 0.04731010622541285, + 0.27838259229297246 + ], + [ + 0.004539022238564922, + 0.9998124991351847, + 0.018824554448216634, + -0.039449204579807516 + ], + [ + -0.047403367816025506, + -0.018588456658160685, + 0.9987028537051279, + 1.8945131496230703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9987509166063299, + -0.004997836262167737, + 0.049715472548424504, + 0.27926166316196754 + ], + [ + 0.004000637153908692, + 0.9997892168164094, + 0.020137448696249265, + -0.03612308968334711 + ], + [ + -0.049805637034168675, + -0.019913401776890532, + 0.9985603912379528, + 1.950103073509901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9985762880344075, + -0.004765666090725481, + 0.053128950696734144, + 0.2805552652070132 + ], + [ + 0.003636044235561799, + 0.9997657004377449, + 0.021338308521121462, + -0.04016170630405695 + ], + [ + -0.05321819386019536, + -0.021114749701032127, + 0.9983596502199603, + 2.0044640198679584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9982633078109628, + -0.005550804328931382, + 0.05864773524712564, + 0.2921177229625302 + ], + [ + 0.0042312943123086425, + 0.9997356515116004, + 0.02259918682427972, + -0.04089387129779441 + ], + [ + -0.05875767547101953, + -0.022311783164462452, + 0.9980229055013038, + 2.0618736569127396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9979594686185557, + -0.00679862066592838, + 0.06348761888440127, + 0.3051407624459714 + ], + [ + 0.005262621907481611, + 0.9996901387979393, + 0.024329636265588067, + -0.03506664400410175 + ], + [ + -0.06363335450240754, + -0.02394587954529411, + 0.9976860182680588, + 2.115685803806484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9976645930702601, + -0.007806024581580588, + 0.06785591878520332, + 0.32080142559323577 + ], + [ + 0.006045504178828073, + 0.9996407504286188, + 0.026111720773085524, + -0.0394223063293248 + ], + [ + -0.06803537030968614, + -0.025640516038870464, + 0.9973533738470454, + 2.1682539082169625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9973615443376563, + -0.007510779879735434, + 0.07220483406257146, + 0.3287774504138717 + ], + [ + 0.0055556446374216365, + 0.9996134722998793, + 0.027240426010644546, + -0.04268201319202962 + ], + [ + -0.07238152173771982, + -0.02676740895523646, + 0.9970177636976962, + 2.218312214278187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9967886657948888, + -0.007052755399789136, + 0.07976599766891097, + 0.3335522162923017 + ], + [ + 0.004825700678532247, + 0.9995940801476286, + 0.028078239737879172, + -0.03543092383543021 + ], + [ + -0.07993164802384083, + -0.027603144297114933, + 0.996418083973342, + 2.2720414933392825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9957604400700193, + -0.007073775917044548, + 0.09171209127392618, + 0.33674201169990076 + ], + [ + 0.004350291319443002, + 0.9995445643154103, + 0.029861997805783344, + -0.03787416535748078 + ], + [ + -0.09188155939576509, + -0.02933642176189985, + 0.9953377082182762, + 2.329792205436624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9943204310264238, + -0.007855554750389283, + 0.10613750846421142, + 0.34374489982898465 + ], + [ + 0.004575974342146031, + 0.9995055657999241, + 0.031107625974892, + -0.04181220384195004 + ], + [ + -0.10632939810911625, + -0.03044526555209185, + 0.9938647518164712, + 2.3757124731507027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9926914716745405, + -0.009235060644943874, + 0.12032603924138455, + 0.3567761087038346 + ], + [ + 0.00537792582907797, + 0.9994624214897838, + 0.03234108754440123, + -0.03853956114766772 + ], + [ + -0.12056002645326494, + -0.03145761727565991, + 0.9922074875432689, + 2.4237635743876424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9913031777544296, + -0.010683995723758985, + 0.13116349343222455, + 0.3740997629675854 + ], + [ + 0.006291871766488457, + 0.9994069582991931, + 0.0338547493393403, + -0.03937953671144092 + ], + [ + -0.13144741200816612, + -0.03273505672104749, + 0.9907825159629261, + 2.4789469600353393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9905752238382508, + -0.011210071333236222, + 0.1365102934525571, + 0.38453533978122906 + ], + [ + 0.006538877080441717, + 0.9993791880863165, + 0.03461909164697809, + -0.0440980680426347 + ], + [ + -0.13681362872289576, + -0.03340019042818093, + 0.9900335642164032, + 2.52776652721783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9901733270094237, + -0.010912535434534637, + 0.13941914879054002, + 0.38828257175566305 + ], + [ + 0.006100301890895695, + 0.9993722910178858, + 0.03489713831393581, + -0.04389817510061032 + ], + [ + -0.13971245039698016, + -0.033703716650423855, + 0.9896183560787558, + 2.578166693561461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.989990184361176, + -0.0102245217308591, + 0.14076538645526618, + 0.387486140599443 + ], + [ + 0.0052901960869491775, + 0.9993598155354981, + 0.035383229335624204, + -0.042122430501222906 + ], + [ + -0.14103704723896796, + -0.03428437323666483, + 0.9894104977499899, + 2.6307742285552274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.989905686710959, + -0.009787424853110654, + 0.1413893126514508, + 0.3849824147980895 + ], + [ + 0.004733172623514971, + 0.9993391669998178, + 0.03603923385737269, + -0.04728187688891202 + ], + [ + -0.14164860922092035, + -0.035006222516219904, + 0.9892978499374818, + 2.681139671965577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9898492301253026, + -0.010060588030488038, + 0.1417648975904364, + 0.3895790718017648 + ], + [ + 0.0049860649879121975, + 0.9993355559073825, + 0.03610520537566842, + -0.05052091397854723 + ], + [ + -0.14203394233873265, + -0.035031860752230685, + 0.9892416933975003, + 2.7329769171917717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9898416822260525, + -0.01090123981299629, + 0.14175544821430294, + 0.3988132070520346 + ], + [ + 0.005767309750548398, + 0.9993141822889081, + 0.03657735931545645, + -0.04730617865008689 + ], + [ + -0.14205696838289775, + -0.03538824729751847, + 0.9892257020958716, + 2.784304273169707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9899336250338363, + -0.011753227976664003, + 0.14104353816994472, + 0.4116279780876346 + ], + [ + 0.006518827180307945, + 0.9992747355392497, + 0.03751676698698744, + -0.05135760953103813 + ], + [ + -0.141382187419637, + -0.0362196706927492, + 0.9892922786190882, + 2.838159713104363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9900849312820075, + -0.011555740091139298, + 0.13999390600754238, + 0.4126998002405211 + ], + [ + 0.006222575385393869, + 0.9992402386869296, + 0.038473691588683655, + -0.05824074426298459 + ], + [ + -0.14033213603403774, + -0.03722109965911933, + 0.9894046095184166, + 2.895126282442215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.990315784790647, + -0.010889876549813321, + 0.1384054080706923, + 0.410153591375059 + ], + [ + 0.005526911698842734, + 0.9992210477584211, + 0.039073660740150194, + -0.05154595910924177 + ], + [ + -0.13872310420963851, + -0.037930308531476324, + 0.9896045634763154, + 2.9499542994051198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9905280265732558, + -0.01026695427167356, + 0.1369263240683647, + 0.4046372617534163 + ], + [ + 0.004778095015011352, + 0.9991739881670907, + 0.04035481604837116, + -0.05541393080613126 + ], + [ + -0.13722754235545787, + -0.039318329316664964, + 0.9897588951855029, + 3.00208881024233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9906306639184226, + -0.01030037909381319, + 0.13617925647861737, + 0.40699684835642375 + ], + [ + 0.004716232895515801, + 0.9991371034420325, + 0.04126506600916132, + -0.06100859097208282 + ], + [ + -0.136486793690161, + -0.04023618664820167, + 0.9898244311150288, + 3.0488235475103593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.990688895257709, + -0.010994567145781415, + 0.13570052434068589, + 0.41450867698564775 + ], + [ + 0.005300259172759072, + 0.9990929054237498, + 0.04225249796913244, + -0.05949833783382882 + ], + [ + -0.13604197905706075, + -0.04113983258603347, + 0.9898485207894344, + 3.0969728719748804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9907282084514684, + -0.012021085918080168, + 0.13532594160726888, + 0.42494554376472804 + ], + [ + 0.006195349143355625, + 0.999039054116854, + 0.04338877733116618, + -0.05910771733196995 + ], + [ + -0.13571748092097694, + -0.04214809417579557, + 0.9898506470825852, + 3.1535477321720577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9907896417844381, + -0.01228560563296462, + 0.1348515837018476, + 0.42894950469070064 + ], + [ + 0.006404934294074117, + 0.9990129362313971, + 0.04395600139925687, + -0.06428358707116147 + ], + [ + -0.1352585026878301, + -0.042687435347583805, + 0.9898903577235675, + 3.2030009062933855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9909293827011376, + -0.011577277724968908, + 0.13388399881995514, + 0.42479392713074915 + ], + [ + 0.00573975964013352, + 0.9990192059036995, + 0.04390536863318187, + -0.06612206372932812 + ], + [ + -0.13426099083060686, + -0.042738657864058324, + 0.9900239358041619, + 3.251061310135306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.991154189185321, + -0.010179794973586453, + 0.13232439319598066, + 0.41286970395877914 + ], + [ + 0.004451499196999503, + 0.9990429110578702, + 0.043513745183740085, + -0.065270359750861 + ], + [ + -0.13264070798698213, + -0.042539788895951225, + 0.9902508818200567, + 3.3037165254719953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9913235651164192, + -0.009401721905850945, + 0.1311075774700976, + 0.4023373549726907 + ], + [ + 0.0037721230204917897, + 0.9990627275499837, + 0.04312119558065716, + -0.07042425679664803 + ], + [ + -0.13139010743884366, + -0.04225250342396357, + 0.990429889301417, + 3.3475926534302785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9914098004552359, + -0.009716170723088393, + 0.1304308383312367, + 0.39914920213069754 + ], + [ + 0.0041874298179819195, + 0.9990836110672019, + 0.04259581585601345, + -0.07406853513921016 + ], + [ + -0.13072518117344062, + -0.04168373931642566, + 0.9905419692692337, + 3.3893603839394864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.991452983715531, + -0.010595799761867995, + 0.1300334961038016, + 0.3987275059671481 + ], + [ + 0.005095883822151581, + 0.9990810779233957, + 0.04255621815313066, + -0.07265753923450274 + ], + [ + -0.13036492261970672, + -0.04152985387443727, + 0.9905959106454689, + 3.4347834944914246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9914881787004345, + -0.01125671364152052, + 0.12970920512935125, + 0.401374213872197 + ], + [ + 0.005746033741150227, + 0.9990679476468509, + 0.042781059839077346, + -0.07573739951098445 + ], + [ + -0.1300698834993746, + -0.041671601633510066, + 0.9906287412667559, + 3.4796486525258934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9915298027239523, + -0.011232495717743728, + 0.12939274071659226, + 0.39955308693954117 + ], + [ + 0.005944423025667212, + 0.9991339644892809, + 0.04118233649059203, + -0.08368943297255853 + ], + [ + -0.12974326242657966, + -0.04006434878895824, + 0.9907378734110373, + 3.526679609770348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9915645282145844, + -0.010302771754226402, + 0.12920386712776444, + 0.3875262303383412 + ], + [ + 0.0051765170381414365, + 0.9991883132298511, + 0.03994894712303081, + -0.07884685208502874 + ], + [ + -0.12951057894219503, + -0.03894313288713679, + 0.9908130208788095, + 3.571128173104315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9916089224358982, + -0.008833516851332147, + 0.12897175630948918, + 0.36714438496164714 + ], + [ + 0.003763999574253794, + 0.9992125543145752, + 0.039498146884975396, + -0.07907514916046236 + ], + [ + -0.12921910560254643, + -0.03868126523498559, + 0.9908613336219648, + 3.6180088399166532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9916495062450881, + -0.007862088824477321, + 0.12872235362666842, + 0.34799011504894783 + ], + [ + 0.0028338060752629273, + 0.9992273797735353, + 0.039199656300062106, + -0.08252123955216659 + ], + [ + -0.12893109131237837, + -0.03850754562720434, + 0.9909056174140743, + 3.667110540250912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9917001517119599, + -0.008255058129656035, + 0.12830690982854986, + 0.33628447659889127 + ], + [ + 0.0032817890999944192, + 0.9992367881739412, + 0.038923913217059534, + -0.08140805266026149 + ], + [ + -0.12853030364384416, + -0.0381797744244518, + 0.9909703657880589, + 3.7106088539608924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.991743472803861, + -0.008920534000162246, + 0.12792696441364385, + 0.32701827553371443 + ], + [ + 0.003952389993687549, + 0.9992299421747314, + 0.039037178110374285, + -0.07826982736538901 + ], + [ + -0.12817668572823823, + -0.03820924933357414, + 0.9910150304112897, + 3.757681594254648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9917663889125241, + -0.009318884540261444, + 0.12772074308559775, + 0.3160355922121414 + ], + [ + 0.004316762140247505, + 0.9992147650326788, + 0.039385516440858206, + -0.08118778775676228 + ], + [ + -0.12798748137234559, + -0.0385098913477286, + 0.9910278466725089, + 3.807787081598647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9918094001447295, + -0.0091305245585757, + 0.1273999501798849, + 0.299878182877972 + ], + [ + 0.0041302473492176, + 0.9992127027896621, + 0.03945777034517743, + -0.08532136414327367 + ], + [ + -0.12765991869567436, + -0.038608394230578005, + 0.9910662626956637, + 3.85711540137361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9919077938911864, + -0.00823680651146581, + 0.1266928705034831, + 0.2736822459156269 + ], + [ + 0.0033180367158493276, + 0.9992342282378633, + 0.03898650728436443, + -0.08336552116907282 + ], + [ + -0.12691697699784665, + -0.038250648835989685, + 0.9911755489384076, + 3.910203224397988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9919853830857954, + -0.007416885550909625, + 0.12613480706312705, + 0.24786547169393885 + ], + [ + 0.002588326848967681, + 0.9992590254840354, + 0.038401830071218376, + -0.08403772859770615 + ], + [ + -0.12632616636410085, + -0.03776757600668233, + 0.9912695445207267, + 3.95722825173299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9920211688225249, + -0.007264121136809699, + 0.12586196070339037, + 0.22962502668990592 + ], + [ + 0.0025124767371589364, + 0.9992794962353647, + 0.03787051444384224, + -0.09109490879627796 + ], + [ + -0.12604637269131255, + -0.037252126754130206, + 0.9913246647711623, + 4.000214718451378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.992010824167078, + -0.008297117390686786, + 0.12587963528053392, + 0.22112047788620404 + ], + [ + 0.003590796056423146, + 0.9992876065427859, + 0.03756841217927341, + -0.09194683913039627 + ], + [ + -0.12610166897799668, + -0.036816263430660176, + 0.9913339154028618, + 4.047756601839447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9918323409853407, + -0.009142610319676538, + 0.12722036021046917, + 0.21621992966409642 + ], + [ + 0.0043508749546651605, + 0.9992723727017954, + 0.03789188622981403, + -0.09072604445513888 + ], + [ + -0.12747422195356933, + -0.037028878344703434, + 0.9911504350530577, + 4.097553223333282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.991528800673797, + -0.009708697593776787, + 0.12952366048492658, + 0.2114159724643826 + ], + [ + 0.00481342169490299, + 0.9992640873588423, + 0.038054102098029854, + -0.0998423755018263 + ], + [ + -0.12979779815531917, + -0.03710828621659637, + 0.9908458541509363, + 4.145972596955194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 480.96974690755206, + "fy": 480.9697723388672, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_146/move_left/transforms.json b/spatialvid_eval/camera_controls/scene_146/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d4a8d3943bd13493798c7f23b66f6481ce766570 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_146/move_left/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.999999991722536, + -3.6270138169294145e-05, + 0.00012344798607945968, + -9.307989791550236e-05 + ], + [ + 3.6275095207695034e-05, + 0.9999999985359322, + -4.0152872431992736e-05, + 3.072681912745667e-05 + ], + [ + -0.00012344652954849244, + 4.0157350187077004e-05, + 0.9999999915741709, + -3.5214439608207494e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999979131666199, + 0.0003613918313344808, + 0.006450242480615537, + -0.001556778426063953 + ], + [ + -0.00035047005584872796, + 0.9999985032836216, + -0.0016942848805506679, + 8.341077017028209e-05 + ], + [ + -0.006450845127147756, + 0.0016919889068058077, + 0.99997776163807, + 0.0006363792587030358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998168575422577, + 0.0011880249891429648, + 0.019100784563742288, + -0.003233795882468252 + ], + [ + -0.001092520167197658, + 0.9999868545424728, + -0.0050097047753454365, + 0.00019019570996449433 + ], + [ + -0.019106485129651404, + 0.00498791929335513, + 0.9998050124334814, + 0.002003142198922847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9996754504392665, + 0.001616960699327892, + 0.025423989205993237, + -0.004696761291325559 + ], + [ + -0.0014477932795749374, + 0.9999767015535842, + -0.0066708503681115385, + 0.0002451394978179207 + ], + [ + -0.025434183369419376, + 0.006631876665842426, + 0.999654500579185, + 0.00271428431563635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9992721264961141, + 0.0025059783359763477, + 0.03806490878110558, + -0.006371788211790283 + ], + [ + -0.0021267593788755804, + 0.9999477405179324, + -0.009999656375396841, + 0.00035483579685992165 + ], + [ + -0.038087978450931675, + 0.009911422988716966, + 0.9992252346652681, + 0.004136406304060303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9991101494737011, + 0.0027969907902905614, + 0.0420842733233915, + -0.00785087254461844 + ], + [ + -0.002287244437824065, + 0.9999234996865385, + -0.01215579234385212, + 0.0002827970049605853 + ], + [ + -0.042115053502524896, + 0.012048718485558567, + 0.9990401146357114, + 0.0049767855567067806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.998737451578865, + 0.0034047938718675666, + 0.05011896040865514, + -0.009558978059445491 + ], + [ + -0.002582134783467832, + 0.9998610305482898, + -0.016469734997010287, + 0.000136467192617476 + ], + [ + -0.05016807145699598, + 0.016319527248110866, + 0.9986074492195038, + 0.006625027129264184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9985267384885822, + 0.003721571807862723, + 0.05413411518288133, + -0.011036562665477194 + ], + [ + -0.0027165339126880806, + 0.9998228035458259, + -0.01862745160418242, + 6.517058073612916e-05 + ], + [ + -0.054193846208363525, + 0.01845295133695052, + 0.9983599128671485, + 0.007490562808170252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9982997883897557, + 0.004046925247728606, + 0.058147698982922304, + -0.012513458118697755 + ], + [ + -0.002842231877193256, + 0.9997799159529596, + -0.020785604996000608, + -5.8770449693178286e-06 + ], + [ + -0.05821901939165167, + 0.02058499582542575, + 0.9980915808321108, + 0.008366156908273945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9978874467201413, + 0.004823763663835508, + 0.0647871513687156, + -0.014269478580079733 + ], + [ + -0.003194499115014438, + 0.9996766181683611, + -0.025228045165514704, + 5.3793353962629286e-05 + ], + [ + -0.06488789450861832, + 0.0249677870782442, + 0.9975801575586065, + 0.009978870521526411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9977112105400158, + 0.005272607997947317, + 0.06741320321477426, + -0.01579641297480819 + ], + [ + -0.0034237169242517466, + 0.9996155985382559, + -0.027512421220739096, + 0.00018850657587318975 + ], + [ + -0.067532351693089, + 0.027218647356265974, + 0.9973457408095231, + 0.010790351037904738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9973375162712238, + 0.006188058788770292, + 0.07266076359613473, + -0.01760196976894702 + ], + [ + -0.0038639756168537803, + 0.9994777549349857, + -0.03208250430613871, + 0.0004545495298544345 + ], + [ + -0.07282134529366381, + 0.03171632574160778, + 0.9968405721834729, + 0.012342120006402344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9971400627636348, + 0.006654654023069128, + 0.07528220780216084, + -0.01912745790025206 + ], + [ + -0.004075011103134761, + 0.9994009326516303, + -0.0343681553121592, + 0.0005903999070710424 + ], + [ + -0.07546581687256691, + 0.03396308871237447, + 0.9965698264993134, + 0.013170128695139642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9967865654906456, + 0.007416378253360739, + 0.07975926398209912, + -0.02097012459843292 + ], + [ + -0.004336467434172572, + 0.9992407211552954, + -0.03871919724423275, + 0.0007247267511616688 + ], + [ + -0.07998586067271801, + 0.03824890218880168, + 0.9960618874215579, + 0.01476283238140193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9966340652090648, + 0.007709404430377053, + 0.08161559378073775, + -0.022533646962201104 + ], + [ + -0.004389065897260888, + 0.9991583401454532, + -0.040784156462187554, + 0.0007281973479894474 + ], + [ + -0.08186132276846629, + 0.0402886634316848, + 0.9958290754107783, + 0.015623241063900874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9964780418808853, + 0.008006231132037876, + 0.08347102678353191, + -0.024096722018141614 + ], + [ + -0.004437775521902851, + 0.9990717022260498, + -0.04284903685686108, + 0.0007317265252540778 + ], + [ + -0.08373660010804065, + 0.04232769866415876, + 0.9955885433893573, + 0.01648833493746093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9961554309678503, + 0.008611276841974123, + 0.08717914466434985, + -0.0259762831758971 + ], + [ + -0.004523526770178651, + 0.9988856583879974, + -0.046978496914406004, + 0.000733247848484007 + ], + [ + -0.08748654215830133, + 0.046403527645301465, + 0.9950843268604203, + 0.0181232160685661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.995988845893049, + 0.008919491142728846, + 0.08903180069159196, + -0.02753814544359993 + ], + [ + -0.004560567726630207, + 0.9987862539168509, + -0.049043044448268985, + 0.0007368189167023434 + ], + [ + -0.0893611776927956, + 0.04844028968223507, + 0.9948206462759295, + 0.019000016021354434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9956730918025568, + 0.00964884817976502, + 0.09242290835686373, + -0.029321228235499167 + ], + [ + -0.004833616514161605, + 0.9986258509571466, + -0.05218281279797886, + 0.0007057385364449451 + ], + [ + -0.09279940954408822, + 0.05151028566139705, + 0.9943515274083657, + 0.020597037923329564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9955107257589833, + 0.010017449084740976, + 0.09411719084554745, + -0.03083456400750199 + ], + [ + -0.004966069479560406, + 0.9985419215337724, + -0.05375285195750829, + 0.0006934639711982975 + ], + [ + -0.09451842705391769, + 0.05304414815487423, + 0.9941089403550182, + 0.02145784395772065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9953453682231006, + 0.010388662242960653, + 0.09581061347064924, + -0.03234741907708815 + ], + [ + -0.005095807192931321, + 0.9984555074194804, + -0.05532298304285983, + 0.0006814526570644497 + ], + [ + -0.09623736647411409, + 0.05457724251471277, + 0.993861003306608, + 0.022322945583645483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.995005682291859, + 0.011138917220611902, + 0.09919484225535455, + -0.03412788523324094 + ], + [ + -0.005347134052938996, + 0.9982752270136013, + -0.058463486796143535, + 0.0006514950584956729 + ], + [ + -0.099674973610893, + 0.05764109344985836, + 0.993349084653312, + 0.023941439692283625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9948013616636778, + 0.011539333355937315, + 0.10117852844251844, + -0.035590593179057016 + ], + [ + -0.005516905398124607, + 0.998206989631043, + -0.05960175841835075, + 0.0007861222242278218 + ], + [ + -0.10168487885089457, + 0.058733718062386045, + 0.9930813339176442, + 0.024738371794736234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9943804342430038, + 0.012346704100024393, + 0.10514328743463117, + -0.0372711325382447 + ], + [ + -0.005849534140593015, + 0.9980665121905887, + -0.061879077191336555, + 0.001049130504668186 + ], + [ + -0.10570399682619888, + 0.060916304398574546, + 0.9925300342626349, + 0.026215159517767747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.994163829717515, + 0.012753654360501234, + 0.10712433888643898, + -0.03873217960551002 + ], + [ + -0.006012389746425572, + 0.9979942728892675, + -0.0630181120770799, + 0.0011846026266922748 + ], + [ + -0.10771318791559754, + 0.06200625436740389, + 0.9922464883124475, + 0.027024631237821405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9937183448691, + 0.01357407369970211, + 0.11108373235452465, + -0.040410102311596405 + ], + [ + -0.006331179041806476, + 0.9978457950697431, + -0.06529690217440043, + 0.0014486293517027016 + ], + [ + -0.11173078019309274, + 0.06418343855565611, + 0.9916636118022156, + 0.02851895446406552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9934298088595258, + 0.014009778276768867, + 0.11358230928257161, + -0.04186505272457482 + ], + [ + -0.006509091209035646, + 0.9977890380255298, + -0.06614126796275135, + 0.0013416063930028726 + ], + [ + -0.11425780761487782, + 0.06496738957910961, + 0.991324564252454, + 0.029531878491342024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9931348116688294, + 0.01444745554390923, + 0.11607978669788016, + -0.04331906373266642 + ], + [ + -0.006684850091974276, + 0.9977315190741464, + -0.06698603306096117, + 0.0012349555413763108 + ], + [ + -0.11678423965058993, + 0.06575018535565598, + 0.990978483366279, + 0.030551099992893023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9925254422741587, + 0.015328715547347438, + 0.12107137117483222, + -0.044983514122845375 + ], + [ + -0.007029902965923919, + 0.9976141971094976, + -0.06867673689002762, + 0.0010139502987054458 + ], + [ + -0.12183524491203349, + 0.06731228866441027, + 0.9902652315879741, + 0.03245612979826103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9922110744513084, + 0.015772291947735762, + 0.12356544234896526, + -0.04643495499431294 + ], + [ + -0.007199194476141772, + 0.9975543949397306, + -0.06952266346539503, + 0.0009081554167212128 + ], + [ + -0.1243597818230426, + 0.06809158496571564, + 0.9898980658238413, + 0.03349107047825227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9915490667723156, + 0.016671136125019186, + 0.12865660264149242, + -0.048179148242304036 + ], + [ + -0.007538499066702744, + 0.9974373042076019, + -0.07114769994098954, + 0.000854415321885 + ], + [ + -0.12951300789793707, + 0.06957655780054689, + 0.9891337034950614, + 0.03536911876386746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9912008776387313, + 0.01712629693234148, + 0.1312536099373825, + -0.04971166703752904 + ], + [ + -0.007708599348070204, + 0.9973801215592597, + -0.0719268421003435, + 0.0009156858994809761 + ], + [ + -0.1321415818896543, + 0.07028216752364774, + 0.98873607159033, + 0.036371087685619655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9904835049749132, + 0.018042163771584817, + 0.1364437858572193, + -0.05153512280939672 + ], + [ + -0.008042581594711003, + 0.9972637950963065, + -0.0734863243835532, + 0.0010291930742509132 + ], + [ + -0.1373963000007781, + 0.07168963186229722, + 0.9879184447258512, + 0.038222894226828126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9901143269245168, + 0.018502862807419883, + 0.13903691483466352, + -0.05306457338672251 + ], + [ + -0.008206461008774483, + 0.9972046521702858, + -0.0742666525948998, + 0.0010912623949340292 + ], + [ + -0.14002240398065996, + 0.07239147572656514, + 0.9874984560117589, + 0.03924118681069995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9897381581374036, + 0.018965400899863708, + 0.14162871140939987, + -0.054592803912611836 + ], + [ + -0.008368264275603016, + 0.997144856715277, + -0.07504736423941356, + 0.0011536531778948186 + ], + [ + -0.14264764449437395, + 0.07309205356929706, + 0.9870710213683864, + 0.04026600795720935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9888296500118424, + 0.02008879582819378, + 0.1476900928960049, + -0.05638544330640608 + ], + [ + -0.008894581058748727, + 0.9970629195292744, + -0.07606852783871353, + 0.0011433941852953679 + ], + [ + -0.14878444033314356, + 0.07390517425683353, + 0.9861040591807847, + 0.0421257736636268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9883610115361858, + 0.020652356129691074, + 0.15071825059182473, + -0.05789799860082424 + ], + [ + -0.009155352717486045, + 0.9970213834403067, + -0.07658028779911727, + 0.0011443742951586936 + ], + [ + -0.1518508820909055, + 0.07430909196773716, + 0.9856061426650833, + 0.043156229759569176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9873949890184484, + 0.021783174436890623, + 0.1567693495958647, + -0.059683985250414906 + ], + [ + -0.009672109626747152, + 0.9969371783319452, + -0.07760613864191213, + 0.0011359728109022979 + ], + [ + -0.1579797010904459, + 0.07511162207668995, + 0.984581463502326, + 0.04504247257376487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9868976145654558, + 0.022350421217682104, + 0.1597922308386915, + -0.06119221066347871 + ], + [ + -0.00992808974775529, + 0.9968945101484019, + -0.07812021934133738, + 0.0011383491625803288 + ], + [ + -0.16104201749535432, + 0.07551022650853546, + 0.9840547110266055, + 0.04609189289578773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9855491872108054, + 0.023360445475987264, + 0.16777094258328776, + -0.06267628922332363 + ], + [ + -0.010234958632146726, + 0.9968476026819341, + -0.07867720539698743, + 0.0009037410012643476 + ], + [ + -0.16907999648071811, + 0.07582312717400232, + 0.982681437789295, + 0.04800640884920257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9848503881382387, + 0.023866397954337606, + 0.1717559548680809, + -0.06403138194129745 + ], + [ + -0.010386681809363182, + 0.9968239410109168, + -0.078956617635609, + 0.0007931317926079749 + ], + [ + -0.17309485788131343, + 0.07597648107243392, + 0.9819703378915773, + 0.0490791828928378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9841352142591102, + 0.02437296607832545, + 0.17573798274624713, + -0.06538388845275357 + ], + [ + -0.010537260761111885, + 0.9968001412404058, + -0.07923663646798534, + 0.0006828432503394211 + ], + [ + -0.17710687787555796, + 0.07612776725776299, + 0.9812429448722271, + 0.05016184846789906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9826557900914683, + 0.025387915440090048, + 0.18369281953663721, + -0.06685258007695356 + ], + [ + -0.01083497595632511, + 0.9967521289918153, + -0.07979847521293902, + 0.00044966674242474737 + ], + [ + -0.1851221258946066, + 0.07642412642543599, + 0.9797393282931797, + 0.05212539454225271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9816029442304, + 0.026018060411506883, + 0.1891526378632707, + -0.06813160526368636 + ], + [ + -0.011021626676757868, + 0.9967414735284332, + -0.07990593653644315, + 0.000592966079802801 + ], + [ + -0.19061527646966975, + 0.07635113280620714, + 0.9786911264007662, + 0.05334821793666805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9794050643586404, + 0.027277069917804823, + 0.20005419607033287, + -0.06945231737932939 + ], + [ + -0.011393100729598708, + 0.996719794047571, + -0.0801239627672852, + 0.0008666204684737676 + ], + [ + -0.20158352404006935, + 0.07619457730355406, + 0.9765031844418737, + 0.055582068435901986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9782600991860317, + 0.02790589502023011, + 0.20549559451155058, + -0.07071946533296934 + ], + [ + -0.01157791242735741, + 0.9967087707090967, + -0.08023452084599335, + 0.0010109806435940796 + ], + [ + -0.2070582775074693, + 0.0761110203234827, + 0.9753635129022198, + 0.056838166617130745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9758782976690444, + 0.029162087449544696, + 0.21635877794569222, + -0.0720199286980269 + ], + [ + -0.0119456562240167, + 0.996686358562318, + -0.08045870961657525, + 0.0012860445848549586 + ], + [ + -0.2179881864596012, + 0.07593336099088382, + 0.9729929471752006, + 0.05911778701603754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9742774556676426, + 0.030071344494688703, + 0.22333641355154465, + -0.0732534102324788 + ], + [ + -0.012309805458639026, + 0.9966786943233269, + -0.08049875136620983, + 0.00128985205424992 + ], + [ + -0.2250153507371337, + 0.07567889086284342, + 0.9714117548240884, + 0.06064936525085334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9726258766524036, + 0.030978741058219652, + 0.23030245693129553, + -0.07447984544109697 + ], + [ + -0.012673651506162061, + 0.9966706887483886, + -0.08054139772386097, + 0.0012945517055054801 + ], + [ + -0.23203077947471495, + 0.07541787448782004, + 0.9697803161459279, + 0.06219780726396591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9691708542655095, + 0.03278776381625804, + 0.24419831650974239, + -0.07569937392561112 + ], + [ + -0.013400358262409458, + 0.9966536552760994, + -0.08063449524384489, + 0.0012898678218700938 + ], + [ + -0.24602496954720288, + 0.07487625771043749, + 0.9663670422725408, + 0.06503748408112174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.96736759082636, + 0.03368929579950958, + 0.25112740903242226, + -0.07690581665844409 + ], + [ + -0.013763181125310213, + 0.9966446282658264, + -0.08068494155779521, + 0.0012967763302102816 + ], + [ + -0.25300300208518534, + 0.0745956855146869, + 0.9645853848356184, + 0.06662738942711592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.963697572450445, + 0.03534690534035634, + 0.2646461508051451, + -0.07822148388821763 + ], + [ + -0.014392126665386966, + 0.996634118207777, + -0.0807050253345753, + 0.0013417245868789422 + ], + [ + -0.26660805603576043, + 0.07396641607558713, + 0.9609625974770123, + 0.06948813195349143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.961835451788999, + 0.03610265731912176, + 0.2712363578437637, + -0.07953780629354389 + ], + [ + -0.014658846386688197, + 0.996632751527203, + -0.08067389172420036, + 0.0013972188975965064 + ], + [ + -0.27323557949956595, + 0.07361899699000651, + 0.9591259361406728, + 0.07108310053266709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9579743376379329, + 0.037606894425010286, + 0.2843780756648971, + -0.08094977836128642 + ], + [ + -0.015192889666340624, + 0.9966293488523056, + -0.08061710184455842, + 0.0014912575638593416 + ], + [ + -0.2864512952156966, + 0.07290859001472758, + 0.9553166977350047, + 0.07396202514120237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9559755274734063, + 0.0383553081311918, + 0.29092896248071315, + -0.08224506487998548 + ], + [ + -0.015460187868400766, + 0.9966273130195406, + -0.08059144827166596, + 0.0015484586750825775 + ], + [ + -0.2930388599879146, + 0.07254563585504085, + 0.9533443015277174, + 0.0755956693663303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9539313410674864, + 0.03910120452083295, + 0.2974661196408878, + -0.08353223475667745 + ], + [ + -0.01572765352643242, + 0.9966250543152506, + -0.08056762392969392, + 0.0016063395444090053 + ], + [ + -0.2996124787850791, + 0.07217753747630966, + 0.9513268448015733, + 0.07724482371760384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9506495023240238, + 0.04028833633860997, + 0.3076400066411283, + -0.08516816043326486 + ], + [ + -0.016292364389422626, + 0.9966476682910073, + -0.08017471018158456, + 0.0018734870856141617 + ], + [ + -0.30983880098155664, + 0.07120586524413453, + 0.9481190021095168, + 0.07992953881305301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9489673260839483, + 0.040877972375430796, + 0.3127139354099133, + -0.08657323736021222 + ], + [ + -0.01657629437828051, + 0.9966585896021014, + -0.07998051160773569, + 0.002018061659750965 + ], + [ + -0.3149384709586406, + 0.07071525398967378, + 0.9464740420969874, + 0.08147736727175438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9455207037552429, + 0.04204929921732326, + 0.32283502784785034, + -0.08818280661128146 + ], + [ + -0.01714726230550171, + 0.9966796592873088, + -0.07959665921607717, + 0.002288135416335154 + ], + [ + -0.32511008930148044, + 0.06972455233464048, + 0.943102283231314, + 0.08420283963352294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.943756357608004, + 0.04263095605753821, + 0.32788189803661594, + -0.08957120706876437 + ], + [ + -0.017434283687560566, + 0.9966898070504668, + -0.07940701652880001, + 0.0024347164280877727 + ], + [ + -0.33018174272175504, + 0.06922449066135268, + 0.9413755821487518, + 0.08578044015650224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9412975898325923, + 0.0429294087756006, + 0.3348371443515947, + -0.0911869529948179 + ], + [ + -0.017496506003300757, + 0.9967521275401594, + -0.07860705134937115, + 0.0023570220344213337 + ], + [ + -0.3371241902519451, + 0.06813414787273411, + 0.9389914899724209, + 0.08823759829990219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9400490142188499, + 0.04307561061785376, + 0.33830805878085085, + -0.0925786001226605 + ], + [ + -0.017529832798487154, + 0.9967829929939855, + -0.07820722370733625, + 0.0023293568740802204 + ], + [ + -0.3405885433014823, + 0.06758813984606542, + 0.9377799782059345, + 0.08968503415786108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.938787667000442, + 0.04321979342039023, + 0.34177443693840887, + -0.09396613601210715 + ], + [ + -0.017564636079740924, + 0.9968136613525201, + -0.07780750670963502, + 0.002301889458397294 + ], + [ + -0.3440482522078174, + 0.06704158409287797, + 0.9365555115181716, + 0.09114077097734564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9362267274435465, + 0.043502093987635465, + 0.3486933934548214, + -0.0955584046679516 + ], + [ + -0.017638670161957127, + 0.9968744050961722, + -0.07700842667572866, + 0.0022255215155150923 + ], + [ + -0.35095354697632797, + 0.0659468595373906, + 0.9340677810426237, + 0.09363837065585914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9353672381594611, + 0.04353756774887338, + 0.35098804819032553, + -0.09697878291884773 + ], + [ + -0.01772482291019781, + 0.9969177976905863, + -0.07642470347049739, + 0.0023702859059006776 + ], + [ + -0.353233577722651, + 0.06526396281458542, + 0.9332559427761457, + 0.09500179953245885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9336315653777534, + 0.04360348446303912, + 0.35557114094505393, + -0.0986446765216704 + ], + [ + -0.017901405380256148, + 0.9970034110344441, + -0.07525781069825974, + 0.002638436925878433 + ], + [ + -0.3577871431671318, + 0.06389784447354127, + 0.9316144189824123, + 0.09729798766332315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9327553928837999, + 0.043633926998073835, + 0.3578595499087807, + -0.10005828573196 + ], + [ + -0.017991833982591444, + 0.9970456312411236, + -0.07467464852901987, + 0.0027840978751202997 + ], + [ + -0.3600606489969867, + 0.0632146315161019, + 0.9307847438619482, + 0.09867512030641855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9318736703822837, + 0.04366269205753599, + 0.3601458479151743, + -0.10146923969788131 + ], + [ + -0.0180836867350863, + 0.997087460113258, + -0.07409168076754416, + 0.0029301041684438667 + ], + [ + -0.3623319510094553, + 0.06253132180900378, + 0.9299491335930695, + 0.10005775214438248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9307354949997279, + 0.04343028058407758, + 0.3631050110863249, + -0.10316538055374204 + ], + [ + -0.01812944528264576, + 0.9971817462711073, + -0.07280033047623345, + 0.0032027233133127627 + ], + [ + -0.36524342781404756, + 0.06117495919159689, + 0.928899813115791, + 0.10226911574165179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9304841208468175, + 0.04317029292656828, + 0.36377964025019255, + -0.10461630859288473 + ], + [ + -0.018082417525242422, + 0.9972340828394934, + -0.07209167912954531, + 0.003351630202923631 + ], + [ + -0.36588567480617223, + 0.06050214733303936, + 0.9286911021107737, + 0.10354970247643377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9299799764791513, + 0.04264885230533479, + 0.36512781151930196, + -0.10635368049393557 + ], + [ + -0.017989832244336264, + 0.9973372188160781, + -0.07067416713362143, + 0.0036267344669180935 + ], + [ + -0.3671697281689461, + 0.05915697221163499, + 0.9282708889947449, + 0.10565669153307157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9297272067689839, + 0.042387399863510554, + 0.3658013522751848, + -0.10780291184383872 + ], + [ + -0.017944274813500284, + 0.9973880181210498, + -0.06996530790314631, + 0.00377547976232042 + ], + [ + -0.3678115332544108, + 0.0584846102951482, + 0.9280593873043169, + 0.10694125254156142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9299604306713345, + 0.04159151476268143, + 0.3652995254381426, + -0.10965172706134801 + ], + [ + -0.01775445151841494, + 0.9975018263475399, + -0.06837313715636428, + 0.003829869261128921 + ], + [ + -0.3672306861318465, + 0.057098619362191246, + 0.9283756625580322, + 0.10892908591333285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9304452322700285, + 0.04105846928563119, + 0.3641234294108165, + -0.11121489211232297 + ], + [ + -0.017608530152504513, + 0.9975645521620834, + -0.06749002841554162, + 0.0037574890256533208 + ], + [ + -0.36600766305070903, + 0.05638409677899573, + 0.9289021607352282, + 0.1100882299641344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9309283759646862, + 0.04052632458202883, + 0.36294624373262774, + -0.11277911581117128 + ], + [ + -0.017461443849785475, + 0.9976264821896095, + -0.06660705677828493, + 0.0036846362301081476 + ], + [ + -0.36478412356136436, + 0.0556688337389686, + 0.9294264490252634, + 0.1112442686894739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9318896848232843, + 0.039464742804794464, + 0.3605886151770623, + -0.1147458517201306 + ], + [ + -0.017163777905045804, + 0.9977479542674095, + -0.06484153362796038, + 0.0035160409021324493 + ], + [ + -0.3623355075727279, + 0.05423609343003127, + 0.930468390715914, + 0.11309410419357196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.932367847588274, + 0.038935308380344466, + 0.3594081781831583, + -0.11631261565558869 + ], + [ + -0.017013199005851857, + 0.9978074960145491, + -0.06395898652076339, + 0.0034419326538560396 + ], + [ + -0.3611104371839682, + 0.05351861973653084, + 0.9309860415163592, + 0.11424234844039621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9354963200240757, + 0.03761041642576714, + 0.35132903637145135, + -0.11862909218243677 + ], + [ + -0.01664826473190074, + 0.9979062405330309, + -0.06249776305316366, + 0.0036955151370013026 + ], + [ + -0.3529440047696359, + 0.05261740854045573, + 0.9341637639170437, + 0.11532809781401343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9370336978326975, + 0.03695089898186871, + 0.3472786779956594, + -0.12037330754151593 + ], + [ + -0.01646099745860854, + 0.9979547643462281, + -0.06176830806596649, + 0.0038317873628980607 + ], + [ + -0.3488508057732544, + 0.052162432680006324, + 0.9357254917593381, + 0.11608038114133667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9400545860700305, + 0.03563778574994521, + 0.3391567829714526, + -0.12269281362266024 + ], + [ + -0.016076880979198876, + 0.9980501103284105, + -0.06031178302312438, + 0.00408187301563536 + ], + [ + -0.3406448430648623, + 0.05124378499182864, + 0.9387945277817861, + 0.11712648627811625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.941538037329057, + 0.034984215681671954, + 0.3350854054053765, + -0.12444117760385887 + ], + [ + -0.015880039296713243, + 0.9980969306298683, + -0.059584741496216884, + 0.004216005402738667 + ], + [ + -0.33653224008181165, + 0.0507801311575148, + 0.9403017758491917, + 0.11785122225715064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_146/move_right/transforms.json b/spatialvid_eval/camera_controls/scene_146/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..4991f85ae2d6ff301c686da9f066ddb9469e527e --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_146/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": [ + [ + 0.999999991722536, + -3.6270138169294145e-05, + 0.00012344798607945968, + -9.307989791550236e-05 + ], + [ + 3.6275095207695034e-05, + 0.9999999985359322, + -4.0152872431992736e-05, + 3.072681912745667e-05 + ], + [ + -0.00012344652954849244, + 4.0157350187077004e-05, + 0.9999999915741709, + -3.5214439608207494e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999979131666199, + 0.0003613918313344808, + 0.006450242480615537, + 0.0009431694031015452 + ], + [ + -0.00035047005584872796, + 0.9999985032836216, + -0.0016942848805506679, + 8.253459503066026e-05 + ], + [ + -0.006450845127147756, + 0.0016919889068058077, + 0.99997776163807, + 0.0006202521458851665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998168575422577, + 0.0011880249891429648, + 0.019100784563742288, + 0.0017652884052430378 + ], + [ + -0.001092520167197658, + 0.9999868545424728, + -0.0050097047753454365, + 0.00018473310912850603 + ], + [ + -0.019106485129651404, + 0.00498791929335513, + 0.9998050124334814, + 0.00190760977327459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9996754504392665, + 0.001616960699327892, + 0.025423989205993237, + 0.002800804586968942 + ], + [ + -0.0014477932795749374, + 0.9999767015535842, + -0.0066708503681115385, + 0.00023428104822110867 + ], + [ + -0.025434183369419376, + 0.006631876665842426, + 0.999654500579185, + 0.0025235279403657044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9992721264961141, + 0.0025059783359763477, + 0.03806490878110558, + 0.00362093305317086 + ], + [ + -0.0021267593788755804, + 0.9999477405179324, + -0.009999656375396841, + 0.0003335682030711658 + ], + [ + -0.038087978450931675, + 0.009911422988716966, + 0.9992252346652681, + 0.0037555265195509855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9991101494737011, + 0.0027969907902905614, + 0.0420842733233915, + 0.004638004323802824 + ], + [ + -0.002287244437824065, + 0.9999234996865385, + -0.01215579234385212, + 0.00025420644948778454 + ], + [ + -0.042115053502524896, + 0.012048718485558567, + 0.9990401146357114, + 0.00445034738792522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.998737451578865, + 0.0034047938718675666, + 0.05011896040865514, + 0.005422083714237486 + ], + [ + -0.002582134783467832, + 0.9998610305482898, + -0.016469734997010287, + 9.773517086545853e-05 + ], + [ + -0.05016807145699598, + 0.016319527248110866, + 0.9986074492195038, + 0.0058725060574092445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9985267384885822, + 0.003721571807862723, + 0.05413411518288133, + 0.0064376552580729975 + ], + [ + -0.0027165339126880806, + 0.9998228035458259, + -0.01862745160418242, + 1.7631237264087742e-05 + ], + [ + -0.054193846208363525, + 0.01845295133695052, + 0.9983599128671485, + 0.006542170499523891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9982997883897557, + 0.004046925247728606, + 0.058147698982922304, + 0.007452537649097364 + ], + [ + -0.002842231877193256, + 0.9997799159529596, + -0.020785604996000608, + -6.272168251318296e-05 + ], + [ + -0.05821901939165167, + 0.02058499582542575, + 0.9980915808321108, + 0.007201776520440911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9978874467201413, + 0.004823763663835508, + 0.0647871513687156, + 0.008182988971123448 + ], + [ + -0.003194499115014438, + 0.9996766181683611, + -0.025228045165514704, + -1.808287612519558e-05 + ], + [ + -0.06488789450861832, + 0.0249677870782442, + 0.9975801575586065, + 0.0085188928950825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9977112105400158, + 0.005272607997947317, + 0.06741320321477426, + 0.009146367288692208 + ], + [ + -0.0034237169242517466, + 0.9996155985382559, + -0.027512421220739096, + 0.00010291365276689609 + ], + [ + -0.067532351693089, + 0.027218647356265974, + 0.9973457408095231, + 0.009102042245577514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9973375162712238, + 0.006188058788770292, + 0.07266076359613473, + 0.00982481192851164 + ], + [ + -0.0038639756168537803, + 0.9994777549349857, + -0.03208250430613871, + 0.0003482902003909555 + ], + [ + -0.07282134529366381, + 0.03171632574160778, + 0.9968405721834729, + 0.01033953301082659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9971400627636348, + 0.006654654023069128, + 0.07528220780216084, + 0.010786743982656987 + ], + [ + -0.004075011103134761, + 0.9994009326516303, + -0.0343681553121592, + 0.0004681495739769996 + ], + [ + -0.07546581687256691, + 0.03396308871237447, + 0.9965698264993134, + 0.010906154188962633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9967865654906456, + 0.007416378253360739, + 0.07975926398209912, + 0.011425438780013064 + ], + [ + -0.004336467434172572, + 0.9992407211552954, + -0.03871919724423275, + 0.0005837915595510601 + ], + [ + -0.07998586067271801, + 0.03824890218880168, + 0.9960618874215579, + 0.012163291909538595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9966340652090648, + 0.007709404430377053, + 0.08161559378073775, + 0.012348545320116169 + ], + [ + -0.004389065897260888, + 0.9991583401454532, + -0.040784156462187554, + 0.0005745800415853163 + ], + [ + -0.08186132276846629, + 0.0402886634316848, + 0.9958290754107783, + 0.012758094767004555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9964780418808853, + 0.008006231132037876, + 0.08347102678353191, + 0.013271204552391594 + ], + [ + -0.004437775521902851, + 0.9990717022260498, + -0.04284903685686108, + 0.0005653099431827208 + ], + [ + -0.08373660010804065, + 0.04232769866415876, + 0.9955885433893573, + 0.013348212433409404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9961554309678503, + 0.008611276841974123, + 0.08717914466434985, + 0.013869934062816917 + ], + [ + -0.004523526770178651, + 0.9988856583879974, + -0.046978496914406004, + 0.0005523067776768609 + ], + [ + -0.08748654215830133, + 0.046403527645301465, + 0.9950843268604203, + 0.014623754382234047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.995988845893049, + 0.008919491142728846, + 0.08903180069159196, + 0.014791380506854666 + ], + [ + -0.004560567726630207, + 0.9987862539168509, + -0.049043044448268985, + 0.0005429947883205594 + ], + [ + -0.0893611776927956, + 0.04844028968223507, + 0.9948206462759295, + 0.015202165969410618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9956730918025568, + 0.00964884817976502, + 0.09242290835686373, + 0.015484060895615897 + ], + [ + -0.004833616514161605, + 0.9986258509571466, + -0.05218281279797886, + 0.0004882257933076729 + ], + [ + -0.09279940954408822, + 0.05151028566139705, + 0.9943515274083657, + 0.016421064493845595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9955107257589833, + 0.010017449084740976, + 0.09411719084554745, + 0.01645219546604972 + ], + [ + -0.004966069479560406, + 0.9985419215337724, + -0.05375285195750829, + 0.0004575756709191782 + ], + [ + -0.09451842705391769, + 0.05304414815487423, + 0.9941089403550182, + 0.01696821867265956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9953453682231006, + 0.010388662242960653, + 0.09581061347064924, + 0.01741984933406688 + ], + [ + -0.005095807192931321, + 0.9984555074194804, + -0.05532298304285983, + 0.00042666229741788363 + ], + [ + -0.09623736647411409, + 0.05457724251471277, + 0.993861003306608, + 0.017511077259939778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.995005682291859, + 0.011138917220611902, + 0.09919484225535455, + 0.018109913087081663 + ], + [ + -0.005347134052938996, + 0.9982752270136013, + -0.058463486796143535, + 0.00037077052071637565 + ], + [ + -0.099674973610893, + 0.05764109344985836, + 0.993349084653312, + 0.018708503577711744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9948013616636778, + 0.011539333355937315, + 0.10117852844251844, + 0.019123481712445274 + ], + [ + -0.005516905398124607, + 0.998206989631043, + -0.05960175841835075, + 0.0004826924273309684 + ], + [ + -0.10168487885089457, + 0.058733718062386045, + 0.9930813339176442, + 0.019145703457937032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9943804342430038, + 0.012346704100024393, + 0.10514328743463117, + 0.01990574243072803 + ], + [ + -0.005849534140593015, + 0.9980665121905887, + -0.061879077191336555, + 0.0007127822915840875 + ], + [ + -0.10570399682619888, + 0.060916304398574546, + 0.9925300342626349, + 0.020137179700261312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.994163829717515, + 0.012753654360501234, + 0.10712433888643898, + 0.02091765017754089 + ], + [ + -0.006012389746425572, + 0.9979942728892675, + -0.0630181120770799, + 0.0008238592419067404 + ], + [ + -0.10771318791559754, + 0.06200625436740389, + 0.9922464883124475, + 0.02056183996288555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9937183448691, + 0.01357407369970211, + 0.11108373235452465, + 0.021697294242722345 + ], + [ + -0.006331179041806476, + 0.9978457950697431, + -0.06529690217440043, + 0.001052930661589797 + ], + [ + -0.11173078019309274, + 0.06418343855565611, + 0.9916636118022156, + 0.02153578070199723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9934298088595258, + 0.014009778276768867, + 0.11358230928257161, + 0.022707884851294366 + ], + [ + -0.006509091209035646, + 0.9977890380255298, + -0.06614126796275135, + 0.0009185154644155557 + ], + [ + -0.11425780761487782, + 0.06496738957910961, + 0.991324564252454, + 0.022105120996374964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9931348116688294, + 0.01444745554390923, + 0.11607978669788016, + 0.023717536054979574 + ], + [ + -0.006684850091974276, + 0.9977315190741464, + -0.06698603306096117, + 0.0007837281601680471 + ], + [ + -0.11678423965058993, + 0.06575018535565598, + 0.990978483366279, + 0.022668163816478203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9925254422741587, + 0.015328715547347438, + 0.12107137117483222, + 0.024493266836345746 + ], + [ + -0.007029902965923919, + 0.9976141971094976, + -0.06867673689002762, + 0.0005218570910907713 + ], + [ + -0.12183524491203349, + 0.06731228866441027, + 0.9902652315879741, + 0.02392766265441868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9922110744513084, + 0.015772291947735762, + 0.12356544234896526, + 0.025500347903406925 + ], + [ + -0.007199194476141772, + 0.9975543949397306, + -0.06952266346539503, + 0.0003862138172009342 + ], + [ + -0.1243597818230426, + 0.06809158496571564, + 0.9898980658238413, + 0.024474986296081677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9915490667723156, + 0.016671136125019186, + 0.12865660264149242, + 0.026187031765619644 + ], + [ + -0.007538499066702744, + 0.9974373042076019, + -0.07114769994098954, + 0.0002890278918822941 + ], + [ + -0.12951300789793707, + 0.06957655780054689, + 0.9891337034950614, + 0.025655643171522177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9912008776387313, + 0.01712629693234148, + 0.1312536099373825, + 0.02710640097947265 + ], + [ + -0.007708599348070204, + 0.9973801215592597, + -0.0719268421003435, + 0.00031826945000553515 + ], + [ + -0.1321415818896543, + 0.07028216752364774, + 0.98873607159033, + 0.026130115089171443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9904835049749132, + 0.018042163771584817, + 0.1364437858572193, + 0.027703557588596356 + ], + [ + -0.008042581594711003, + 0.9972637950963065, + -0.0734863243835532, + 0.00038578654667403286 + ], + [ + -0.1373963000007781, + 0.07168963186229722, + 0.9879184447258512, + 0.02723119022676588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9901143269245168, + 0.018502862807419883, + 0.13903691483466352, + 0.02861985858455015 + ], + [ + -0.008206461008774483, + 0.9972046521702858, + -0.0742666525948998, + 0.00041422936171013424 + ], + [ + -0.14002240398065996, + 0.07239147572656514, + 0.9874984560117589, + 0.027689338482295503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9897381581374036, + 0.018965400899863708, + 0.14162871140939987, + 0.029534939529067487 + ], + [ + -0.008368264275603016, + 0.997144856715277, + -0.07504736423941356, + 0.000442350714468562 + ], + [ + -0.14264764449437395, + 0.07309205356929706, + 0.9870710213683864, + 0.028140958175187563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9888296500118424, + 0.02008879582819378, + 0.1476900928960049, + 0.030137151069630143 + ], + [ + -0.008894581058748727, + 0.9970629195292744, + -0.07606852783871353, + 0.0003651183426548542 + ], + [ + -0.14878444033314356, + 0.07390517425683353, + 0.9861040591807847, + 0.029107135134476738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9883610115361858, + 0.020652356129691074, + 0.15071825059182473, + 0.031054492437432503 + ], + [ + -0.009155352717486045, + 0.9970213834403067, + -0.07658028779911727, + 0.00032039255058494934 + ], + [ + -0.1518508820909055, + 0.07430909196773716, + 0.9856061426650833, + 0.029489650371387677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9873949890184484, + 0.021783174436890623, + 0.1567693495958647, + 0.03165005123379158 + ], + [ + -0.009672109626747152, + 0.9969371783319452, + -0.07760613864191213, + 0.00024130267042818626 + ], + [ + -0.1579797010904459, + 0.07511162207668995, + 0.984581463502326, + 0.030429350222898624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9868976145654558, + 0.022350421217682104, + 0.1597922308386915, + 0.032563062720239594 + ], + [ + -0.00992808974775529, + 0.9968945101484019, + -0.07812021934133738, + 0.0001951806365435762 + ], + [ + -0.16104201749535432, + 0.07551022650853546, + 0.9840547110266055, + 0.030792901233729072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9855491872108054, + 0.023360445475987264, + 0.16777094258328776, + 0.033414756529729917 + ], + [ + -0.010234958632146726, + 0.9968476026819341, + -0.07867720539698743, + -9.416746536995826e-05 + ], + [ + -0.16907999648071811, + 0.07582312717400232, + 0.982681437789295, + 0.031521109192332544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9848503881382387, + 0.023866397954337606, + 0.1717559548680809, + 0.03445365687252642 + ], + [ + -0.010386681809363182, + 0.9968239410109168, + -0.078956617635609, + -0.0002455363883283433 + ], + [ + -0.17309485788131343, + 0.07597648107243392, + 0.9819703378915773, + 0.031769697104706465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9841352142591102, + 0.02437296607832545, + 0.17573798274624713, + 0.03548997100880524 + ], + [ + -0.010537260761111885, + 0.9968001412404058, + -0.07923663646798534, + -0.0003972259776745474 + ], + [ + -0.17710687787555796, + 0.07612776725776299, + 0.9812429448722271, + 0.03200839348565436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9826557900914683, + 0.025387915440090048, + 0.18369281953663721, + 0.03632627788265062 + ], + [ + -0.01083497595632511, + 0.9967521289918153, + -0.07979847521293902, + -0.0006880057329893892 + ], + [ + -0.1851221258946066, + 0.07642412642543599, + 0.9797393282931797, + 0.032687571323319016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9816029442304, + 0.026018060411506883, + 0.1891526378632707, + 0.037390711241081634 + ], + [ + -0.011021626676757868, + 0.9967414735284332, + -0.07990593653644315, + -0.0005918587879486699 + ], + [ + -0.19061527646966975, + 0.07635113280620714, + 0.9786911264007662, + 0.032857075716178546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9794050643586404, + 0.027277069917804823, + 0.20005419607033287, + 0.03828223970012107 + ], + [ + -0.011393100729598708, + 0.996719794047571, + -0.0801239627672852, + -0.00038662061178209033 + ], + [ + -0.20158352404006935, + 0.07619457730355406, + 0.9765031844418737, + 0.03340788079149435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9782600991860317, + 0.02790589502023011, + 0.20549559451155058, + 0.039334795825459234 + ], + [ + -0.01157791242735741, + 0.9967087707090967, + -0.08023452084599335, + -0.00029153450448362916 + ], + [ + -0.2070582775074693, + 0.0761110203234827, + 0.9753635129022198, + 0.03354411039754045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9758782976690444, + 0.029162087449544696, + 0.21635877794569222, + 0.04020607553391322 + ], + [ + -0.0119456562240167, + 0.996686358562318, + -0.08045870961657525, + -8.770588090696216e-05 + ], + [ + -0.2179881864596012, + 0.07593336099088382, + 0.9729929471752006, + 0.03404914557318339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9742774556676426, + 0.030071344494688703, + 0.22333641355154465, + 0.04122419080846921 + ], + [ + -0.012309805458639026, + 0.9966786943233269, + -0.08049875136620983, + -0.00015655008714016562 + ], + [ + -0.2250153507371337, + 0.07567889086284342, + 0.9714117548240884, + 0.03421006153924013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9726258766524036, + 0.030978741058219652, + 0.23030245693129553, + 0.04223525975719149 + ], + [ + -0.012673651506162061, + 0.9966706887483886, + -0.08054139772386097, + -0.00022628647523396754 + ], + [ + -0.23203077947471495, + 0.07541787448782004, + 0.9697803161459279, + 0.03435411372700012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9691708542655095, + 0.03278776381625804, + 0.24419831650974239, + 0.04302405572191381 + ], + [ + -0.013400358262409458, + 0.9966536552760994, + -0.08063449524384489, + -0.0003516760652750652 + ], + [ + -0.24602496954720288, + 0.07487625771043749, + 0.9663670422725408, + 0.03489942531158938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.96736759082636, + 0.03368929579950958, + 0.25112740903242226, + 0.044015132194850905 + ], + [ + -0.013763181125310213, + 0.9966446282658264, + -0.08068494155779521, + -0.00042362131045349505 + ], + [ + -0.25300300208518534, + 0.0745956855146869, + 0.9645853848356184, + 0.035002014166467754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.963697572450445, + 0.03534690534035634, + 0.2646461508051451, + 0.04464995659921413 + ], + [ + -0.014392126665386966, + 0.996634118207777, + -0.0807050253345753, + -0.0004932715629578964 + ], + [ + -0.26660805603576043, + 0.07396641607558713, + 0.9609625974770123, + 0.03549560480893196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.961835451788999, + 0.03610265731912176, + 0.2712363578437637, + 0.045500802439025975 + ], + [ + -0.014658846386688197, + 0.996632751527203, + -0.08067389172420036, + -0.0005084311326729592 + ], + [ + -0.27323557949956595, + 0.07361899699000651, + 0.9591259361406728, + 0.03556247519772351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9579743376379329, + 0.037606894425010286, + 0.2843780756648971, + 0.045981821375739716 + ], + [ + -0.015192889666340624, + 0.9966293488523056, + -0.08061710184455842, + -0.0005218003169307915 + ], + [ + -0.2864512952156966, + 0.07290859001472758, + 0.9553166977350047, + 0.036007228525122566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9559755274734063, + 0.0383553081311918, + 0.29092896248071315, + 0.04681163132892437 + ], + [ + -0.015460187868400766, + 0.9966273130195406, + -0.08059144827166596, + -0.000538666687151526 + ], + [ + -0.2930388599879146, + 0.07254563585504085, + 0.9533443015277174, + 0.03603542326796183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9539313410674864, + 0.03910120452083295, + 0.2974661196408878, + 0.04763332464010195 + ], + [ + -0.01572765352643242, + 0.9966250543152506, + -0.08056762392969392, + -0.0005562128154754527 + ], + [ + -0.2996124787850791, + 0.07217753747630966, + 0.9513268448015733, + 0.03604810788465547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9506495023240238, + 0.04028833633860997, + 0.3076400066411283, + 0.04792276989209848 + ], + [ + -0.016292364389422626, + 0.9966476682910073, + -0.08017471018158456, + -0.00040744392890500615 + ], + [ + -0.30983880098155664, + 0.07120586524413453, + 0.9481190021095168, + 0.03655210667563507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9489673260839483, + 0.040877972375430796, + 0.3127139354099133, + 0.04865460660675041 + ], + [ + -0.01657629437828051, + 0.9966585896021014, + -0.07998051160773569, + -0.0003440602891540078 + ], + [ + -0.3149384709586406, + 0.07071525398967378, + 0.9464740420969874, + 0.03659863516014808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9455207037552429, + 0.04204929921732326, + 0.32283502784785034, + 0.04891769543322878 + ], + [ + -0.01714726230550171, + 0.9966796592873088, + -0.07959665921607717, + -0.00019821761796259417 + ], + [ + -0.32511008930148044, + 0.06972455233464048, + 0.943102283231314, + 0.03706187668480827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.943756357608004, + 0.04263095605753821, + 0.32788189803661594, + 0.04963285567841625 + ], + [ + -0.017434283687560566, + 0.9966898070504668, + -0.07940701652880001, + -0.00013684041582741097 + ], + [ + -0.33018174272175504, + 0.06922449066135268, + 0.9413755821487518, + 0.03707863310504336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9412975898325923, + 0.0429294087756006, + 0.3348371443515947, + 0.050007685480070965 + ], + [ + -0.017496506003300757, + 0.9967521275401594, + -0.07860705134937115, + -0.00026745386607378036 + ], + [ + -0.3371241902519451, + 0.06813414787273411, + 0.9389914899724209, + 0.03766896976211042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9400490142188499, + 0.04307561061785376, + 0.33830805878085085, + 0.05077887454571415 + ], + [ + -0.017529832798487154, + 0.9967829929939855, + -0.07820722370733625, + -0.00034394262768907115 + ], + [ + -0.3405885433014823, + 0.06758813984606542, + 0.9377799782059345, + 0.037745281304385016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.938787667000442, + 0.04321979342039023, + 0.34177443693840887, + 0.05154595237296139 + ], + [ + -0.017564636079740924, + 0.9968136613525201, + -0.07780750670963502, + -0.00042062913396254933 + ], + [ + -0.3440482522078174, + 0.06704158409287797, + 0.9365555115181716, + 0.03781329188513395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9362267274435465, + 0.043502093987635465, + 0.3486933934548214, + 0.051897304904407006 + ], + [ + -0.017638670161957127, + 0.9968744050961722, + -0.07700842667572866, + -0.0005525690349931557 + ], + [ + -0.35095354697632797, + 0.0659468595373906, + 0.9340677810426237, + 0.03836318700708747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9353672381594611, + 0.04353756774887338, + 0.35098804819032553, + 0.052679975186666055 + ], + [ + -0.01772482291019781, + 0.9969177976905863, + -0.07642470347049739, + -0.00046568575973097255 + ], + [ + -0.353233577722651, + 0.06526396281458542, + 0.9332559427761457, + 0.038484427096834674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9336315653777534, + 0.04360348446303912, + 0.35557114094505393, + 0.053070452852214525 + ], + [ + -0.017901405380256148, + 0.9970034110344441, + -0.07525781069825974, + -0.00027054144841319114 + ], + [ + -0.3577871431671318, + 0.06389784447354127, + 0.9316144189824123, + 0.039157576898664226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9327553928837999, + 0.043633926998073835, + 0.3578595499087807, + 0.053846354093867024 + ], + [ + -0.017991833982591444, + 0.9970456312411236, + -0.07467464852901987, + -0.0001845547320072894 + ], + [ + -0.3600606489969867, + 0.0632146315161019, + 0.9307847438619482, + 0.03926511322191574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9318736703822837, + 0.04366269205753599, + 0.3601458479151743, + 0.05461960009115123 + ], + [ + -0.0180836867350863, + 0.997087460113258, + -0.07409168076754416, + -9.891335968308817e-05 + ], + [ + -0.3623319510094553, + 0.06253132180900378, + 0.9299491335930695, + 0.03936715035029872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9307354949997279, + 0.04343028058407758, + 0.3631050110863249, + 0.05505965359621175 + ], + [ + -0.01812944528264576, + 0.9971817462711073, + -0.07280033047623345, + 0.00012071761526298314 + ], + [ + -0.36524342781404756, + 0.06117495919159689, + 0.928899813115791, + 0.04017773301326369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9304841208468175, + 0.04317029292656828, + 0.36377964025019255, + 0.0558922022531913 + ], + [ + -0.018082417525242422, + 0.9972340828394934, + -0.07209167912954531, + 0.00023241317981931298 + ], + [ + -0.36588567480617223, + 0.06050214733303936, + 0.9286911021107737, + 0.040434423572369066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9299799764791513, + 0.04264885230533479, + 0.36512781151930196, + 0.05639281538991591 + ], + [ + -0.017989832244336264, + 0.9973372188160781, + -0.07067416713362143, + 0.0004785138241592472 + ], + [ + -0.3671697281689461, + 0.05915697221163499, + 0.9282708889947449, + 0.041401989103505996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9297272067689839, + 0.042387399863510554, + 0.3658013522751848, + 0.05722366735765594 + ], + [ + -0.017944274813500284, + 0.9973880181210498, + -0.06996530790314631, + 0.000590370982924119 + ], + [ + -0.3678115332544108, + 0.0584846102951482, + 0.9280593873043169, + 0.0416547053889035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9299604306713345, + 0.04159151476268143, + 0.3652995254381426, + 0.05774115045949221 + ], + [ + -0.01775445151841494, + 0.9975018263475399, + -0.06837313715636428, + 0.0006340679878142315 + ], + [ + -0.3672306861318465, + 0.057098619362191246, + 0.9283756625580322, + 0.042827562409600464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9304452322700285, + 0.04105846928563119, + 0.3641234294108165, + 0.058591362776957256 + ], + [ + -0.017608530152504513, + 0.9975645521620834, + -0.06749002841554162, + 0.0005439322728212463 + ], + [ + -0.36600766305070903, + 0.05638409677899573, + 0.9289021607352282, + 0.04329183145737998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9309283759646862, + 0.04052632458202883, + 0.36294624373262774, + 0.059442633742295685 + ], + [ + -0.017461443849785475, + 0.9976264821896095, + -0.06660705677828493, + 0.0004542691178978343 + ], + [ + -0.36478412356136436, + 0.0556688337389686, + 0.9294264490252634, + 0.043759205830621484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9318896848232843, + 0.039464742804794464, + 0.3605886151770623, + 0.059983464184235204 + ], + [ + -0.017163777905045804, + 0.9977479542674095, + -0.06484153362796038, + 0.00029783254493636127 + ], + [ + -0.3623355075727279, + 0.05423609343003127, + 0.930468390715914, + 0.045156196523685486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.932367847588274, + 0.038935308380344466, + 0.3594081781831583, + 0.0608372753861834 + ], + [ + -0.017013199005851857, + 0.9978074960145491, + -0.06395898652076339, + 0.000209424842744186 + ], + [ + -0.3611104371839682, + 0.05351861973653084, + 0.9309860415163592, + 0.04563136537544226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9354963200240757, + 0.03761041642576714, + 0.35132903637145135, + 0.0614539494221978 + ], + [ + -0.01664826473190074, + 0.9979062405330309, + -0.06249776305316366, + 0.0004907241761104098 + ], + [ + -0.3529440047696359, + 0.05261740854045573, + 0.9341637639170437, + 0.04738637689585853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9370336978326975, + 0.03695089898186871, + 0.3472786779956594, + 0.06234826353586012 + ], + [ + -0.01646099745860854, + 0.9979547643462281, + -0.06176830806596649, + 0.0006218928584693947 + ], + [ + -0.3488508057732544, + 0.052162432680006324, + 0.9357254917593381, + 0.04805447401555205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9400545860700305, + 0.03563778574994521, + 0.3391567829714526, + 0.06296796712617078 + ], + [ + -0.016076880979198876, + 0.9980501103284105, + -0.06031178302312438, + 0.0009066890222435816 + ], + [ + -0.3406448430648623, + 0.05124378499182864, + 0.9387945277817861, + 0.04984912977280595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.941538037329057, + 0.034984215681671954, + 0.3350854054053765, + 0.06386642986195257 + ], + [ + -0.015880039296713243, + 0.9980969306298683, + -0.059584741496216884, + 0.0010399975433960183 + ], + [ + -0.33653224008181165, + 0.0507801311575148, + 0.9403017758491917, + 0.050544774240788314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_146/orbit_left/transforms.json b/spatialvid_eval/camera_controls/scene_146/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..27d36ff15baa6c9e3fd3f8efe87eb1eab956b58a --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_146/orbit_left/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.999999991722536, + -3.6270138169294145e-05, + 0.00012344798607945968, + -9.307989791550236e-05 + ], + [ + 3.6275095207695034e-05, + 0.9999999985359322, + -4.0152872431992736e-05, + 3.072681912745667e-05 + ], + [ + -0.00012344652954849244, + 4.0157350187077004e-05, + 0.9999999915741709, + -3.5214439608207494e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999526688481553, + 0.0003613918313344808, + 0.00972262615734394, + -0.003539227727700346 + ], + [ + -0.0003449236548125473, + 0.9999985032836216, + -0.0016954227168644272, + 8.33848946986725e-05 + ], + [ + -0.009723224317250662, + 0.0016919889068058077, + 0.9999512968552096, + 0.001075103421457062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9996704296788962, + 0.0011880249891429648, + 0.025644114768049852, + -0.00718727376099386 + ], + [ + -0.0010597085602443892, + 0.9999868545424728, + -0.005016747952528334, + 0.00019026599643834368 + ], + [ + -0.025649737686360176, + 0.00498791929335513, + 0.9996585475139721, + 0.0029306922837797323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993776796181162, + 0.001616960699327892, + 0.03523689712796653, + -0.010618056254821812 + ], + [ + -0.0013822336405960236, + 0.9999767015535842, + -0.006684742341849899, + 0.00024523825151511846 + ], + [ + -0.03524688512865884, + 0.006631876665842426, + 0.9993566306882725, + 0.004143103083861728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9986882621674052, + 0.0025059783359763477, + 0.05114171566957658, + -0.014242108942469281 + ], + [ + -0.0019956857164337284, + 0.9999477405179324, + -0.010026638100723111, + 0.00035468779012646926 + ], + [ + -0.05116416956786672, + 0.009911422988716966, + 0.9986410723812482, + 0.006141249833549961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9982878349147014, + 0.0027969907902905614, + 0.05842581196557765, + -0.017678605860364092 + ], + [ + -0.0020880484504648637, + 0.9999234996865385, + -0.012191588423733891, + 0.0002796132173113878 + ], + [ + -0.05845544213318822, + 0.012048718485558567, + 0.9982173058346911, + 0.0075224192437067135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9975609151740449, + 0.0034047938718675666, + 0.06971820347521844, + -0.021327285524798335 + ], + [ + -0.0022582753405723803, + 0.9998610305482898, + -0.01651725713906224, + 0.00012513466032061795 + ], + [ + -0.06976475263059442, + 0.016319527248110866, + 0.9974299736426563, + 0.009774604796552002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9970247950502392, + 0.003721571807862723, + 0.07699160966175074, + -0.02475135535424762 + ], + [ + -0.002289151160190879, + 0.9998228035458259, + -0.018684787842807832, + 4.738378200790359e-05 + ], + [ + -0.07704750380118922, + 0.01845295133695052, + 0.9968566450322544, + 0.011220276908372465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9964355666748705, + 0.0040469252477286066, + 0.0842602151751914, + -0.0281702265509052 + ], + [ + -0.00229715420778709, + 0.9997799159529598, + -0.020852883245228826, + -3.156222123179347e-05 + ], + [ + -0.08432606090572418, + 0.020584995825425754, + 0.996225563514103, + 0.012691700405401848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9955468081608112, + 0.004823763663835508, + 0.09414501614497107, + -0.031850524390344755 + ], + [ + -0.0024501938431664393, + 0.9996766181683611, + -0.025311176140195207, + 1.4162135850556283e-05 + ], + [ + -0.09423666648896444, + 0.0249677870782442, + 0.9952366855665358, + 0.014962300236704184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9949713252836568, + 0.005272607997947317, + 0.10002130507138807, + -0.03531622454347003 + ], + [ + -0.00252170263478417, + 0.9996155985382559, + -0.02760971160346492, + 0.00013929262996409156 + ], + [ + -0.1001284319217345, + 0.027218647356265974, + 0.9946021528013048, + 0.01637899549185793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9940763692453606, + 0.006188058788770292, + 0.10850751142842024, + -0.03904101603747315 + ], + [ + -0.002706834545978109, + 0.9994777549349857, + -0.03220078317155887, + 0.0003886166426363048 + ], + [ + -0.10865010425536978, + 0.03171632574160778, + 0.9935739678185767, + 0.018602761115831756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9934157383040723, + 0.006654654023069129, + 0.11437170309831345, + -0.04249740593659129 + ], + [ + -0.002722581971721168, + 0.9994009326516305, + -0.034501642895065555, + 0.0005118183387637285 + ], + [ + -0.11453278324210396, + 0.033963088712374474, + 0.992838733212969, + 0.02006153404865866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9924925544049827, + 0.007416378253360739, + 0.1220800015738676, + -0.04625365551495074 + ], + [ + -0.002685833061741959, + 0.9992407211552954, + -0.03886859253703295, + 0.0006222524578385871 + ], + [ + -0.12227557299574143, + 0.03824890218880168, + 0.9917588949588073, + 0.022342362747696992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9918503767865368, + 0.007709404430377053, + 0.12717466395368965, + -0.04974675712300085 + ], + [ + -0.002516592213667729, + 0.9991583401454532, + -0.04094237513155289, + 0.0006069889919704554 + ], + [ + -0.12738326747275372, + 0.0402886634316848, + 0.99103497756984, + 0.023836549316501445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9911820112808662, + 0.008006231132037876, + 0.1322653423096064, + -0.05323712542014785 + ], + [ + -0.0023299274411991144, + 0.9990717022260498, + -0.04301517463944773, + 0.0005901186025467939 + ], + [ + -0.13248695011711803, + 0.04232769866415876, + 0.9902805531638297, + 0.025342614407714625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9902276306702159, + 0.008611276841974125, + 0.13919441572276567, + -0.0570238625760452 + ], + [ + -0.0020586628750817425, + 0.9988856583879976, + -0.047150857616210316, + 0.0005567815960031119 + ], + [ + -0.13944533468143705, + 0.04640352764530147, + 0.9891419065319467, + 0.027683457127640164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9894974747090315, + 0.008919491142728846, + 0.14427470402743808, + -0.060507161827523276 + ], + [ + -0.0018265385218994411, + 0.9987862539168509, + -0.04922075521334558, + 0.0005356247232727667 + ], + [ + -0.14453861526069112, + 0.04844028968223507, + 0.9883127678189852, + 0.02921913006120662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9885051956420333, + 0.00964884817976502, + 0.1508786860941913, + -0.06419231670952959 + ], + [ + -0.0017531890127118871, + 0.9986258509571466, + -0.05237686634765952, + 0.00047839496595764616 + ], + [ + -0.1511767327236284, + 0.05151028566139705, + 0.9871637584282003, + 0.03153654248734493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9877388237023504, + 0.010017449084740976, + 0.15579366760215826, + -0.06762309962677396 + ], + [ + -0.0016164160585025525, + 0.9985419215337724, + -0.053957558680572636, + 0.0004457805406279232 + ], + [ + -0.1561070253070725, + 0.05304414815487423, + 0.9863148153588188, + 0.033067976132224515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9869479434511944, + 0.010388662242960653, + 0.1607041773391719, + -0.07105120243750312 + ], + [ + -0.0014666004692208041, + 0.9984555074194804, + -0.05553781402586682, + 0.00041250923156409345 + ], + [ + -0.1610329345212401, + 0.05457724251471277, + 0.985438845692095, + 0.03461027536309307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9858454832718843, + 0.011138917220611902, + 0.16728600549830105, + -0.07472242612056211 + ], + [ + -0.001319926559736677, + 0.9982752270136013, + -0.058692665000150156, + 0.0003514921348603246 + ], + [ + -0.16765124785190882, + 0.05764109344985836, + 0.9841598261662599, + 0.036981870958621516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.984946280125311, + 0.011539333355937315, + 0.17247512589649963, + -0.07809069576139713 + ], + [ + -0.0012153011910619512, + 0.998206989631043, + -0.05984420518936069, + 0.0004685821930203083 + ], + [ + -0.17285643844048115, + 0.058733718062386045, + 0.9831942849977521, + 0.038485050136137226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9836587128249192, + 0.012346704100024397, + 0.17961930737392795, + -0.08164499815166855 + ], + [ + -0.0011798964241624835, + 0.998066512190589, + -0.06214374536622009, + 0.0007100354675171605 + ], + [ + -0.18003928606848954, + 0.06091630439857456, + 0.981771388527069, + 0.0407648010018364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9826942756564275, + 0.012753654360501238, + 0.1847953053855603, + -0.08500477263930468 + ], + [ + -0.0010495114673273053, + 0.9979942728892677, + -0.06329557493144586, + 0.0008268801968309089 + ], + [ + -0.18523190631683722, + 0.0620062543674039, + 0.9807366442126835, + 0.042299696694778566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9813167128846467, + 0.01357407369970211, + 0.1919199143821895, + -0.08854644988667802 + ], + [ + -0.0009738697797278412, + 0.9978457950697431, + -0.06559589041460419, + 0.0010675586711766276 + ], + [ + -0.19239688300729832, + 0.06418343855565611, + 0.979215974963771, + 0.04462367133599841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9801835762676747, + 0.014009778276768867, + 0.19759525026616276, + -0.09188429156637642 + ], + [ + -0.0008647154204833237, + 0.9977890380255298, + -0.0664551567850803, + 0.0009451254367939322 + ], + [ + -0.1980893966933952, + 0.06496738957910961, + 0.97802854212386, + 0.04640746491616714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9790174702441977, + 0.01444745554390923, + 0.20326353333777875, + -0.09521758610814371 + ], + [ + -0.0007477663649929721, + 0.9977315190741464, + -0.0673146097920781, + 0.0008229314176445247 + ], + [ + -0.203774958721907, + 0.06575018535565598, + 0.9768073911081868, + 0.048207187856385766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9772834997235329, + 0.015328715547347438, + 0.21138115253681367, + -0.09871080174003284 + ], + [ + -0.0007163794238806406, + 0.9976141971094976, + -0.06903188050526675, + 0.000585683093437678 + ], + [ + -0.21193500883205732, + 0.06731228866441027, + 0.974962875101465, + 0.051038409170485965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9760372336739768, + 0.015772291947735762, + 0.21703122652919382, + -0.10203216907031107 + ], + [ + -0.0005788395089842163, + 0.9975543949397306, + -0.0698920172927547, + 0.00046389059838131586 + ], + [ + -0.2176028111649151, + 0.06809158496571564, + 0.9736593617020189, + 0.05287780989112001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9741639347224431, + 0.016671136125019186, + 0.225225889955814, + -0.10558902644090787 + ], + [ + -0.0005285050439737384, + 0.9974373042076019, + -0.07154400644002443, + 0.00039427462301904425 + ], + [ + -0.225841424385576, + 0.06957655780054689, + 0.971676259685355, + 0.05572151096846753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9728122631994088, + 0.01712629693234148, + 0.23096101515673595, + -0.10897948923967012 + ], + [ + -0.0003846948206145093, + 0.9973801215592597, + -0.07233771580808872, + 0.0004403879611723448 + ], + [ + -0.23159480257281193, + 0.07028216752364774, + 0.9702702017218908, + 0.05755841143389741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9707952734405855, + 0.018042163771584817, + 0.23923005118893145, + -0.11259849688493173 + ], + [ + -0.00031711093222486827, + 0.9972637950963065, + -0.07392443730437895, + 0.0005385248128941304 + ], + [ + -0.23990922555432526, + 0.07168963186229722, + 0.9681447000202875, + 0.060416355772654196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9693606768747677, + 0.018502862807419883, + 0.24494391643154315, + -0.115975544018642 + ], + [ + -0.00015401154892522424, + 0.9972046521702858, + -0.0747185249478526, + 0.0005850289802841271 + ], + [ + -0.24564171960262732, + 0.07239147572656514, + 0.9666538262650156, + 0.06229433441001805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9678922870108232, + 0.01896540089986371, + 0.2506488266752227, + -0.11934724375391544 + ], + [ + 1.638844857598063e-05, + 0.9971448567152772, + -0.07551247882097567, + 0.0006316948745993924 + ], + [ + -0.25136531279469954, + 0.07309205356929707, + 0.9651285050337317, + 0.06418874461324708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9654715671600834, + 0.02008879582819378, + 0.25973273433979394, + -0.12289093957656416 + ], + [ + -0.0001426606219397103, + 0.9970629195292744, + -0.07658664470850472, + 0.0006274314647818622 + ], + [ + -0.2605084118668719, + 0.07390517425683353, + 0.9626387653552436, + 0.06716411030399094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9637951137166889, + 0.020652356129691074, + 0.26584292159492845, + -0.12622372709832347 + ], + [ + -9.084427155151824e-05, + 0.9970213834403067, + -0.07712556456905542, + 0.0006244597512491303 + ], + [ + -0.2666439020925721, + 0.07430909196773716, + 0.9609262137790693, + 0.06912146691289217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9612301443226345, + 0.021783174436890623, + 0.2748856179521574, + -0.12974133150087805 + ], + [ + -0.00022751588338566946, + 0.9969371783319452, + -0.07820620625028624, + 0.0006234072626438679 + ], + [ + -0.2757472717580543, + 0.07511162207668995, + 0.9582910238267907, + 0.07216300317914226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9594569627452436, + 0.022350421217682107, + 0.28096760544779037, + -0.13305655121427226 + ], + [ + -0.0001618256129088975, + 0.9968945101484021, + -0.07874839330709646, + 0.0006229208719777866 + ], + [ + -0.2818551231610737, + 0.07551022650853548, + 0.9564809957550052, + 0.07416790343296174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9561793639170724, + 0.023360445475987264, + 0.291848100227339, + -0.1361948599527371 + ], + [ + -0.00013760097487631423, + 0.9968476026819341, + -0.07934001571245884, + 0.0003892557277707972 + ], + [ + -0.2927814971700144, + 0.07582312717400232, + 0.9531683210747409, + 0.07742078487956613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9540062057616099, + 0.023866397954337613, + 0.2988353299344351, + -0.1393116599267475 + ], + [ + 8.08434393265898e-06, + 0.996823941010917, + -0.07963686685265879, + 0.0002727424835096896 + ], + [ + -0.29978685645468334, + 0.07597648107243393, + 0.95097603283199, + 0.07955447684942112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9517817408665574, + 0.02437296607832545, + 0.3058062724627643, + -0.14241842377245834 + ], + [ + 0.00015692737788069737, + 0.9968001412404058, + -0.07993405905435683, + 0.00015681057344735732 + ], + [ + -0.3067759656929202, + 0.07612776725776299, + 0.9487323489401658, + 0.0817128797059113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9482205145190903, + 0.025387915440090048, + 0.3165964459604043, + -0.14550034850928867 + ], + [ + 0.0002005809647962773, + 0.9967521289918153, + -0.08053044838792808, + -7.442320744519121e-05 + ], + [ + -0.3176126817563003, + 0.07642412642543599, + 0.9451357242680443, + 0.08508737638820499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9453711832305094, + 0.026018060411506883, + 0.32495597617180394, + -0.14846206732091913 + ], + [ + 0.00029438069226552204, + 0.9967414735284332, + -0.08066193828799258, + 7.036314073621817e-05 + ], + [ + -0.3259957657046405, + 0.07635113280620714, + 0.9422830069898609, + 0.08754473529380931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9405632790662671, + 0.027277069917804823, + 0.33852131325636015, + -0.15125463999316036 + ], + [ + 0.00022199956457782502, + 0.996719794047571, + -0.08092961676643115, + 0.0003602264225638176 + ], + [ + -0.3396184164445516, + 0.07619457730355406, + 0.9374719823019929, + 0.09149093149871936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9375194446694729, + 0.02790589502023011, + 0.3468119834863891, + -0.15417435158757217 + ], + [ + 0.0003202503038599476, + 0.9967087707090967, + -0.08106493589280495, + 0.0005074688908230724 + ], + [ + -0.34793273531874863, + 0.0761110203234827, + 0.9344249163410254, + 0.09403038743951789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9323955049000924, + 0.029162087449544696, + 0.3602612872592437, + -0.15689902105139414 + ], + [ + 0.0002555683637577227, + 0.996686358562318, + -0.08134025658060229, + 0.0008005339431434732 + ], + [ + -0.3614395622049607, + 0.07593336099088382, + 0.9292984276117736, + 0.09808818564929192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9285606343059828, + 0.030071344494688703, + 0.36996062311758626, + -0.15968864944332484 + ], + [ + 0.00016803589451203684, + 0.9966786943233269, + -0.08143434193193044, + 0.0008269626318293595 + ], + [ + -0.37118071094981364, + 0.07567889086284342, + 0.9254715475348558, + 0.10109097116036928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9246239964832057, + 0.030978741058219652, + 0.3796192602198588, + -0.1624543336701403 + ], + [ + 8.1832641122385e-05, + 0.9966706887483886, + -0.08153239536056603, + 0.0008556130974295033 + ], + [ + -0.3808811605092118, + 0.07541787448782004, + 0.9215431003360047, + 0.10413502913458575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9177473543873279, + 0.032787763816258045, + 0.3958089893610183, + -0.16488055835298174 + ], + [ + -0.00035387356524809496, + 0.9966536552760996, + -0.08173962440756864, + 0.0009105332838268241 + ], + [ + -0.3971645355373025, + 0.0748762577104375, + 0.914687858092978, + 0.10913846971721035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9135392649871489, + 0.03368929579950958, + 0.40535298527983415, + -0.16758046545795757 + ], + [ + -0.00043613913469201, + 0.9966446282658264, + -0.08184921949247967, + 0.0009446404360841063 + ], + [ + -0.4067503178971045, + 0.0745956855146869, + 0.9104886943796715, + 0.11228310515283776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9063430587434286, + 0.03534690534035634, + 0.4210615823730135, + -0.17004438882317247 + ], + [ + -0.0007851562746950944, + 0.996634118207777, + -0.08197449575222338, + 0.0010457886472687791 + ], + [ + -0.42254188360117684, + 0.07396641607558713, + 0.9033201679890154, + 0.11735573959063282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9020090147008536, + 0.03610265731912176, + 0.43020499245463567, + -0.17282296788978843 + ], + [ + -0.0007850313381388991, + 0.996632751527203, + -0.08199111115916569, + 0.0011237039577756945 + ], + [ + -0.4317164823401965, + 0.07361899699000651, + 0.8990000679410387, + 0.12053278496153402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.894525244115425, + 0.037606894425010286, + 0.44543272121830624, + -0.1753259651624024 + ], + [ + -0.0010525435841392515, + 0.9966293488523056, + -0.08202946518314617, + 0.0012699554655110832 + ], + [ + -0.4470161963421937, + 0.07290859001472758, + 0.8915496944701522, + 0.1256672008781025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8899434783592985, + 0.0383553081311918, + 0.4544551415309485, + -0.1780369854564628 + ], + [ + -0.0010517428846339026, + 0.9966273130195406, + -0.08205420635382125, + 0.001352226229862532 + ], + [ + -0.45606962096006537, + 0.07254563585504085, + 0.8869823174989062, + 0.12893725496534136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8852700887636563, + 0.039101204520832954, + 0.4634306482586241, + -0.18072173956463952 + ], + [ + -0.0010506259481755232, + 0.9966250543152508, + -0.0820816501798125, + 0.001436235339199799 + ], + [ + -0.4650760863831912, + 0.07217753747630967, + 0.8823234310378201, + 0.13224471643122607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8786678502606737, + 0.04028833633860997, + 0.47573065790776387, + -0.1835172274449611 + ], + [ + -0.001408866800598324, + 0.9966476682910073, + -0.08180122483457676, + 0.0017724426126018117 + ], + [ + -0.47743148619736525, + 0.07120586524413453, + 0.875779025064091, + 0.13698981067193397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8745123557436366, + 0.040877972375430796, + 0.4832774886400038, + -0.18636500097888775 + ], + [ + -0.0014561851470039243, + 0.9966585896021014, + -0.08166722290593822, + 0.0019520566561719687 + ], + [ + -0.4850010506963187, + 0.07071525398967378, + 0.8716497769612765, + 0.14009370782649164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8676319133528646, + 0.04204929921732326, + 0.4954257960249742, + -0.18907841650653368 + ], + [ + -0.0018220567174659864, + 0.9966796592873088, + -0.0814023149072085, + 0.002296198454929398 + ], + [ + -0.49720372388083106, + 0.06972455233464048, + 0.8648276959954326, + 0.1449354407310139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8633060396324668, + 0.04263095605753821, + 0.5028770063541645, + -0.19187291391485975 + ], + [ + -0.0018737356428727369, + 0.9966898070504668, + -0.08127679642089794, + 0.0024813026896115774 + ], + [ + -0.5046772939699654, + 0.06922449066135268, + 0.8605282092086406, + 0.14811080150600922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8578873342723307, + 0.0429294087756006, + 0.5120413924257416, + -0.19475196700957387 + ], + [ + -0.0018248405860369916, + 0.9967521275401594, + -0.08051003788970519, + 0.0024322530745404447 + ], + [ + -0.5138345956160897, + 0.06813414787273411, + 0.8551793649531696, + 0.15239042413928816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8542950327274679, + 0.04307561061785376, + 0.5180004718405898, + -0.19762831603179687 + ], + [ + -0.0016733131556136498, + 0.9967829929939855, + -0.08013029951919251, + 0.0024202657686846654 + ], + [ + -0.5197857222743406, + 0.06758813984606542, + 0.8516188386079131, + 0.1552951282966284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8506613413861945, + 0.04321979342039023, + 0.5239344727422879, + -0.20049118746405672 + ], + [ + -0.0015257133503616311, + 0.9968136613525201, + -0.07975084162412432, + 0.0024091279367396356 + ], + [ + -0.525711854983139, + 0.06704158409287797, + 0.8480167872940398, + 0.15821994278487966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8450191352013083, + 0.043502093987635465, + 0.532963628179564, + -0.20329564619634302 + ], + [ + -0.0015007672280028604, + 0.9968744050961722, + -0.07898840523697606, + 0.0023651911328588424 + ], + [ + -0.5347339608079525, + 0.0659468595373906, + 0.8424432342156921, + 0.16259635549604284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8419527012546074, + 0.043537567748873386, + 0.5377919012448796, + -0.2062543860069835 + ], + [ + -0.001447903684244591, + 0.9969177976905865, + -0.07843983823716416, + 0.0025390305677796586 + ], + [ + -0.5395493975763399, + 0.06526396281458544, + 0.8394206708991301, + 0.1653219152308366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8375241782248386, + 0.04360348446303912, + 0.5446576787593198, + -0.20927685472668517 + ], + [ + -0.001610149813603908, + 0.9970034110344441, + -0.07734084175428345, + 0.002864910245717834 + ], + [ + -0.5463978937609356, + 0.06389784447354127, + 0.8350846706563645, + 0.1692590033903929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8343910663297505, + 0.043633926998073835, + 0.5494430169215268, + -0.21221336641602734 + ], + [ + -0.001570348894900172, + 0.9970456312411236, + -0.07679546358567065, + 0.0030422972563768722 + ], + [ + -0.5511706472894313, + 0.0632146315161019, + 0.8319944879197416, + 0.1720177931460078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8312306601597783, + 0.043662692057536, + 0.5542103922993762, + -0.21514111667678038 + ], + [ + -0.0015354801911735502, + 0.9970874601132582, + -0.0762511585844761, + 0.0032210693046791066 + ], + [ + -0.5559255632824616, + 0.0625313218090038, + 0.8288767109057277, + 0.17478993973086987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8276493728824682, + 0.04343028058407758, + 0.5595626205311125, + -0.21829449698918355 + ], + [ + -0.0016155690266854844, + 0.9971817462711073, + -0.0750063653327187, + 0.003541609882305381 + ], + [ + -0.5612431785812434, + 0.06117495919159689, + 0.8253870115672584, + 0.17847935586507604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8254177456337698, + 0.04317029292656828, + 0.5628693196484421, + -0.22138424002048435 + ], + [ + -0.0014829276725291782, + 0.9972340828394934, + -0.07431005953969194, + 0.0037098850052293014 + ], + [ + -0.5645204567758231, + 0.06050214733303936, + 0.8231987269485466, + 0.18096252353181314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8227742313121996, + 0.04264885230533479, + 0.5667659478882413, + -0.22470364592735775 + ], + [ + -0.0014714577180507038, + 0.9973372188160781, + -0.0729130082796918, + 0.004019578081379982 + ], + [ + -0.5683664303077751, + 0.05915697221163499, + 0.8206461195533363, + 0.18435734953122962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.820514023447603, + 0.042387399863510554, + 0.5700526691970113, + -0.22778759426668063 + ], + [ + -0.0013517331386155194, + 0.9973880181210498, + -0.07221713180462415, + 0.004188950512760116 + ], + [ + -0.5716247983978199, + 0.0584846102951482, + 0.8184281521399888, + 0.18685027331533852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8189880693125777, + 0.04159151476268143, + 0.57230122158126, + -0.2313750603477931 + ], + [ + -0.0013025027282283557, + 0.9975018263475399, + -0.07062867632885177, + 0.004270857456590632 + ], + [ + -0.5738090673824348, + 0.057098619362191246, + 0.8169962679575913, + 0.1898902603622592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8178601646520454, + 0.04105846928563119, + 0.5739503054927755, + -0.23473565383238415 + ], + [ + -0.0011385537015652244, + 0.9975645521620834, + -0.06974000261780126, + 0.004210913006303028 + ], + [ + -0.5754158972176543, + 0.05638409677899573, + 0.8159150561545111, + 0.1920129919964189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8167288812361025, + 0.04052632458202884, + 0.5755966917648996, + -0.23810002350608175 + ], + [ + -0.0009792704261647786, + 0.9976264821896097, + -0.06885087554575704, + 0.004150493439257911 + ], + [ + -0.5770207756955179, + 0.055668833738968616, + 0.8148300469213726, + 0.19412806530405619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8163462322214078, + 0.03946474280479447, + 0.5762129495362485, + -0.2419787305696264 + ], + [ + -0.0008941934846590609, + 0.9977479542674097, + -0.06706877196737429, + 0.004000271967796929 + ], + [ + -0.5775621434581077, + 0.05423609343003128, + 0.814543072288707, + 0.19676665503471846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8152102304979759, + 0.03893530838034447, + 0.5778549314947177, + -0.24535228847022256 + ], + [ + -0.0007460031985809623, + 0.9978074960145493, + -0.06617888164968957, + 0.0039384695368627105 + ], + [ + -0.5791646774196999, + 0.053518619736530854, + 0.813451924683218, + 0.1988624536060293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8183588408637288, + 0.037610416425767144, + 0.5734756003148301, + -0.25010985084951265 + ], + [ + -0.0005403377329937972, + 0.9979062405330311, + -0.06467490348169948, + 0.004190723189298244 + ], + [ + -0.5747073303998381, + 0.05261740854045575, + 0.816665716620441, + 0.1999174951856659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8189880144630327, + 0.03695089898186871, + 0.5726196497067938, + -0.25393423158209844 + ], + [ + -0.0003316686871601866, + 0.9979547643462281, + -0.06392322202882467, + 0.004328662805865677 + ], + [ + -0.5738105281029456, + 0.052162432680006324, + 0.8173252464319957, + 0.20118640032924182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.822106652731098, + 0.035637785749945215, + 0.568217035790121, + -0.25871312213126685 + ], + [ + -0.00012349800571233963, + 0.9980501103284107, + -0.06241764191068377, + 0.004573885720510177 + ], + [ + -0.5693335018102423, + 0.051243784991828654, + 0.8205080366554606, + 0.20213990358486977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8227294220348463, + 0.034984215681671954, + 0.5673556228428038, + -0.26255759130838047 + ], + [ + 8.272581755078441e-05, + 0.9980969306298683, + -0.061664497270919646, + 0.004707757247770115 + ], + [ + -0.5684331898074273, + 0.0507801311575148, + 0.821160816774022, + 0.20333895732413915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_146/orbit_right/transforms.json b/spatialvid_eval/camera_controls/scene_146/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..06f91f43227144494b224ccf366567f8d53b161b --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_146/orbit_right/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.999999991722536, + -3.6270138169294145e-05, + 0.00012344798607945968, + -9.307989791550236e-05 + ], + [ + 3.6275095207695034e-05, + 0.9999999985359322, + -4.0152872431992736e-05, + 3.072681912745667e-05 + ], + [ + -0.00012344652954849244, + 4.0157350187077004e-05, + 0.9999999915741709, + -3.5214439608207494e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999948855111185, + 0.0003613918313344808, + 0.003177789726972245, + 0.0029311133718069914 + ], + [ + -0.0003560127036321756, + 0.9999985032836216, + -0.001693128899807014, + 8.111718656887763e-05 + ], + [ + -0.0031783968536760994, + 0.0016919889068058077, + 0.9999935174624781, + 0.0010333633820592463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999920456579091, + 0.0011880249891429648, + 0.012556636145396361, + 0.005751308456330648 + ], + [ + -0.0011252849742231536, + 0.9999868545424728, + -0.005002446999083555, + 0.00017612774511687647 + ], + [ + -0.012562414114710999, + 0.00498791929335513, + 0.9999086490338676, + 0.002683436171953638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998768704598351, + 0.001616960699327892, + 0.015608630867024203, + 0.008787072157312436 + ], + [ + -0.0015132133772242098, + 0.9999767015535842, + -0.006656315443930366, + 0.00021713451595571103 + ], + [ + -0.015619030210649485, + 0.006631876665842426, + 0.9998560216887069, + 0.003649389254914063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9996847706902149, + 0.0025059783359763477, + 0.024981579666473627, + 0.011620956815259676 + ], + [ + -0.00225746863204645, + 0.9999477405179324, + -0.00997096126042902, + 0.00029964320696612847 + ], + [ + -0.025005261154966516, + 0.009911422988716966, + 0.9996381848493539, + 0.005155460412294409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996649780863275, + 0.0027969907902905614, + 0.025731467703602063, + 0.014644985994513422 + ], + [ + -0.002485828074539686, + 0.9999234996865385, + -0.012116741864422187, + 0.00020561541464717822 + ], + [ + -0.025763389653660027, + 0.012048718485558567, + 0.9995954562403779, + 0.0061598970022110795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9995289556842647, + 0.0034047938718675666, + 0.030500395528796274, + 0.017446555504066704 + ], + [ + -0.002904998764251074, + 0.9998610305482898, + -0.016415863458601243, + 2.4888811473145647e-05 + ], + [ + -0.03055204953685796, + 0.016319527248110866, + 0.9993999426153153, + 0.007826936944181793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9995047268332414, + 0.003721571807862723, + 0.031248215009603505, + 0.02047524861461851 + ], + [ + -0.0031424912233559807, + 0.9998228035458259, + -0.018560341017235464, + -7.565709281444155e-05 + ], + [ + -0.0313117515785786, + 0.01845295133695052, + 0.9993393131464595, + 0.0087656569913082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9994798252958661, + 0.0040469252477286066, + 0.03199533126231271, + 0.02350557304051182 + ], + [ + -0.0033853616228434456, + 0.9997799159529598, + -0.020704081331372273, + -0.00017868696931481418 + ], + [ + -0.032072077469793056, + 0.020584995825425754, + 0.9992735560364037, + 0.009678062204251362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9993625346763071, + 0.004823763663835508, + 0.03537309131900639, + 0.026260737727632634 + ], + [ + -0.0039360335326494725, + 0.9996766181683611, + -0.025123031813436388, + -0.00017186723651844272 + ], + [ + -0.03548283987193195, + 0.0249677870782442, + 0.9990583454849065, + 0.011183600085231603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9993827216421877, + 0.005272607997947317, + 0.034732913611641464, + 0.029240441156541692 + ], + [ + -0.004322065011882078, + 0.9996155985382559, + -0.0273856698482591, + -8.223815629495253e-05 + ], + [ + -0.03486395613074957, + 0.027218647356265974, + 0.9990213460176959, + 0.012009330797174707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999306438983976, + 0.006188058788770292, + 0.036719871099885115, + 0.031944718454242266 + ], + [ + -0.005016110234892868, + 0.9994777549349857, + -0.031922656973260424, + 0.0001135972607865871 + ], + [ + -0.03689823360645949, + 0.03171632574160778, + 0.9988155961128039, + 0.01341968457653533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9993268695205697, + 0.006654654023069129, + 0.036076632798140607, + 0.03492624572679419 + ], + [ + -0.005421156862790019, + 0.9994009326516305, + -0.034181674524815096, + 0.00019541119401507586 + ], + [ + -0.03628248768328392, + 0.033963088712374474, + 0.9987642813460181, + 0.014201936850406816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9992768086590262, + 0.007416378253360739, + 0.0372941953906385, + 0.03759223227672506 + ], + [ + -0.005979254609316522, + 0.9992407211552954, + -0.03849973635445322, + 0.00025748534069860204 + ], + [ + -0.0375514073045074, + 0.03824890218880168, + 0.9985624233320631, + 0.015614256921366743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9993261802255551, + 0.007709404430377053, + 0.0358852420798622, + 0.040534999852917905 + ], + [ + -0.006252328523527672, + 0.9991583401454532, + -0.04054034664154434, + 0.00020939814642306976 + ], + [ + -0.03616758084024022, + 0.0402886634316848, + 0.9985332892272812, + 0.016421005030084156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9993734695968453, + 0.008006231132037876, + 0.03447562224273743, + 0.0434781853043173 + ], + [ + -0.006534932612671096, + 0.9990717022260498, + -0.042579671991353894, + 0.00015940079393745514 + ], + [ + -0.03478452129484309, + 0.04232769866415876, + 0.9984980736106028, + 0.01721537932767911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9993528384711173, + 0.008611276841974125, + 0.03492492163015713, + 0.046105736390670414 + ], + [ + -0.0069759919928249915, + 0.9988856583879976, + -0.046677371417994606, + 8.847164434178057e-05 + ], + [ + -0.03528795510422471, + 0.04640352764530147, + 0.9982992902164333, + 0.01862618380734698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9993984658073138, + 0.008919491142728846, + 0.03351341850278371, + 0.049049713033867015 + ], + [ + -0.007280485794032187, + 0.9987862539168509, + -0.04871358653750475, + 3.3970965016749915e-05 + ], + [ + -0.03390724212599484, + 0.04844028968223507, + 0.9982503880624893, + 0.019389570822340055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9993872174235309, + 0.00964884817976502, + 0.03364653591763001, + 0.0517723047750459 + ], + [ + -0.007897277265105022, + 0.9986258509571466, + -0.05180774857019882, + -8.456943880654052e-05 + ], + [ + -0.03410018566299276, + 0.05151028566139705, + 0.9980901100646328, + 0.020728327933419534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9994351997898651, + 0.010017449084740976, + 0.032076972033331944, + 0.05476403970259834 + ], + [ + -0.00829653014417767, + 0.9985419215337724, + -0.05334040239076169, + -0.00016474330566306026 + ], + [ + -0.03256453605625742, + 0.05304414815487423, + 0.9980610549149609, + 0.021447970840748076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9994805713200746, + 0.010388662242960653, + 0.030506773846132318, + 0.05775596643785678 + ], + [ + -0.008703192887919153, + 0.9984555074194804, + -0.05487125055312446, + -0.0002469367442864271 + ], + [ + -0.031029695249116643, + 0.05457724251471277, + 0.9980272955246452, + 0.022156243716087296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994685574878549, + 0.011138917220611902, + 0.030635389932220407, + 0.06047894467467747 + ], + [ + -0.009349098252938181, + 0.9982752270136013, + -0.05795830822927683, + -0.00037507643318851773 + ], + [ + -0.03122814363685015, + 0.05764109344985836, + 0.9978488399506718, + 0.02343803567606162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.999502360112037, + 0.011539333355937315, + 0.02935772327972861, + 0.06351975040946714 + ], + [ + -0.009789926422737561, + 0.998206989631043, + -0.05905051390435723, + -0.00031675190986464575 + ], + [ + -0.029986488142260872, + 0.058733718062386045, + 0.997823211241081, + 0.024010159351082503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9994714803767042, + 0.012346704100024397, + 0.030071894045204325, + 0.06633964366248886 + ], + [ + -0.010486048893038767, + 0.998066512190589, + -0.061264018986074954, + -0.00016049776580649483 + ], + [ + -0.030770159119061353, + 0.06091630439857456, + 0.9976684825964024, + 0.02503383167664231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9995040331753741, + 0.012753654360501238, + 0.028792915215625322, + 0.0693803472104667 + ], + [ + -0.010938199643414656, + 0.9979942728892677, + -0.06235212160611002, + -0.0001067923869415234 + ], + [ + -0.029530381892588574, + 0.0620062543674039, + 0.997638802856326, + 0.025572762030020565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9994724767382241, + 0.01357407369970211, + 0.029504453324121892, + 0.07219932081324563 + ], + [ + -0.011646135746313959, + 0.9978457950697431, + -0.0645611089109462, + 4.341509994322491e-05 + ], + [ + -0.030317251935798217, + 0.06418343855565611, + 0.9974774937061156, + 0.026549887687163477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9994885201753207, + 0.014009778276768867, + 0.028747593819020693, + 0.07524276886213499 + ], + [ + -0.01210637335178078, + 0.9977890380255298, + -0.06534884329776096, + -0.00014991446449114966 + ], + [ + -0.02959955678747425, + 0.06496738957910961, + 0.9974482966696877, + 0.027185602085613506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9995037813396374, + 0.01444745554390923, + 0.02799039328186225, + 0.07828590133144009 + ], + [ + -0.012569779063103087, + 0.9977315190741464, + -0.06613483575469986, + -0.0003449309816398144 + ], + [ + -0.028882377708064955, + 0.06575018535565598, + 0.9974180274005607, + 0.027804647718547765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9994399525961224, + 0.015328715547347438, + 0.02974578347142389, + 0.08110833930651558 + ], + [ + -0.013284444603796896, + 0.9976141971094976, + -0.06774538550440937, + -0.0006879478475249872 + ], + [ + -0.03071326563928, + 0.06731228866441027, + 0.9972591193408712, + 0.028965111946910982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9994553283568591, + 0.015772291947735762, + 0.02898760814206743, + 0.08415009498117343 + ], + [ + -0.013754758962587243, + 0.9975543949397306, + -0.06852762758412849, + -0.0008869936654898919 + ], + [ + -0.02999755364965265, + 0.06809158496571564, + 0.9972279994223452, + 0.02954246690518667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9993850392733146, + 0.016671136125019186, + 0.030848281912880172, + 0.08688481053482186 + ], + [ + -0.014475893222456624, + 0.9974373042076019, + -0.0700662021982339, + -0.0010690557244436415 + ], + [ + -0.031937310345229154, + 0.06957655780054689, + 0.9970652490246261, + 0.03058118619409305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9993972472003995, + 0.01712629693234148, + 0.030196560096300295, + 0.0898403008681385 + ], + [ + -0.014953238477369244, + 0.9973801215592597, + -0.07077636453983589, + -0.0011058395886453742 + ], + [ + -0.03132958581442034, + 0.07028216752364774, + 0.9970350415009872, + 0.031052823950559333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9993197919567373, + 0.018042163771584817, + 0.03216261385495767, + 0.09248629907299219 + ], + [ + -0.015679936050227085, + 0.9972637950963065, + -0.07224307991477924, + -0.0011267338179076379 + ], + [ + -0.03337803183239825, + 0.07168963186229722, + 0.9968683482157732, + 0.03196773243919751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9993321591442604, + 0.018502862807419883, + 0.03150999473184659, + 0.09543932280682403 + ], + [ + -0.016163297026163693, + 0.9972046521702858, + -0.07294949978707244, + -0.0011672614513345897 + ], + [ + -0.032771687922888704, + 0.07239147572656514, + 0.9968377454294233, + 0.03239595087475015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9993438623537981, + 0.01896540089986371, + 0.03085706312176448, + 0.09839137848813749 + ], + [ + -0.01664942604044112, + 0.9971448567152772, + -0.07365413320916503, + -0.0012092913690311515 + ], + [ + -0.032165841949449894, + 0.07309205356929707, + 0.9968063554756792, + 0.03280680654921302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9992296721055954, + 0.02008879582819378, + 0.0337120552016291, + 0.10104601298542007 + ], + [ + -0.017529942974304973, + 0.9970629195292744, + -0.07455357536079274, + -0.0013868946394039118 + ], + [ + -0.03511073173635317, + 0.07390517425683353, + 0.9966470095951753, + 0.0334693943774959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9992251755646115, + 0.020652356129691074, + 0.03350415950541018, + 0.10400226080179793 + ], + [ + -0.018092939720512402, + 0.9970213834403067, + -0.07497337190661171, + -0.0015081619318757255 + ], + [ + -0.03495274023794786, + 0.07430909196773716, + 0.9966225287443533, + 0.033749756642222906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9991014087420711, + 0.021783174436890623, + 0.036357507629942686, + 0.10664854958113304 + ], + [ + -0.018975074667394492, + 0.9969371783319452, + -0.07586968433377264, + -0.0016921694517486085 + ], + [ + -0.03789883363609161, + 0.07511162207668995, + 0.9964546766602246, + 0.03434145945096721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9990964461414964, + 0.022350421217682107, + 0.03614899692695272, + 0.10959995209072526 + ], + [ + -0.019541022719297654, + 0.9968945101484021, + -0.07628554297546844, + -0.0018181789008180562 + ], + [ + -0.03774175060217192, + 0.07551022650853548, + 0.9964305123560366, + 0.034571199302907245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9988874717350484, + 0.023360445475987264, + 0.04096472138226712, + 0.11250706709434233 + ], + [ + -0.02016582826604435, + 0.9968476026819341, + -0.07673458410407859, + -0.0021935214365693197 + ], + [ + -0.042628138372532196, + 0.07582312717400232, + 0.996209664279788, + 0.03475368972536602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9988435073217092, + 0.023866397954337613, + 0.04173778779418675, + 0.11558637710003838 + ], + [ + -0.02060372895716858, + 0.996823941010917, + -0.07692539879990389, + -0.002415528584173411 + ], + [ + -0.04344115829863318, + 0.07597648107243393, + 0.9961628582162276, + 0.034754231020423035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9987986748781819, + 0.02437296607832545, + 0.04251077023688246, + 0.11866233604400693 + ], + [ + -0.021042039686044484, + 0.9968001412404058, + -0.07711492066363203, + -0.0026386142889445632 + ], + [ + -0.04425426112183034, + 0.07612776725776299, + 0.9961155171087885, + 0.03472828086774961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9985568812288459, + 0.025387915440090048, + 0.047324504224851245, + 0.12154618640944508 + ], + [ + -0.02166617093835424, + 0.9967521289918153, + -0.07756139753224023, + -0.0030189362447062694 + ], + [ + -0.04913992254156633, + 0.07642412642543599, + 0.9958637561999726, + 0.034778587944244745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9984297211501834, + 0.026018060411506883, + 0.049610003591923434, + 0.12464978462678103 + ], + [ + -0.022119751151830635, + 0.9967414735284332, + -0.07757030074293246, + -0.0029961892681153427 + ], + [ + -0.05146657685283299, + 0.07635113280620714, + 0.9957518244955721, + 0.03450975666813893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9979758813352063, + 0.027277069917804823, + 0.0574465119038381, + 0.12758291188530346 + ], + [ + -0.02277239543902494, + 0.996719794047571, + -0.07765996497383168, + -0.002883400174186909 + ], + [ + -0.0593764118079503, + 0.07619457730355406, + 0.9953234791314559, + 0.03409991077822239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9978243768318057, + 0.02790589502023011, + 0.059730846497757714, + 0.13066703623730705 + ], + [ + -0.023225448319002487, + 0.9967087707090967, + -0.07766727072546738, + -0.002863688377747338 + ], + [ + -0.061701633289566515, + 0.0761110203234827, + 0.9951884349381872, + 0.03374093356632995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9972887528283995, + 0.029162087449544696, + 0.06756268302518142, + 0.13356325145842785 + ], + [ + -0.02387669491076794, + 0.996686358562318, + -0.07775735396684276, + -0.002754993894432961 + ], + [ + -0.06960637127529444, + 0.07593336099088382, + 0.9946803897566868, + 0.03320576724672206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9969915504413914, + 0.030071344494688703, + 0.07143922304135272, + 0.1366011844271301 + ], + [ + -0.024497011851832604, + 0.9966786943233269, + -0.07766258231786774, + -0.002916601578858872 + ], + [ + -0.07353736981155606, + 0.07567889086284342, + 0.9944168948278024, + 0.032661017762216644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9966784797782018, + 0.030978741058219652, + 0.07531484282305012, + 0.13962658709447243 + ], + [ + -0.025117068291926933, + 0.9966706887483886, + -0.07756720357362047, + -0.003080605759514884 + ], + [ + -0.07746703058354339, + 0.07541787448782004, + 0.9941383220559944, + 0.0320702474009386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9957276053171898, + 0.032787763816258045, + 0.08632206295742044, + 0.14239828857370526 + ], + [ + -0.026103019843522823, + 0.9966536552760996, + -0.0774604659154541, + -0.0033380949298210763 + ], + [ + -0.08857295503901985, + 0.0748762577104375, + 0.9932514171482147, + 0.031135433797470205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9953543013405347, + 0.03368929579950958, + 0.09019338197134875, + 0.14538597969304806 + ], + [ + -0.02672256263643556, + 0.9966446282658264, + -0.07736529968283393, + -0.003508076309448176 + ], + [ + -0.09249713211250528, + 0.0745956855146869, + 0.9929147819695083, + 0.03043061089313935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9942708839134774, + 0.03534690534035634, + 0.10087618988033056, + 0.14797030015011048 + ], + [ + -0.027599139158533563, + 0.996634118207777, + -0.07719275835151171, + -0.003703530865406947 + ], + [ + -0.10326517767195541, + 0.07396641607558713, + 0.9918998298080874, + 0.029376605428868875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9938764999541693, + 0.03610265731912176, + 0.10443227936489688, + 0.150800765241326 + ], + [ + -0.028109198412265425, + 0.996632751527203, + -0.07702617443399626, + -0.003808481253563634 + ], + [ + -0.10686147951188814, + 0.07361899699000651, + 0.9915446875853431, + 0.028598641655189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9926776634983734, + 0.037606894425010286, + 0.11479014715173227, + 0.15319718921032238 + ], + [ + -0.028877345377260343, + 0.9966293488523056, + -0.07678567529293419, + -0.003940221718910979 + ], + [ + -0.11729090039458569, + 0.07290859001472758, + 0.990417680671489, + 0.02743295870576088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9922319370178401, + 0.0383553081311918, + 0.11834125865473413, + 0.15598632331229878 + ], + [ + -0.02938709648599559, + 0.9966273130195406, + -0.07661851932511907, + -0.004049651702764302 + ], + [ + -0.12088085754968875, + 0.07254563585504085, + 0.9900126004230654, + 0.026547803773336858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9917729909121583, + 0.039101204520832954, + 0.12189105915600328, + 0.15875970876948456 + ], + [ + -0.02989655226099538, + 0.9966250543152508, + -0.07645061984071591, + -0.0041608620284951815 + ], + [ + -0.12446899477403138, + 0.07217753747630967, + 0.9895948021406532, + 0.025619769898790112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9907937268059812, + 0.04028833633860997, + 0.12924643467803007, + 0.16094744754120552 + ], + [ + -0.030630227682841696, + 0.9966476682910073, + -0.0758631296625448, + -0.004131041258623938 + ], + [ + -0.13186955704032874, + 0.07120586524413453, + 0.9887062984935527, + 0.024720755023874927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9904993541645405, + 0.040877972375430796, + 0.13130125960592356, + 0.16363041348913165 + ], + [ + -0.031121314912933244, + 0.9966585896021014, + -0.07551900112184082, + -0.004161564816140934 + ], + [ + -0.13394959185349786, + 0.07071525398967378, + 0.9884618655747208, + 0.023939001921113916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9894485229499715, + 0.04204929921732326, + 0.1386487535733796, + 0.16576379371582967 + ], + [ + -0.031856576904440805, + 0.9966796592873088, + -0.07493207104348212, + -0.004138956726317583 + ], + [ + -0.1413392335484071, + 0.06972455233464048, + 0.9875027634704032, + 0.02292565057501747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9891337809389347, + 0.04263095605753821, + 0.14070168794676388, + 0.16841371203130687 + ], + [ + -0.03234692002278156, + 0.9966898070504668, + -0.0745862271920442, + -0.00417437617807822 + ], + [ + -0.14341562038525668, + 0.06922449066135268, + 0.9872385373972132, + 0.02206124954775126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9885343069013576, + 0.0429294087756006, + 0.14476529259884993, + 0.17068664802708977 + ], + [ + -0.03249579050701129, + 0.9967521275401594, + -0.07368323990902306, + -0.004360390390066791 + ], + [ + -0.14745829131784235, + 0.06813414787273411, + 0.9867186986245265, + 0.021509182636334716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9884672537240113, + 0.04307561061785376, + 0.14517913102512348, + 0.17340813098797841 + ], + [ + -0.032690123516563835, + 0.9967829929939855, + -0.07317800695853949, + -0.004498742474525058 + ], + [ + -0.14786427607702524, + 0.06758813984606542, + 0.9866954946752143, + 0.02086515593265239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9884000775420552, + 0.04321979342039023, + 0.14559304987381166, + 0.1761218102029136 + ], + [ + -0.03288296678811686, + 0.9968136613525201, + -0.07267210631456361, + -0.004637268686744699 + ], + [ + -0.14827001453453434, + 0.06704158409287797, + 0.9866718952074427, + 0.02019827062117096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9877809072843522, + 0.043502093987635465, + 0.1496544253378219, + 0.17834781326798174 + ], + [ + -0.03302949608812847, + 0.9968744050961722, + -0.071766794914624, + -0.004825036302049967 + ], + [ + -0.152308672086218, + 0.0659468595373906, + 0.9861303565576355, + 0.019533652997627368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9879017383667589, + 0.043537567748873386, + 0.14884433320233698, + 0.18109098263399862 + ], + [ + -0.033227082321838575, + 0.9969177976905865, + -0.071069442435755, + -0.004801004216586229 + ], + [ + -0.15147975551971893, + 0.06526396281458544, + 0.9863034516949756, + 0.019044191575918863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9876545293027561, + 0.04360348446303912, + 0.15045686056286336, + 0.18339079439485773 + ], + [ + -0.03338573630089741, + 0.9970034110344441, + -0.06978245479581743, + -0.004664079804862579 + ], + [ + -0.1530487613781907, + 0.06389784447354127, + 0.9861506690725494, + 0.018780547430619514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9877762204441325, + 0.043633926998073835, + 0.1496469803899551, + 0.18612115274965196 + ], + [ + -0.033577270258269336, + 0.9970456312411236, + -0.0690838341798783, + -0.004641141073801839 + ], + [ + -0.1522192670035827, + 0.0632146315161019, + 0.986323073396935, + 0.018253380114557682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9878973155619037, + 0.043662692057536, + 0.1488370358071999, + 0.18884652797679707 + ], + [ + -0.033766022029065576, + 0.9970874601132582, + -0.06838459359552464, + -0.004618604937607056 + ], + [ + -0.15138939745542815, + 0.0625313218090038, + 0.9864943406481873, + 0.017711103700448955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9879220620628796, + 0.04343028058407758, + 0.1487407476712983, + 0.19122202551086412 + ], + [ + -0.03374926143633016, + 0.9971817462711073, + -0.06700412118823357, + -0.004435207835392337 + ], + [ + -0.1512315662880298, + 0.06117495919159689, + 0.9866035869213005, + 0.01777503199651049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9883095726463346, + 0.04317029292656828, + 0.14622077288899193, + 0.19404235505960554 + ], + [ + -0.03376385828683948, + 0.9972340828394934, + -0.06621318521911429, + -0.004363242708644568 + ], + [ + -0.148674780945546, + 0.06050214733303936, + 0.9870335858920332, + 0.017608161358520148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9885979492516438, + 0.04264885230533479, + 0.1444131923768815, + 0.19651528065703988 + ], + [ + -0.033568309249589645, + 0.9973372188160781, + -0.0647428805223735, + -0.004128616523928904 + ], + [ + -0.14678986119473086, + 0.05915697221163499, + 0.9873971790972381, + 0.018053942269561807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.988974359353464, + 0.042387399863510554, + 0.1418908907372717, + 0.19933262218798295 + ], + [ + -0.03357244308901056, + 0.9973880181210498, + -0.06395336092497123, + -0.004054717615549944 + ], + [ + -0.14423109098401998, + 0.0584846102951482, + 0.9878142248176952, + 0.017876255394422336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9895430305771713, + 0.04159151476268143, + 0.13811131936193155, + 0.20186958682127765 + ], + [ + -0.03322528649110273, + 0.9975018263475399, + -0.06233928753929495, + -0.004000484882376644 + ], + [ + -0.14035907870078063, + 0.057098619362191246, + 0.9884528702437967, + 0.01880692843168076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9901824378940751, + 0.04105846928563119, + 0.13361490106296994, + 0.2047552735964034 + ], + [ + -0.0330783691002989, + 0.9975645521620834, + -0.06140672412144021, + -0.004106383895204518 + ], + [ + -0.1358107550373341, + 0.05638409677899573, + 0.9891290474182862, + 0.019131191218362757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9908011405898064, + 0.04052632458202884, + 0.12911513010414855, + 0.2076426641470562 + ], + [ + -0.032924609612090594, + 0.9976264821896097, + -0.06047621115675416, + -0.004210311873870696 + ], + [ + -0.13125955160608535, + 0.055668833738968616, + 0.9897837698519374, + 0.019463870025938475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9915780053949906, + 0.03946474280479447, + 0.12335150299953349, + 0.21025401636822008 + ], + [ + -0.03240460849690976, + 0.9977479542674097, + -0.0587278562809989, + -0.004329064171707506 + ], + [ + -0.1253913895172013, + 0.05423609343003128, + 0.9906237659194308, + 0.02093041114088607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9921492437006468, + 0.03893530838034447, + 0.11884409949830194, + 0.21314536792424787 + ], + [ + -0.032233433500346735, + 0.9978074960145493, + -0.057803171729193525, + -0.0044278763127213825 + ], + [ + -0.12083411765314264, + 0.053518619736530854, + 0.9912289712031642, + 0.021284162401863232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9935482006165566, + 0.037610416425767144, + 0.10699266156089089, + 0.21597935782317768 + ], + [ + -0.03170469354129547, + 0.9979062405330311, + -0.05637328722617989, + -0.004103886173211464 + ], + [ + -0.10888886747071755, + 0.05261740854045575, + 0.9926603763923649, + 0.024071381879077786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9943578966047594, + 0.03695089898186871, + 0.09943341754254817, + 0.2189839938766899 + ], + [ + -0.03152362371342815, + 0.9979547643462281, + -0.05561069561369151, + -0.003979155499294887 + ], + [ + -0.10128491796774673, + 0.052162432680006324, + 0.9934890266173908, + 0.025122397083958498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9955220469974378, + 0.035637785749945215, + 0.0875545668076356, + 0.22181233773274223 + ], + [ + -0.0309617184305753, + 0.9980501103284107, + -0.0541973178789646, + -0.003644095171434508 + ], + [ + -0.08931531746490917, + 0.051243784991828654, + 0.9946842959280368, + 0.028013291907607027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9961823913444675, + 0.034984215681671954, + 0.07997967134438762, + 0.2248183601900357 + ], + [ + -0.030760605975912007, + 0.9980969306298683, + -0.053444384056987995, + -0.003512355966161538 + ], + [ + -0.08169717434044267, + 0.0507801311575148, + 0.9953627228223955, + 0.029137051275765644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_146/push_in/transforms.json b/spatialvid_eval/camera_controls/scene_146/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..bb9eda55fe058d089bd871438a61028133f99916 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_146/push_in/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.999999991722536, + -3.6270138169294145e-05, + 0.00012344798607945968, + -9.307989791550236e-05 + ], + [ + 3.6275095207695034e-05, + 0.9999999985359322, + -4.0152872431992736e-05, + 3.072681912745667e-05 + ], + [ + -0.00012344652954849244, + 4.0157350187077004e-05, + 0.9999999915741709, + -3.5214439608207494e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999979131666199, + 0.0003613918313344808, + 0.006450242480615537, + -0.0002987417083804345 + ], + [ + -0.00035047005584872796, + 0.9999985032836216, + -0.0016942848805506679, + 8.085482649978283e-05 + ], + [ + -0.006450845127147756, + 0.0016919889068058077, + 0.99997776163807, + 0.001878287904341689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998168575422577, + 0.0011880249891429648, + 0.019100784563742288, + -0.0006865017772032513 + ], + [ + -0.001092520167197658, + 0.9999868545424728, + -0.0050097047753454365, + 0.0001749401476081366 + ], + [ + -0.019106485129651404, + 0.00498791929335513, + 0.9998050124334814, + 0.0044548885171824225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9996754504392665, + 0.001616960699327892, + 0.025423989205993237, + -0.0008526383926558338 + ], + [ + -0.0014477932795749374, + 0.9999767015535842, + -0.0066708503681115385, + 0.0002146945841390964 + ], + [ + -0.025434183369419376, + 0.006631876665842426, + 0.999654500579185, + 0.006367610505172972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9992721264961141, + 0.0025059783359763477, + 0.03806490878110558, + -0.0011851030354041836 + ], + [ + -0.0021267593788755804, + 0.9999477405179324, + -0.009999656375396841, + 0.0002942037180885595 + ], + [ + -0.038087978450931675, + 0.009911422988716966, + 0.9992252346652681, + 0.008942092585131987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9991101494737011, + 0.0027969907902905614, + 0.0420842733233915, + -0.0013434074021366116 + ], + [ + -0.002287244437824065, + 0.9999234996865385, + -0.01215579234385212, + 0.00019252802507510917 + ], + [ + -0.042115053502524896, + 0.012048718485558567, + 0.9990401146357114, + 0.010957567188789197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.998737451578865, + 0.0034047938718675666, + 0.05011896040865514, + -0.0016925549695390883 + ], + [ + -0.002582134783467832, + 0.9998610305482898, + -0.016469734997010287, + -6.421830736109892e-06 + ], + [ + -0.05016807145699598, + 0.016319527248110866, + 0.9986074492195038, + 0.013738322462482994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9985267384885822, + 0.003721571807862723, + 0.05413411518288133, + -0.001825780195851887 + ], + [ + -0.0027165339126880806, + 0.9998228035458259, + -0.01862745160418242, + -0.00012158929253648773 + ], + [ + -0.054193846208363525, + 0.01845295133695052, + 0.9983599128671485, + 0.01575201589143462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9982997883897557, + 0.004046925247728606, + 0.058147698982922304, + -0.0019489832449709726 + ], + [ + -0.002842231877193256, + 0.9997799159529596, + -0.020785604996000608, + -0.00024215541370125652 + ], + [ + -0.05821901939165167, + 0.02058499582542575, + 0.9980915808321108, + 0.01776488252267854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9978874467201413, + 0.004823763663835508, + 0.0647871513687156, + -0.002314389351580091 + ], + [ + -0.003194499115014438, + 0.9996766181683611, + -0.025228045165514704, + -0.0002659602691933236 + ], + [ + -0.06488789450861832, + 0.0249677870782442, + 0.9975801575586065, + 0.020471658480838782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9977112105400158, + 0.005272607997947317, + 0.06741320321477426, + -0.0024823578028733122 + ], + [ + -0.0034237169242517466, + 0.9996155985382559, + -0.027512421220739096, + -0.0001981951509391958 + ], + [ + -0.067532351693089, + 0.027218647356265974, + 0.9973457408095231, + 0.022413018401860167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9973375162712238, + 0.006188058788770292, + 0.07266076359613473, + -0.002889493420770836 + ], + [ + -0.0038639756168537803, + 0.9994777549349857, + -0.03208250430613871, + -3.971456908671226e-05 + ], + [ + -0.07282134529366381, + 0.03171632574160778, + 0.9968405721834729, + 0.02504738437613722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9971400627636348, + 0.006654654023069128, + 0.07528220780216084, + -0.0030411238417651252 + ], + [ + -0.004075011103134761, + 0.9994009326516303, + -0.0343681553121592, + 1.3752410841632971e-05 + ], + [ + -0.07546581687256691, + 0.03396308871237447, + 0.9965698264993134, + 0.02698668883954084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9967865654906456, + 0.007416378253360739, + 0.07975926398209912, + -0.0034762548695008175 + ], + [ + -0.004336467434172572, + 0.9992407211552954, + -0.03871919724423275, + 2.5072200137582186e-05 + ], + [ + -0.07998586067271801, + 0.03824890218880168, + 0.9960618874215579, + 0.029649067816070577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9966340652090648, + 0.007709404430377053, + 0.08161559378073775, + -0.003664277929879558 + ], + [ + -0.004389065897260888, + 0.9991583401454532, + -0.040784156462187554, + -6.233404330090045e-05 + ], + [ + -0.08186132276846629, + 0.0402886634316848, + 0.9958290754107783, + 0.031617676735141334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9964780418808853, + 0.008006231132037876, + 0.08347102678353191, + -0.0038476769806837854 + ], + [ + -0.004437775521902851, + 0.9990717022260498, + -0.04284903685686108, + -0.0001549012068477461 + ], + [ + -0.08373660010804065, + 0.04232769866415876, + 0.9955885433893573, + 0.03358555887398562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9961554309678503, + 0.008611276841974123, + 0.08717914466434985, + -0.004309591663253095 + ], + [ + -0.004523526770178651, + 0.9988856583879974, + -0.046978496914406004, + -0.00029679262520768634 + ], + [ + -0.08748654215830133, + 0.046403527645301465, + 0.9950843268604203, + 0.036275171762608485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.995988845893049, + 0.008919491142728846, + 0.08903180069159196, + -0.004481456703676302 + ], + [ + -0.004560567726630207, + 0.9987862539168509, + -0.049043044448268985, + -0.0004022578420142648 + ], + [ + -0.0893611776927956, + 0.04844028968223507, + 0.9948206462759295, + 0.03824102972874603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9956730918025568, + 0.00964884817976502, + 0.09242290835686373, + -0.0048390682319122 + ], + [ + -0.004833616514161605, + 0.9986258509571466, + -0.05218281279797886, + -0.0005771311230782154 + ], + [ + -0.09279940954408822, + 0.05151028566139705, + 0.9943515274083657, + 0.04088196057527581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9955107257589833, + 0.010017449084740976, + 0.09411719084554745, + -0.004955900988144383 + ], + [ + -0.004966069479560406, + 0.9985419215337724, + -0.05375285195750829, + -0.0007011104129320843 + ], + [ + -0.09451842705391769, + 0.05304414815487423, + 0.9941089403550182, + 0.04282311864862179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9953453682231006, + 0.010388662242960653, + 0.09581061347064924, + -0.0050685195347444055 + ], + [ + -0.005095807192931321, + 0.9984555074194804, + -0.05532298304285983, + -0.0008290170988303292 + ], + [ + -0.09623736647411409, + 0.05457724251471277, + 0.993861003306608, + 0.04476353650445783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.995005682291859, + 0.011138917220611902, + 0.09919484225535455, + -0.005405121463876582 + ], + [ + -0.005347134052938996, + 0.9982752270136013, + -0.058463486796143535, + -0.0010235337387927436 + ], + [ + -0.099674973610893, + 0.05764109344985836, + 0.993349084653312, + 0.04740038510714713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9948013616636778, + 0.011539333355937315, + 0.10117852844251844, + -0.005451146201136613 + ], + [ + -0.005516905398124607, + 0.998206989631043, + -0.05960175841835075, + -0.0010046410307252506 + ], + [ + -0.10168487885089457, + 0.058733718062386045, + 0.9930813339176442, + 0.04925177430907185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9943804342430038, + 0.012346704100024393, + 0.10514328743463117, + -0.005659825540012689 + ], + [ + -0.005849534140593015, + 0.9980665121905887, + -0.061879077191336555, + -0.0008980670711247895 + ], + [ + -0.10570399682619888, + 0.060916304398574546, + 0.9925300342626349, + 0.051711408094065284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.994163829717515, + 0.012753654360501234, + 0.10712433888643898, + -0.005693534547391398 + ], + [ + -0.006012389746425572, + 0.9979942728892675, + -0.0630181120770799, + -0.0008863124280128897 + ], + [ + -0.10771318791559754, + 0.06200625436740389, + 0.9922464883124475, + 0.05356063024972691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9937183448691, + 0.01357407369970211, + 0.11108373235452465, + -0.0058850373983581365 + ], + [ + -0.006331179041806476, + 0.9978457950697431, + -0.06529690217440043, + -0.0007897481863037641 + ], + [ + -0.11173078019309274, + 0.06418343855565611, + 0.9916636118022156, + 0.05601685545185062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9934298088595258, + 0.014009778276768867, + 0.11358230928257161, + -0.00588715888495665 + ], + [ + -0.006509091209035646, + 0.9977890380255298, + -0.06614126796275135, + -0.001019530280080205 + ], + [ + -0.11425780761487782, + 0.06496738957910961, + 0.991324564252454, + 0.05803654808206325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9931348116688294, + 0.01444745554390923, + 0.11607978669788016, + -0.005883071037789967 + ], + [ + -0.006684850091974276, + 0.9977315190741464, + -0.06698603306096117, + -0.0012514367650352605 + ], + [ + -0.11678423965058993, + 0.06575018535565598, + 0.990978483366279, + 0.06005515571829753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9925254422741587, + 0.015328715547347438, + 0.12107137117483222, + -0.006007625652130685 + ], + [ + -0.007029902965923919, + 0.9976141971094976, + -0.06867673689002762, + -0.0016357820962528587 + ], + [ + -0.12183524491203349, + 0.06731228866441027, + 0.9902652315879741, + 0.06285117933191894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9922110744513084, + 0.015772291947735762, + 0.12356544234896526, + -0.005988056260303017 + ], + [ + -0.007199194476141772, + 0.9975543949397306, + -0.06952266346539503, + -0.0018730119336594967 + ], + [ + -0.1243597818230426, + 0.06809158496571564, + 0.9898980658238413, + 0.06486683327328122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9915490667723156, + 0.016671136125019186, + 0.12865660264149242, + -0.006171435639286231 + ], + [ + -0.007538499066702744, + 0.9974373042076019, + -0.07114769994098954, + -0.0020963171409034615 + ], + [ + -0.12951300789793707, + 0.06957655780054689, + 0.9891337034950614, + 0.06760489484875962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9912008776387313, + 0.01712629693234148, + 0.1312536099373825, + -0.006216555643954622 + ], + [ + -0.007708599348070204, + 0.9973801215592597, + -0.0719268421003435, + -0.0021701874566450556 + ], + [ + -0.1321415818896543, + 0.07028216752364774, + 0.98873607159033, + 0.06956412416152084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9904835049749132, + 0.018042163771584817, + 0.1364437858572193, + -0.00645803117611141 + ], + [ + -0.008042581594711003, + 0.9972637950963065, + -0.0734863243835532, + -0.002231963164879655 + ], + [ + -0.1373963000007781, + 0.07168963186229722, + 0.9879184447258512, + 0.07224378001583107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9901143269245168, + 0.018502862807419883, + 0.13903691483466352, + -0.006487084664156309 + ], + [ + -0.008206461008774483, + 0.9972046521702858, + -0.0742666525948998, + -0.0023107535412175357 + ], + [ + -0.14002240398065996, + 0.07239147572656514, + 0.9874984560117589, + 0.07419957395698279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9897381581374036, + 0.018965400899863708, + 0.14162871140939987, + -0.006509711956872679 + ], + [ + -0.008368264275603016, + 0.997144856715277, + -0.07504736423941356, + -0.002391511033993387 + ], + [ + -0.14264764449437395, + 0.07309205356929706, + 0.9870710213683864, + 0.07615400147435489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9888296500118424, + 0.02008879582819378, + 0.1476900928960049, + -0.006662704554187754 + ], + [ + -0.008894581058748727, + 0.9970629195292744, + -0.07606852783871353, + -0.002573741828968606 + ], + [ + -0.14878444033314356, + 0.07390517425683353, + 0.9861040591807847, + 0.0787585069882111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9883610115361858, + 0.020652356129691074, + 0.15071825059182473, + -0.006639431805063754 + ], + [ + -0.009155352717486045, + 0.9970213834403067, + -0.07658028779911727, + -0.002713729528088456 + ], + [ + -0.1518508820909055, + 0.07430909196773716, + 0.9856061426650833, + 0.08067521648540718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9873949890184484, + 0.021783174436890623, + 0.1567693495958647, + -0.006766384589502919 + ], + [ + -0.009672109626747152, + 0.9969371783319452, + -0.07760613864191213, + -0.0029006461715231943 + ], + [ + -0.1579797010904459, + 0.07511162207668995, + 0.984581463502326, + 0.08327280408531433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9868976145654558, + 0.022350421217682104, + 0.1597922308386915, + -0.0067244430067817116 + ], + [ + -0.00992808974775529, + 0.9968945101484019, + -0.07812021934133738, + -0.0030439455191515735 + ], + [ + -0.16104201749535432, + 0.07551022650853546, + 0.9840547110266055, + 0.08518499583852217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9855491872108054, + 0.023360445475987264, + 0.16777094258328776, + -0.006451932895861582 + ], + [ + -0.010234958632146726, + 0.9968476026819341, + -0.07867720539698743, + -0.003430726995155943 + ], + [ + -0.16907999648071811, + 0.07582312717400232, + 0.982681437789295, + 0.08766947911299569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9848503881382387, + 0.023866397954337606, + 0.1717559548680809, + -0.006201064790981469 + ], + [ + -0.010386681809363182, + 0.9968239410109168, + -0.078956617635609, + -0.003674033179640634 + ], + [ + -0.17309485788131343, + 0.07597648107243392, + 0.9819703378915773, + 0.08952295689335099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9841352142591102, + 0.02437296607832545, + 0.17573798274624713, + -0.005940387106228998 + ], + [ + -0.010537260761111885, + 0.9968001412404058, + -0.07923663646798534, + -0.003918068982651813 + ], + [ + -0.17710687787555796, + 0.07612776725776299, + 0.9812429448722271, + 0.09137382190147836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9826557900914683, + 0.025387915440090048, + 0.18369281953663721, + -0.005619278071478013 + ], + [ + -0.01083497595632511, + 0.9967521289918153, + -0.07979847521293902, + -0.00430858944396162 + ], + [ + -0.1851221258946066, + 0.07642412642543599, + 0.9797393282931797, + 0.0938427976681778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9816029442304, + 0.026018060411506883, + 0.1891526378632707, + -0.005203492726151565 + ], + [ + -0.011021626676757868, + 0.9967414735284332, + -0.07990593653644315, + -0.004294390442906753 + ], + [ + -0.19061527646966975, + 0.07635113280620714, + 0.9786911264007662, + 0.09570729487046448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9794050643586404, + 0.027277069917804823, + 0.20005419607033287, + -0.0045820580557358465 + ], + [ + -0.011393100729598708, + 0.996719794047571, + -0.0801239627672852, + -0.004166818023854848 + ], + [ + -0.20158352404006935, + 0.07619457730355406, + 0.9765031844418737, + 0.09820264975800122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9782600991860317, + 0.02790589502023011, + 0.20549559451155058, + -0.0041332075624803295 + ], + [ + -0.01157791242735741, + 0.9967087707090967, + -0.08023452084599335, + -0.004153468728031901 + ], + [ + -0.2070582775074693, + 0.0761110203234827, + 0.9753635129022198, + 0.10005533610808545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9758782976690444, + 0.029162087449544696, + 0.21635877794569222, + -0.003466296850179537 + ], + [ + -0.0119456562240167, + 0.996686358562318, + -0.08045870961657525, + -0.004027206450979079 + ], + [ + -0.2179881864596012, + 0.07593336099088382, + 0.9729929471752006, + 0.1025305607571845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9742774556676426, + 0.030071344494688703, + 0.22333641355154465, + -0.0028935954158515447 + ], + [ + -0.012309805458639026, + 0.9966786943233269, + -0.08049875136620983, + -0.004162650659209951 + ], + [ + -0.2250153507371337, + 0.07567889086284342, + 0.9714117548240884, + 0.10450015399096194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9726258766524036, + 0.030978741058219652, + 0.23030245693129553, + -0.002304145426075009 + ], + [ + -0.012673651506162061, + 0.9966706887483886, + -0.08054139772386097, + -0.004298351248295903 + ], + [ + -0.23203077947471495, + 0.07541787448782004, + 0.9697803161459279, + 0.1064627794642387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9691708542655095, + 0.03278776381625804, + 0.24419831650974239, + -0.0013805122156269264 + ], + [ + -0.013400358262409458, + 0.9966536552760994, + -0.08063449524384489, + -0.004469766955387986 + ], + [ + -0.24602496954720288, + 0.07487625771043749, + 0.9663670422725408, + 0.10915843603554869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.96736759082636, + 0.03368929579950958, + 0.25112740903242226, + -0.0007498791672702065 + ], + [ + -0.013763181125310213, + 0.9966446282658264, + -0.08068494155779521, + -0.004606231337483807 + ], + [ + -0.25300300208518534, + 0.0745956855146869, + 0.9645853848356184, + 0.11110128834901799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.963697572450445, + 0.03534690534035634, + 0.2646461508051451, + 8.542846932624998e-05 + ], + [ + -0.014392126665386966, + 0.996634118207777, + -0.0807050253345753, + -0.0047207188531186535 + ], + [ + -0.26660805603576043, + 0.07396641607558713, + 0.9609625974770123, + 0.11375323397037124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.961835451788999, + 0.03610265731912176, + 0.2712363578437637, + 0.0006118613325856899 + ], + [ + -0.014658846386688197, + 0.996632751527203, + -0.08067389172420036, + -0.004799409079611251 + ], + [ + -0.27323557949956595, + 0.07361899699000651, + 0.9591259361406728, + 0.11566597371433902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9579743376379329, + 0.037606894425010286, + 0.2843780756648971, + 0.001356069020026083 + ], + [ + -0.015192889666340624, + 0.9966293488523056, + -0.08061710184455842, + -0.004856154373737722 + ], + [ + -0.2864512952156966, + 0.07290859001472758, + 0.9553166977350047, + 0.11827435805810654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9559755274734063, + 0.0383553081311918, + 0.29092896248071315, + 0.001920988191917581 + ], + [ + -0.015460187868400766, + 0.9966273130195406, + -0.08059144827166596, + -0.004935026764371927 + ], + [ + -0.2930388599879146, + 0.07254563585504085, + 0.9533443015277174, + 0.12016628667026699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9539313410674864, + 0.03910120452083295, + 0.2974661196408878, + 0.0025013406670232816 + ], + [ + -0.01572765352643242, + 0.9966250543152506, + -0.08056762392969392, + -0.005013960780699682 + ], + [ + -0.2996124787850791, + 0.07217753747630966, + 0.9513268448015733, + 0.12205018638123782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9506495023240238, + 0.04028833633860997, + 0.3076400066411283, + 0.002912105194295793 + ], + [ + -0.016292364389422626, + 0.9966476682910073, + -0.08017471018158456, + -0.0048792081343563415 + ], + [ + -0.30983880098155664, + 0.07120586524413453, + 0.9481190021095168, + 0.12460915289201022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9489673260839483, + 0.040877972375430796, + 0.3127139354099133, + 0.003321552521225419 + ], + [ + -0.01657629437828051, + 0.9966585896021014, + -0.07998051160773569, + -0.00486161076675269 + ], + [ + -0.3149384709586406, + 0.07071525398967378, + 0.9464740420969874, + 0.1264742767153616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9455207037552429, + 0.04204929921732326, + 0.32283502784785034, + 0.0037729839299428143 + ], + [ + -0.01714726230550171, + 0.9966796592873088, + -0.07959665921607717, + -0.004725798893979316 + ], + [ + -0.32511008930148044, + 0.06972455233464048, + 0.943102283231314, + 0.1290072736934359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.943756357608004, + 0.04263095605753821, + 0.32788189803661594, + 0.0042121142850263735 + ], + [ + -0.017434283687560566, + 0.9966898070504668, + -0.07940701652880001, + -0.004707329462868821 + ], + [ + -0.33018174272175504, + 0.06922449066135268, + 0.9413755821487518, + 0.13085598581424326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9412975898325923, + 0.0429294087756006, + 0.3348371443515947, + 0.004523152068996134 + ], + [ + -0.017496506003300757, + 0.9967521275401594, + -0.07860705134937115, + -0.004850744767029061 + ], + [ + -0.3371241902519451, + 0.06813414787273411, + 0.9389914899724209, + 0.1333776457789379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9400490142188499, + 0.04307561061785376, + 0.33830805878085085, + 0.004896126693566708 + ], + [ + -0.017529832798487154, + 0.9967829929939855, + -0.07820722370733625, + -0.004970593684488815 + ], + [ + -0.3405885433014823, + 0.06758813984606542, + 0.9377799782059345, + 0.13522088106932556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.938787667000442, + 0.04321979342039023, + 0.34177443693840887, + 0.005277427043153812 + ], + [ + -0.017564636079740924, + 0.9968136613525201, + -0.07780750670963502, + -0.005089451607779342 + ], + [ + -0.3440482522078174, + 0.06704158409287797, + 0.9365555115181716, + 0.1370600835738981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9362267274435465, + 0.043502093987635465, + 0.3486933934548214, + 0.005629054852794899 + ], + [ + -0.017638670161957127, + 0.9968744050961722, + -0.07700842667572866, + -0.0052279373604526645 + ], + [ + -0.35095354697632797, + 0.0659468595373906, + 0.9340677810426237, + 0.13955861658857993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9353672381594611, + 0.04353756774887338, + 0.35098804819032553, + 0.005929639989135205 + ], + [ + -0.01772482291019781, + 0.9969177976905863, + -0.07642470347049739, + -0.005161676204554939 + ], + [ + -0.353233577722651, + 0.06526396281458542, + 0.9332559427761457, + 0.14140358873673842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9336315653777534, + 0.04360348446303912, + 0.35557114094505393, + 0.006103043367057696 + ], + [ + -0.017901405380256148, + 0.9970034110344441, + -0.07525781069825974, + -0.004930749380500983 + ], + [ + -0.3577871431671318, + 0.06389784447354127, + 0.9316144189824123, + 0.14392145382331467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9327553928837999, + 0.043633926998073835, + 0.3578595499087807, + 0.006417447048427925 + ], + [ + -0.017991833982591444, + 0.9970456312411236, + -0.07467464852901987, + -0.004860886932087635 + ], + [ + -0.3600606489969867, + 0.0632146315161019, + 0.9307847438619482, + 0.1457598581327779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9318736703822837, + 0.04366269205753599, + 0.3601458479151743, + 0.006737394959530806 + ], + [ + -0.0180836867350863, + 0.997087460113258, + -0.07409168076754416, + -0.004789582859901434 + ], + [ + -0.3623319510094553, + 0.06253132180900378, + 0.9299491335930695, + 0.14759569118576016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9307354949997279, + 0.04343028058407758, + 0.3631050110863249, + 0.006811062463572475 + ], + [ + -0.01812944528264576, + 0.9971817462711073, + -0.07280033047623345, + -0.004526307626191972 + ], + [ + -0.36524342781404756, + 0.06117495919159689, + 0.928899813115791, + 0.1501799084923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9304841208468175, + 0.04317029292656828, + 0.36377964025019255, + 0.0070139408017323955 + ], + [ + -0.018082417525242422, + 0.9972340828394934, + -0.07209167912954531, + -0.004425885633551812 + ], + [ + -0.36588567480617223, + 0.06050214733303936, + 0.9286911021107737, + 0.15209167058145567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9299799764791513, + 0.04264885230533479, + 0.36512781151930196, + 0.006968250955929095 + ], + [ + -0.017989832244336264, + 0.9973372188160781, + -0.07067416713362143, + -0.004131365478653205 + ], + [ + -0.3671697281689461, + 0.05915697221163499, + 0.9282708889947449, + 0.15475304310532895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9297272067689839, + 0.042387399863510554, + 0.3658013522751848, + 0.0071752477713312585 + ], + [ + -0.017944274813500284, + 0.9973880181210498, + -0.06996530790314631, + -0.0040264957037819665 + ], + [ + -0.3678115332544108, + 0.0584846102951482, + 0.9280593873043169, + 0.1566632495884906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9299604306713345, + 0.04159151476268143, + 0.3652995254381426, + 0.0069216689885049365 + ], + [ + -0.01775445151841494, + 0.9975018263475399, + -0.06837313715636428, + -0.003921613719601209 + ], + [ + -0.3672306861318465, + 0.057098619362191246, + 0.9283756625580322, + 0.15943213379168958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9304452322700285, + 0.04105846928563119, + 0.3641234294108165, + 0.006914498266054159 + ], + [ + -0.017608530152504513, + 0.9975645521620834, + -0.06749002841554162, + -0.004007754443680891 + ], + [ + -0.36600766305070903, + 0.05638409677899573, + 0.9289021607352282, + 0.16145235287784676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9309283759646862, + 0.04052632458202883, + 0.36294624373262774, + 0.0069042865108302695 + ], + [ + -0.017461443849785475, + 0.9976264821896095, + -0.06660705677828493, + -0.004091700077988367 + ], + [ + -0.36478412356136436, + 0.0556688337389686, + 0.9294264490252634, + 0.16347368379488458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9318896848232843, + 0.039464742804794464, + 0.3605886151770623, + 0.006423988904901895 + ], + [ + -0.017163777905045804, + 0.9977479542674095, + -0.06484153362796038, + -0.004171957054086881 + ], + [ + -0.3623355075727279, + 0.05423609343003127, + 0.930468390715914, + 0.16635656198824567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.932367847588274, + 0.038935308380344466, + 0.3594081781831583, + 0.006406106792697392 + ], + [ + -0.017013199005851857, + 0.9978074960145491, + -0.06395898652076339, + -0.00425042497117241 + ], + [ + -0.3611104371839682, + 0.05351861973653084, + 0.9309860415163592, + 0.16838053085197338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9354963200240757, + 0.03761041642576714, + 0.35132903637145135, + 0.005227848370632712 + ], + [ + -0.01664826473190074, + 0.9979062405330309, + -0.06249776305316366, + -0.003922290037311146 + ], + [ + -0.3529440047696359, + 0.05261740854045573, + 0.9341637639170437, + 0.17127049963195146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9370336978326975, + 0.03695089898186871, + 0.3472786779956594, + 0.0048471491017488995 + ], + [ + -0.01646099745860854, + 0.9979547643462281, + -0.06176830806596649, + -0.0037955699257480064 + ], + [ + -0.3488508057732544, + 0.052162432680006324, + 0.9357254917593381, + 0.17330066302497982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9400545860700305, + 0.03563778574994521, + 0.3391567829714526, + 0.0036293090701862082 + ], + [ + -0.016076880979198876, + 0.9980501103284105, + -0.06031178302312438, + -0.0034615075545940616 + ], + [ + -0.3406448430648623, + 0.05124378499182864, + 0.9387945277817861, + 0.17619376764391248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.941538037329057, + 0.034984215681671954, + 0.3350854054053765, + 0.0032211666695845 + ], + [ + -0.015880039296713243, + 0.9980969306298683, + -0.059584741496216884, + -0.0033304726765543457 + ], + [ + -0.33653224008181165, + 0.0507801311575148, + 0.9403017758491917, + 0.17822817583388867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 664.7621154785156, + "fy": 664.7621726989746, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_153/boom_up/transforms.json b/spatialvid_eval/camera_controls/scene_153/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d3fe43bea83fce29ff40e4f420929fbcc64d6a81 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_153/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": [ + [ + 0.9999999918751143, + -0.00011446534111034202, + 5.610220203472413e-05, + -2.7641434846766612e-05 + ], + [ + 0.00011447147034955688, + 0.9999999874792367, + -0.00010926028067274708, + 0.0002786070447213657 + ], + [ + -5.608969481698472e-05, + 0.00010926670188657656, + 0.999999992457367, + 0.00023206044795460348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999993433467963, + -5.798173481084076e-05, + -0.0011445278915237082, + -0.001070606078679957 + ], + [ + 5.98011128730707e-05, + 0.9999987346989467, + 0.0015896617037139509, + -0.000355649123463049 + ], + [ + 0.001144434272008018, + -0.0015897291038991278, + 0.9999980815139463, + 0.003046344030491409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999984774050613, + -2.897501232552682e-05, + -0.0017448060086843824, + -0.0015921246788185089 + ], + [ + 3.32308125947382e-05, + 0.999997024727827, + 0.0024391455895438965, + -0.0012977721418142994 + ], + [ + 0.0017447301431380968, + -0.0024391998570346555, + 0.9999955031002815, + 0.004456603079332587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999956621711263, + 3.056811428328786e-05, + -0.0029452851340585995, + -0.002635348867779589 + ], + [ + -1.8379887199161404e-05, + 0.9999914376328943, + 0.004138154549648138, + -0.001932005220928817 + ], + [ + 0.002945386411027247, + -0.004138082465033316, + 0.9999871004030013, + 0.0072783193100908064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999993712881975, + 6.110445393735906e-05, + -0.0035454848424713303, + -0.0031570583201215655 + ], + [ + -4.342023083401544e-05, + 0.9999875605151314, + 0.004987677784345903, + -0.0028741040072864862 + ], + [ + 0.0035457455077937076, + -0.004987492480456722, + 0.9999812761284842, + 0.008693887173827682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999854383244128, + 0.0025534284812224117, + -0.004754276193427553, + -0.004648240498671674 + ], + [ + -0.0025214755583696296, + 0.9999742765606198, + 0.006714788014051137, + -0.003907850651255272 + ], + [ + 0.004771299628052543, + -0.006702702444266973, + 0.9999661536671144, + 0.011889442799133353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999784293805518, + 0.0038003616778856026, + -0.005357053735233992, + -0.0053985486696542535 + ], + [ + -0.0037597031910296523, + 0.9999642075863453, + 0.007579457640765298, + -0.005049665588669275 + ], + [ + 0.005385666673707851, + -0.0075591532151460285, + 0.9999569259708889, + 0.013493545156685922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999586682557176, + 0.0062957538834918225, + -0.006559364549282011, + -0.0069006625763628196 + ], + [ + -0.006234541955944051, + 0.9999372157774296, + 0.009311014438925843, + -0.006083229887864762 + ], + [ + 0.006617572579991344, + -0.009269734964971212, + 0.9999351377698594, + 0.016696562885947112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999353564565042, + 0.008489946269178972, + -0.007563314124783796, + -0.008026052929612636 + ], + [ + -0.008406384349452335, + 0.9999040248695944, + 0.011012436231588407, + -0.007050148449542172 + ], + [ + 0.007656083226623317, + -0.010948144223199301, + 0.9999107572817161, + 0.019922578411485464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999237418456953, + 0.009436011737950806, + -0.00796694268743236, + -0.008405122949605295 + ], + [ + -0.00934126299344859, + 0.9998861841259526, + 0.011847345682853611, + -0.00812523411427688 + ], + [ + 0.008077827615813873, + -0.011772020919241387, + 0.9998980789182897, + 0.021553875870129156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998973478865967, + 0.01132911247783157, + -0.008771824201118656, + -0.009156210424791249 + ], + [ + -0.0112099361988318, + 0.9998457849694617, + 0.013518269460967415, + -0.009025399539005559 + ], + [ + 0.008923621449210538, + -0.01341855019239578, + 0.9998701473146229, + 0.02480585984326107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998825685843155, + 0.012276144448998199, + -0.009173075749134086, + -0.009541207855624581 + ], + [ + -0.012143727502857096, + 0.9998232266270342, + 0.01435428087515958, + -0.010100302935022693 + ], + [ + 0.009347669419078391, + -0.014241199899374724, + 0.9998548941230712, + 0.026442288130006746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998543009434836, + 0.01396195771459444, + -0.00982041860584467, + -0.009918225465110054 + ], + [ + -0.013803374117616458, + 0.999776149508121, + 0.016034891258905646, + -0.010838521843579637 + ], + [ + 0.010042098774024254, + -0.0158970000783698, + 0.9998232051921587, + 0.029714499618978936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999841264298017, + 0.01470061819380528, + -0.010066679276851214, + -0.009926252024348247 + ], + [ + -0.014529359786949404, + 0.9997519628147646, + 0.016879293593245238, + -0.011751588686740904 + ], + [ + 0.010312318416554157, + -0.01673035184165454, + 0.9998068570559667, + 0.0313691421561091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998133816110505, + 0.016178529443108675, + -0.010557326201955167, + -0.009927633002568867 + ], + [ + -0.015980621296144987, + 0.9996998684317359, + 0.018568597161856274, + -0.012327846368642677 + ], + [ + 0.010854570210985813, + -0.01839641928823556, + 0.9997718490050149, + 0.03466166991798399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997830865188685, + 0.017657221305634182, + -0.011045471767595653, + -0.009932723395410657 + ], + [ + -0.017430930041846083, + 0.9996428129500196, + 0.020258558567890984, + -0.012903880793986487 + ], + [ + 0.011399236320085744, + -0.02006163136776917, + 0.9997337587368863, + 0.0379583468103432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997685105673546, + 0.018353904306595684, + -0.011227621058702342, + -0.009590507616889364 + ], + [ + -0.018115370677892234, + 0.9996155468082079, + 0.020990281668675462, + -0.01378076826593156 + ], + [ + 0.01160855818506545, + -0.020782030122971612, + 0.9997166341523142, + 0.03966979706101681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997378125089429, + 0.01974763647414017, + -0.011590387979664891, + -0.008886624875487798 + ], + [ + -0.01948376508897518, + 0.9995580011959915, + 0.022454067405082375, + -0.014284823412369795 + ], + [ + 0.01202867980252129, + -0.022222355832799533, + 0.9996806879016163, + 0.043070311992724084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9997216904340701, + 0.020444684186738272, + -0.011771005231070976, + -0.008548772029441364 + ], + [ + -0.02016771743646022, + 0.9995277217856202, + 0.02318612851363786, + -0.015161468905725213 + ], + [ + 0.012239479116713442, + -0.0229422812848323, + 0.999661866272991, + 0.04478625349654567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9996879002770862, + 0.02183913923367729, + -0.012130706373605209, + -0.007851004261694458 + ], + [ + -0.021535128847716013, + 0.9994641499142937, + 0.0246505833929087, + -0.0156651272832008 + ], + [ + 0.01266255365646434, + -0.02438165362789271, + 0.9996225261073636, + 0.04819304691401911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9997053647498396, + 0.020917212953546833, + -0.0123147834997775, + -0.006517172611172801 + ], + [ + -0.02058601205150892, + 0.99943858506691, + 0.02643351636215537, + -0.016893791598043086 + ], + [ + 0.01286078528728122, + -0.02617221583491124, + 0.9995747172273244, + 0.051780197236811945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9997137552925497, + 0.020456366922759157, + -0.012407438542652896, + -0.005862180710276312 + ], + [ + -0.020111314639870558, + 0.9994242770914094, + 0.027324885796103628, + -0.018132700869336837 + ], + [ + 0.012959263186014544, + -0.027067534291756658, + 0.9995496016131667, + 0.053592369216389026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9997298529475717, + 0.01953491144507687, + -0.012593981112421007, + -0.004524328725733007 + ], + [ + -0.019161644225955735, + 0.999392610110228, + 0.029107425987608043, + -0.019361083622352622 + ], + [ + 0.013154942644683393, + -0.028858241316809093, + 0.999496948165484, + 0.057187357278025173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9997375600433589, + 0.01907430294407477, + -0.01268786844782404, + -0.0038664636618552977 + ], + [ + -0.01868667219853498, + 0.9993752511370538, + 0.029998594915350976, + -0.020599811938828656 + ], + [ + 0.013252144003750035, + -0.029753628046819473, + 0.9994694103860086, + 0.059005127048450234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9998021100790417, + 0.015511145528328465, + -0.012455723419174822, + -0.0029225308493412614 + ], + [ + -0.015104763249074778, + 0.9993710685762552, + 0.03208291476695058, + -0.021656800462724224 + ], + [ + 0.012945532383234155, + -0.031888425128140635, + 0.9994075952954139, + 0.06235723459953173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998295706723105, + 0.01372930576487678, + -0.012342437864465079, + -0.002455796804282937 + ], + [ + -0.013313975396976305, + 0.9993625220877627, + 0.033125330270278516, + -0.02280969468907825 + ], + [ + 0.012789357620786502, + -0.03295535782844486, + 0.9993749930441761, + 0.06405587257961808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998748624161445, + 0.010165142641088046, + -0.012121443122930219, + -0.0014962421662441583 + ], + [ + -0.009732771645726272, + 0.9993325188793223, + 0.035210649900293545, + -0.023865817674211857 + ], + [ + 0.01247127356721219, + -0.0350882684867069, + 0.9993063998345134, + 0.06741725797688049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999087843431634, + 0.006783864367999674, + -0.011679134283577192, + -0.0007431273431806828 + ], + [ + -0.006345707008365244, + 0.9992894378128889, + 0.037153081677899435, + -0.024710652574500228 + ], + [ + 0.011922876999333172, + -0.037075580370875744, + 0.9992413353861127, + 0.07091219733464181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.99992219155405, + 0.005184568972740654, + -0.011345972074393487, + -0.00047436920951938425 + ], + [ + -0.004749375263181605, + 0.9992644311922716, + 0.03805312061573402, + -0.025652064909326977 + ], + [ + 0.011534915359702497, + -0.03799627348244849, + 0.9992113034434167, + 0.07274933751328105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999409545127415, + 0.0019850254357091793, + -0.010683967529321206, + 7.765878305654592e-05 + ], + [ + -0.0015577316299391361, + 0.999204271881078, + 0.03985469265687995, + -0.02628531621185104 + ], + [ + 0.01075457857459275, + -0.039835696662978815, + 0.9991483655148811, + 0.0763806548339695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999463101946228, + 0.0003847885355089311, + -0.010355127519380633, + 0.0003564490103066513 + ], + [ + 3.7569044303741305e-05, + 0.9991691194018708, + 0.04075621943038145, + -0.027226179103014364 + ], + [ + 0.010362206170821122, + -0.04075442026913685, + 0.9991154597501735, + 0.07822347303429973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999524064930534, + -0.0025917967288337923, + -0.009405707760081896, + 0.00071732682075858 + ], + [ + 0.002988700063075881, + 0.9990948687752299, + 0.04243242697441883, + -0.027731029861901763 + ], + [ + 0.009287218134868405, + -0.04245851830578669, + 0.9990550644496994, + 0.08185106991909899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.999953539214928, + -0.00396832633829601, + -0.008784748010746832, + 0.0008003812428889128 + ], + [ + 0.004344351196057605, + 0.9990566771576643, + 0.043207435001073616, + -0.028543961585303323 + ], + [ + 0.008604999954959159, + -0.04324359158025007, + 0.9990275000033862, + 0.08368759461423181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999489292885302, + -0.0067228210910135295, + -0.007546024867473456, + 0.0009684715430429843 + ], + [ + 0.0070540353894119395, + 0.9989728687974873, + 0.04475989266344922, + -0.02892050694116339 + ], + [ + 0.007237361359447797, + -0.044810836670350115, + 0.9989692735602314, + 0.08731039519621787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999351522576027, + -0.009479203246707934, + -0.006311575506406306, + 0.0011435282947053673 + ], + [ + 0.009761535948842302, + 0.9988791610930933, + 0.0463155907862353, + -0.02929642205399379 + ], + [ + 0.005865466348460767, + -0.04637419799593462, + 0.9989069176178276, + 0.09093694883093728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999297584009016, + -0.010635645877710997, + -0.0052308031007499214, + 0.0009386282386328607 + ], + [ + 0.010870564753259381, + 0.9988288596669918, + 0.04714594275526021, + -0.030305875810822242 + ], + [ + 0.004723249544548827, + -0.04719949293266833, + 0.9988743158078693, + 0.09294556470505806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.999911410787784, + -0.012951161955368362, + -0.003072129617991404, + 0.0005214341690000301 + ], + [ + 0.013085725244245004, + 0.9987223508306683, + 0.0488101397877142, + -0.03107572997347948 + ], + [ + 0.0024360564886820413, + -0.04884601677997799, + 0.9988033501513272, + 0.09690774059064036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9998984570902103, + -0.014110227975872004, + -0.001994235464026042, + 0.0003238864996552586 + ], + [ + 0.014191849826515845, + 0.9986661437620331, + 0.049643979513854526, + -0.03208458882794747 + ], + [ + 0.001291087572042369, + -0.04966724040994531, + 0.9987649865323385, + 0.0989213211776451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9998649901207542, + -0.016430957393890198, + 0.00015865038437884357, + -8.292791849358805e-05 + ], + [ + 0.01640116992722322, + 0.9985478252251319, + 0.05131512801482722, + -0.03285341236285526 + ], + [ + -0.0010015766783662726, + -0.05130559791367723, + 0.9986824983281111, + 0.10289031015587234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.999846359019741, + -0.017464231933198918, + 0.0015029830175266915, + -0.00020448402258735137 + ], + [ + 0.017362331261569268, + 0.9984929170148404, + 0.05206192586102514, + -0.0339892685506856 + ], + [ + -0.002409939445519943, + -0.052027831726670866, + 0.9986427273643415, + 0.10485219455584933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9998004233996496, + -0.01953363819238308, + 0.004189313649097313, + -0.0004641172889664972 + ], + [ + 0.019281435756581394, + 0.998378498743933, + 0.05355930807035702, + -0.03501236014651001 + ], + [ + -0.005228728817433981, + -0.053467842903745975, + 0.9985558823471895, + 0.10871431691276437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9997429237643748, + -0.021606830337685783, + 0.006872500696147298, + -0.000718383013034107 + ], + [ + 0.02119622739704148, + 0.9982579459907868, + 0.055061721825502306, + -0.036034851304442436 + ], + [ + -0.008050237710340729, + -0.05490189567778648, + 0.9984593008850151, + 0.11257973392946657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999709837681602, + -0.022644837222457182, + 0.008212903858762475, + -0.0008293460482889277 + ], + [ + 0.022151997677079083, + 0.9981953696974407, + 0.05581480908777212, + -0.03716973666308086 + ], + [ + -0.009461999869982068, + -0.055616681506164896, + 0.9984073593963049, + 0.11454843105925513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9996393183097874, + -0.024448605419648817, + 0.011113009591372815, + -0.0004545375509827261 + ], + [ + 0.023773800631731377, + 0.9980761329829684, + 0.05726114889946565, + -0.037852133645773556 + ], + [ + -0.01249158487407881, + -0.05697629737705326, + 0.9982973814673338, + 0.11793396730888313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995996569000912, + -0.025351941550897008, + 0.012562045407489958, + -0.00024951835189997466 + ], + [ + 0.024583028134373377, + 0.9980146762674172, + 0.057986038686799614, + -0.038816879564633845 + ], + [ + -0.014007164344168483, + -0.057654011260642714, + 0.9982383554705725, + 0.1196639299665444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9995115313134277, + -0.02716150238390475, + 0.015458058084247423, + 0.00013350928207441176 + ], + [ + 0.02619812130972732, + 0.9978880871738431, + 0.05943924559051286, + -0.039498339017428344 + ], + [ + -0.017039871223916037, + -0.05900523929938449, + 0.9981122304249631, + 0.12305494010248445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9994630674387818, + -0.028067720877833255, + 0.01690502500990402, + 0.0003443436785447219 + ], + [ + 0.02700398144174377, + 0.9978229552300935, + 0.060167557721559344, + -0.040462484911616935 + ], + [ + -0.01855698822965071, + -0.05967874881904999, + 0.9980451318087963, + 0.12478889147133197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9993814282998683, + -0.029589823500222774, + 0.01900534436786306, + 0.0013312715755922537 + ], + [ + 0.028370864471042548, + 0.9977045693221812, + 0.06148728651361056, + -0.04080917014770498 + ], + [ + -0.02078111687280392, + -0.060910054168969205, + 0.9979269063827533, + 0.1279684131721747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9992930154985439, + -0.03111445068605349, + 0.0211035573857173, + 0.0023221562030022315 + ], + [ + 0.029734742592830526, + 0.9975824659143327, + 0.06280978254394337, + -0.041155336369027073 + ], + [ + -0.02300683069797376, + -0.06213786815448764, + 0.997802370754074, + 0.13115080365452816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9992462692048272, + -0.031877706980433254, + 0.022151868496892015, + 0.002839008572832987 + ], + [ + 0.030415551224627236, + 0.9975200204679129, + 0.06347206479544161, + -0.0419516705248969 + ], + [ + -0.0241202761994144, + -0.06275046265458366, + 0.9977377369392718, + 0.13278228944060774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9991644273119895, + -0.03325355657163793, + 0.023762326688289682, + 0.004167587346511495 + ], + [ + 0.03166071664168096, + 0.9974136485375021, + 0.06452606243095345, + -0.04276983471732611 + ], + [ + -0.025846590027299825, + -0.06371981392349628, + 0.997633068366078, + 0.1361454057853191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9991303316196216, + -0.03386571352474508, + 0.02432475868585293, + 0.0050197104800468705 + ], + [ + 0.03222557773904181, + 0.9973701636942168, + 0.06491739914657806, + -0.044038561174663426 + ], + [ + -0.026459262594601, + -0.06407706313518947, + 0.9975941245831988, + 0.1379556319642994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9990600606734934, + -0.035090595333277665, + 0.02544887593257922, + 0.006684722303627913 + ], + [ + 0.03335454439196411, + 0.9972817321141934, + 0.06570099816379305, + -0.04532898893742939 + ], + [ + -0.027685186209959894, + -0.06479040754980936, + 0.9975147786143569, + 0.14149769922882974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9990238854784391, + -0.03570331916541043, + 0.026010560242630494, + 0.007540709683733554 + ], + [ + 0.033918649004362464, + 0.997236785451333, + 0.06609325981074791, + -0.046597344941582505 + ], + [ + -0.028298436233854606, + -0.06514650215679273, + 0.9974743764946815, + 0.14331008028031014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9989515776239183, + -0.03699736656981303, + 0.026961832830576717, + 0.008895805389548483 + ], + [ + 0.03512922271062758, + 0.9971514227252309, + 0.06674562059637487, + -0.04778480362830073 + ], + [ + -0.02935444215842315, + -0.06572849476404413, + 0.9974056755912416, + 0.14685920507440542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9988788518345966, + -0.03835985329335654, + 0.027740962725011066, + 0.009938897410005858 + ], + [ + 0.03642227393473176, + 0.9970700628162407, + 0.06726594827281816, + -0.04886953567994641 + ], + [ + -0.030239995354193583, + -0.06618014423473444, + 0.9973493526292823, + 0.15041362737612904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9988415656460258, + -0.039041203459469084, + 0.02813025364678639, + 0.010486128913251177 + ], + [ + 0.03706860208617305, + 0.9970286318268702, + 0.06752648411413509, + -0.05003491622270187 + ], + [ + -0.030682983511600814, + -0.06640550993611832, + 0.9973208424438703, + 0.1522327335465986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9987651468071244, + -0.04040411509681237, + 0.02890828612330735, + 0.011535212221737715 + ], + [ + 0.038360861282675865, + 0.9969442679184516, + 0.06804829892211903, + -0.05111907735099285 + ], + [ + -0.031569381447769364, + -0.0668553225090292, + 0.9972631247605714, + 0.15578900036199725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9987168811756344, + -0.041088310347439136, + 0.029603074293159476, + 0.011807723173981755 + ], + [ + 0.0389889823202481, + 0.9969022605451308, + 0.06830623820442451, + -0.052019732331474194 + ], + [ + -0.032317959595945626, + -0.06706439944412183, + 0.9972251078942779, + 0.15792468233282758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9986174881151547, + -0.042457083189786984, + 0.030992071850625875, + 0.012304833864444373 + ], + [ + 0.040244591708362434, + 0.9968167887327136, + 0.06882341562889684, + -0.05257459697128791 + ], + [ + -0.03381545902107577, + -0.06748100316100956, + 0.9971473456533783, + 0.16211314683605296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9985663607866287, + -0.04314165939799054, + 0.031686279834280066, + 0.012581650086749458 + ], + [ + 0.04087207878976949, + 0.9967733243800097, + 0.0690826532483151, + -0.05347487831090004 + ], + [ + -0.03456437878439889, + -0.06768852952171321, + 0.9971076003573721, + 0.16425001730695685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9984612447913946, + -0.044511187928704836, + 0.033074110703000634, + 0.013084807016869076 + ], + [ + 0.0421264145560517, + 0.996684939001274, + 0.06960242499136542, + -0.05402914594154453 + ], + [ + -0.03606255462762581, + -0.06810203019883103, + 0.9970263816151141, + 0.16844006687528892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9983437066709574, + -0.045541646670946366, + 0.035153972307438816, + 0.012924447981075072 + ], + [ + 0.043001849488167064, + 0.9966264813700715, + 0.06990348755611295, + -0.054249770091080875 + ], + [ + -0.038218899658291075, + -0.06827602104992125, + 0.9969341506130184, + 0.1729557595019362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9982829094108279, + -0.04605699605723822, + 0.036193727252616145, + 0.012874029516969936 + ], + [ + 0.043439307617281736, + 0.9965968921388857, + 0.07005470100461406, + -0.054982872261939056 + ], + [ + -0.039297065182840235, + -0.06836218028484936, + 0.9968863290138539, + 0.17525642996696883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9981572589068477, + -0.04708793133307067, + 0.03827287831271926, + 0.012718217010879475 + ], + [ + 0.044313702207625746, + 0.996536993047855, + 0.07035849119895357, + -0.05520312489203315 + ], + [ + -0.041453374871318505, + -0.06853282578379052, + 0.9967872739465862, + 0.17977261513017942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9980924058349901, + -0.0476035158114498, + 0.03931227158166827, + 0.012671038877299815 + ], + [ + 0.04475063747196915, + 0.9965066832700017, + 0.07051106752895892, + -0.055935982684993835 + ], + [ + -0.04253151608365479, + -0.0686173118142212, + 0.9967360406140716, + 0.18207368605135127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.997954483249912, + -0.04821899390660856, + 0.04197353914117617, + 0.012339920069424425 + ], + [ + 0.04518052060125869, + 0.996484303275619, + 0.07055319896010209, + -0.057166386989471046 + ], + [ + -0.04522797717785576, + -0.06851249485998126, + 0.9966245371896383, + 0.1856443583292537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9978090932570637, + -0.048834176957962, + 0.044634477417741604, + 0.012010315246868238 + ], + [ + 0.045610276062642056, + 0.9964616601754909, + 0.07059647666699914, + -0.05839671330885609 + ], + [ + -0.04792406630291313, + -0.06840601553330691, + 0.9965058458974794, + 0.18921462934107913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.997733598320429, + -0.04914165640398248, + 0.045964816854221144, + 0.01187679364823228 + ], + [ + 0.045825104913171585, + 0.9964502400136295, + 0.07061854527301799, + -0.05963462832028038 + ], + [ + -0.0492719650741269, + -0.06835215272874294, + 0.996443805076373, + 0.19104233254053754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9975721920786863, + -0.04971942091172184, + 0.04876167322321871, + 0.011686425410983841 + ], + [ + 0.04622014618425964, + 0.9964447059435677, + 0.07043895288647357, + -0.06071373759739331 + ], + [ + -0.05209049508337002, + -0.06801416897412048, + 0.9963235684960632, + 0.19440267422476898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9974859341348506, + -0.04998936114420041, + 0.05022822887101644, + 0.01169126703366458 + ], + [ + 0.046400687387069164, + 0.9964505520025796, + 0.07023726663077043, + -0.06180052015066194 + ], + [ + -0.053561062472023316, + -0.0677300611704224, + 0.996264950402612, + 0.19602011107689002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9973067798020228, + -0.050527978205690056, + 0.05316117360786413, + 0.01163970115170046 + ], + [ + 0.046762655127963716, + 0.996461926830983, + 0.06983467950573224, + -0.0627285231380372 + ], + [ + -0.05650169064995567, + -0.06716064170874578, + 0.9961410578622721, + 0.19916879482358318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9972138838207067, + -0.05079665380904511, + 0.05462755602281937, + 0.011646114504958737 + ], + [ + 0.046944080842369056, + 0.9964674555744899, + 0.0696337795525088, + -0.06381531327416716 + ], + [ + -0.057971744747655866, + -0.06687533134651594, + 0.9960757836973082, + 0.20078434626684538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9970389964134663, + -0.05127070774897931, + 0.057311029983298754, + 0.011700512825238756 + ], + [ + 0.04727092895367935, + 0.9964896710501298, + 0.06909265348978977, + -0.06453670688980943 + ], + [ + -0.06065227866027801, + -0.06617892426840066, + 0.9959626755436135, + 0.2039821167222141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9968749142482113, + -0.051680799018941875, + 0.05974529567577198, + 0.011859679661997528 + ], + [ + 0.047562422698244816, + 0.9965227492092156, + 0.06841217914655659, + -0.06505151269503034 + ], + [ + -0.06307314238005877, + -0.06535675421309417, + 0.9958665941726503, + 0.20722967937410702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9967906115168443, + -0.051885088507776046, + 0.0609624013832755, + 0.01197200530514991 + ], + [ + 0.0477087875767725, + 0.9965390347842064, + 0.06807219505287478, + -0.06593175989754364 + ], + [ + -0.06428334449785374, + -0.06494528267628431, + 0.9958161285489745, + 0.20889324472363408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9966174834529541, + -0.052292153505765965, + 0.06339654846780254, + 0.012132677850194683 + ], + [ + 0.04800275213737752, + 0.9965710987905697, + 0.06739273582957132, + -0.06644661375832125 + ], + [ + -0.06670327925326106, + -0.06412156998301193, + 0.9957103478420697, + 0.2121370633477918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.996559957903466, + -0.05253116248490844, + 0.06409935468806464, + 0.012532010387821708 + ], + [ + 0.04823746463754343, + 0.9966004884032129, + 0.06678782463757342, + -0.06736758835545106 + ], + [ + -0.06738989025650595, + -0.06346608135422936, + 0.9957061108624143, + 0.2140663189298726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9964432896695169, + -0.05300778328994272, + 0.06550530805421649, + 0.0132660703324234 + ], + [ + 0.04870813258494406, + 0.9966579095287265, + 0.0655784201846664, + -0.06796380147254205 + ], + [ + -0.06876255007399625, + -0.062154535510416456, + 0.9956949961824684, + 0.21784216461203837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.99638414709457, + -0.05324539466844001, + 0.06620845388036567, + 0.013666756916664788 + ], + [ + 0.048944087590372096, + 0.9966859409876965, + 0.06497392805900123, + -0.06888482393945093 + ], + [ + -0.06944859759975311, + -0.061498479526508165, + 0.9956881184926109, + 0.2197672666531378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9962642453063111, + -0.05371921826218971, + 0.0676150805186661, + 0.014402621482380019 + ], + [ + 0.04941723855725246, + 0.9967406455665001, + 0.06376536684637069, + -0.06948101577041532 + ], + [ + -0.07082012466539492, + -0.06018580451382081, + 0.9956717224454062, + 0.22353726105152194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_153/move_left/transforms.json b/spatialvid_eval/camera_controls/scene_153/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7bb85f90efe5a9d10f7f92fb8c0690b6ad0cc149 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_153/move_left/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999918751143, + -0.00011446534111034202, + 5.610220203472413e-05, + -2.7641434846766612e-05 + ], + [ + 0.00011447147034955688, + 0.9999999874792367, + -0.00010926028067274708, + 0.0002786070447213657 + ], + [ + -5.608969481698472e-05, + 0.00010926670188657656, + 0.999999992457367, + 0.00023206044795460348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999993433467963, + -5.798173481084076e-05, + -0.0011445278915237082, + -0.002320677735031966 + ], + [ + 5.98011128730707e-05, + 0.9999987346989467, + 0.0015896617037139509, + 0.0008942745435195432 + ], + [ + 0.001144434272008018, + -0.0015897291038991278, + 0.9999980815139463, + 0.003042926326271525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999984774050613, + -2.897501232552682e-05, + -0.0017448060086843824, + -0.004092193309861976 + ], + [ + 3.32308125947382e-05, + 0.999997024727827, + 0.0024391455895438965, + 0.001202137342973782 + ], + [ + 0.0017447301431380968, + -0.0024391998570346555, + 0.9999955031002815, + 0.004446143254332156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999956621711263, + 3.056811428328786e-05, + -0.0029452851340585995, + -0.006385217970492751 + ], + [ + -1.8379887199161404e-05, + 0.9999914376328943, + 0.004138154549648138, + 0.0018180315947715344 + ], + [ + 0.002945386411027247, + -0.004138082465033316, + 0.9999871004030013, + 0.0072517563018055795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999993712881975, + 6.110445393735906e-05, + -0.0035454848424713303, + -0.008156721362261754 + ], + [ + -4.342023083401544e-05, + 0.9999875605151314, + 0.004987677784345903, + 0.002126050896443342 + ], + [ + 0.0035457455077937076, + -0.004987492480456722, + 0.9999812761284842, + 0.00865122098388643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999854383244128, + 0.0025534284812224117, + -0.004754276193427553, + -0.010882190560191614 + ], + [ + -0.0025214755583696296, + 0.9999742765606198, + 0.006714788014051137, + 0.002357747799488412 + ], + [ + 0.004771299628052543, + -0.006702702444266973, + 0.9999661536671144, + 0.011817730286181357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999784293805518, + 0.0038003616778856026, + -0.005357053735233992, + -0.01286988417742425 + ], + [ + -0.0037597031910296523, + 0.9999642075863453, + 0.007579457640765298, + 0.0024782637421610393 + ], + [ + 0.005385666673707851, + -0.0075591532151460285, + 0.9999569259708889, + 0.01339645900751952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999586682557176, + 0.0062957538834918225, + -0.006559364549282011, + -0.015595213077119795 + ], + [ + -0.006234541955944051, + 0.9999372157774296, + 0.009311014438925843, + 0.0027207729923022575 + ], + [ + 0.006617572579991344, + -0.009269734964971212, + 0.9999351377698594, + 0.01655754894492869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999353564565042, + 0.008489946269178972, + -0.007563314124783796, + -0.01794050703148589 + ], + [ + -0.008406384349452335, + 0.9999040248695944, + 0.011012436231588407, + 0.0030329556426482987 + ], + [ + 0.007656083226623317, + -0.010948144223199301, + 0.9999107572817161, + 0.01973653613698724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999237418456953, + 0.009436011737950806, + -0.00796694268743236, + -0.019548109913317423 + ], + [ + -0.00934126299344859, + 0.9998861841259526, + 0.011847345682853611, + 0.0032285746658163848 + ], + [ + 0.008077827615813873, + -0.011772020919241387, + 0.9998980789182897, + 0.021330565074109784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998973478865967, + 0.01132911247783157, + -0.008771824201118656, + -0.021513313367400814 + ], + [ + -0.0112099361988318, + 0.9998457849694617, + 0.013518269460967415, + 0.003612796975598112 + ], + [ + 0.008923621449210538, + -0.01341855019239578, + 0.9998701473146229, + 0.02452658269774099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998825685843155, + 0.012276144448998199, + -0.009173075749134086, + -0.023120796187485193 + ], + [ + -0.012143727502857096, + 0.9998232266270342, + 0.01435428087515958, + 0.003814242684263313 + ], + [ + 0.009347669419078391, + -0.014241199899374724, + 0.9998548941230712, + 0.026117941176878014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998543009434836, + 0.01396195771459444, + -0.00982041860584467, + -0.024706610613543394 + ], + [ + -0.013803374117616458, + 0.999776149508121, + 0.016034891258905646, + 0.004365171010806428 + ], + [ + 0.010042098774024254, + -0.0158970000783698, + 0.9998232051921587, + 0.029325413136193024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999841264298017, + 0.01470061819380528, + -0.010066679276851214, + -0.02593478752354169 + ], + [ + -0.014529359786949404, + 0.9997519628147646, + 0.016879293593245238, + 0.00473048280553695 + ], + [ + 0.010312318416554157, + -0.01673035184165454, + 0.9998068570559667, + 0.03092969876441321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998133816110505, + 0.016178529443108675, + -0.010557326201955167, + -0.027141242915507846 + ], + [ + -0.015980621296144987, + 0.9996998684317359, + 0.018568597161856274, + 0.00544656220159524 + ], + [ + 0.010854570210985813, + -0.01839641928823556, + 0.9997718490050149, + 0.034149777601747616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997830865188685, + 0.017657221305634182, + -0.011045471767595653, + -0.0283475833681588 + ], + [ + -0.017430930041846083, + 0.9996428129500196, + 0.020258558567890984, + 0.006166251887110998 + ], + [ + 0.011399236320085744, + -0.02006163136776917, + 0.9997337587368863, + 0.037368455541195916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997685105673546, + 0.018353904306595684, + -0.011227621058702342, + -0.029218799742104545 + ], + [ + -0.018115370677892234, + 0.9996155468082079, + 0.020990281668675462, + 0.006573850083790444 + ], + [ + 0.01160855818506545, + -0.020782030122971612, + 0.9997166341523142, + 0.03902198529485607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997378125089429, + 0.01974763647414017, + -0.011590387979664891, + -0.029711416116227362 + ], + [ + -0.01948376508897518, + 0.9995580011959915, + 0.022454067405082375, + 0.007369814121185752 + ], + [ + 0.01202867980252129, + -0.022222355832799533, + 0.9996806879016163, + 0.04234247748547351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9997216904340701, + 0.020444684186738272, + -0.011771005231070976, + -0.03058250467000633 + ], + [ + -0.02016771743646022, + 0.9995277217856202, + 0.02318612851363786, + 0.007781678476771601 + ], + [ + 0.012239479116713442, + -0.0229422812848323, + 0.999661866272991, + 0.04399466388751089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9996879002770862, + 0.02183913923367729, + -0.012130706373605209, + -0.03107491233647542 + ], + [ + -0.021535128847716013, + 0.9994641499142937, + 0.0246505833929087, + 0.00858360558739693 + ], + [ + 0.01266255365646434, + -0.02438165362789271, + 0.9996225261073636, + 0.04731324699101563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9997053647498396, + 0.020917212953546833, + -0.0123147834997775, + -0.03098687640608012 + ], + [ + -0.02058601205150892, + 0.99943858506691, + 0.02643351636215537, + 0.008606823329917388 + ], + [ + 0.01286078528728122, + -0.02617221583491124, + 0.9995747172273244, + 0.05080437220875714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9997137552925497, + 0.020456366922759157, + -0.012407438542652896, + -0.031567687154983315 + ], + [ + -0.020111314639870558, + 0.9994242770914094, + 0.027324885796103628, + 0.008630108413609262 + ], + [ + 0.012959263186014544, + -0.027067534291756658, + 0.9995496016131667, + 0.05254166578259754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9997298529475717, + 0.01953491144507687, + -0.012593981112421007, + -0.031479689617051616 + ], + [ + -0.019161644225955735, + 0.999392610110228, + 0.029107425987608043, + 0.00864915837189243 + ], + [ + 0.013154942644683393, + -0.028858241316809093, + 0.999496948165484, + 0.056031994719084134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9997375600433589, + 0.01907430294407477, + -0.01268786844782404, + -0.03206053230345972 + ], + [ + -0.01868667219853498, + 0.9993752511370538, + 0.029998594915350976, + 0.008669468357069525 + ], + [ + 0.013252144003750035, + -0.029753628046819473, + 0.9994694103860086, + 0.05776871110199636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9998021100790417, + 0.015511145528328465, + -0.012455723419174822, + -0.03245125978586266 + ], + [ + -0.015104763249074778, + 0.9993710685762552, + 0.03208291476695058, + 0.00877747449203568 + ], + [ + 0.012945532383234155, + -0.031888425128140635, + 0.9994075952954139, + 0.061012215874190485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998295706723105, + 0.01372930576487678, + -0.012342437864465079, + -0.03327143008264024 + ], + [ + -0.013313975396976305, + 0.9993625220877627, + 0.033125330270278516, + 0.008836445857319842 + ], + [ + 0.012789357620786502, + -0.03295535782844486, + 0.9993749930441761, + 0.0626263502218296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998748624161445, + 0.010165142641088046, + -0.012121443122930219, + -0.0336618080589335 + ], + [ + -0.009732771645726272, + 0.9993325188793223, + 0.035210649900293545, + 0.008928804267852227 + ], + [ + 0.01247127356721219, + -0.0350882684867069, + 0.9993063998345134, + 0.06587157286012811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999087843431634, + 0.006783864367999674, + -0.011679134283577192, + -0.03426109339234246 + ], + [ + -0.006345707008365244, + 0.9992894378128889, + 0.037153081677899435, + 0.009229533563217101 + ], + [ + 0.011922876999333172, + -0.037075580370875744, + 0.9992413353861127, + 0.06925849939839726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.99992219155405, + 0.005184568972740654, + -0.011345972074393487, + -0.03529018599986521 + ], + [ + -0.004749375263181605, + 0.9992644311922716, + 0.03805312061573402, + 0.009488418316613886 + ], + [ + 0.011534915359702497, + -0.03799627348244849, + 0.9992113034434167, + 0.07101574590380576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999409545127415, + 0.0019850254357091793, + -0.010683967529321206, + -0.03609824364598588 + ], + [ + -0.0015577316299391361, + 0.999204271881078, + 0.03985469265687995, + 0.009992306415423332 + ], + [ + 0.01075457857459275, + -0.039835696662978815, + 0.9991483655148811, + 0.07454675735660753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999463101946228, + 0.0003847885355089311, + -0.010355127519380633, + -0.03712710805191012 + ], + [ + 3.7569044303741305e-05, + 0.9991691194018708, + 0.04075621943038145, + 0.010241254035394404 + ], + [ + 0.010362206170821122, + -0.04075442026913685, + 0.9991154597501735, + 0.0763065995428013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999524064930534, + -0.0025917967288337923, + -0.009405707760081896, + -0.03813126105408955 + ], + [ + 0.002988700063075881, + 0.9990948687752299, + 0.04243242697441883, + 0.010868084175694214 + ], + [ + 0.009287218134868405, + -0.04245851830578669, + 0.9990550644496994, + 0.0798459226320236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.999953539214928, + -0.00396832633829601, + -0.008784748010746832, + -0.039356493379240055 + ], + [ + 0.004344351196057605, + 0.9990566771576643, + 0.043207435001073616, + 0.011244531453160955 + ], + [ + 0.008604999954959159, + -0.04324359158025007, + 0.9990275000033862, + 0.08161365095282344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999489292885302, + -0.0067228210910135295, + -0.007546024867473456, + -0.0405567381601132 + ], + [ + 0.0070540353894119395, + 0.9989728687974873, + 0.04475989266344922, + 0.01199614493691973 + ], + [ + 0.007237361359447797, + -0.044810836670350115, + 0.9989692735602314, + 0.08516340702748872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999351522576027, + -0.009479203246707934, + -0.006311575506406306, + -0.041756581814227846 + ], + [ + 0.009761535948842302, + 0.9988791610930933, + 0.0463155907862353, + 0.012741077014636884 + ], + [ + 0.005865466348460767, + -0.04637419799593462, + 0.9989069176178276, + 0.08871676309630047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999297584009016, + -0.010635645877710997, + -0.0052308031007499214, + -0.04327360819855644 + ], + [ + 0.010870564753259381, + 0.9988288596669918, + 0.04714594275526021, + 0.012917299591653556 + ], + [ + 0.004723249544548827, + -0.04719949293266833, + 0.9988743158078693, + 0.0906739447216798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.999911410787784, + -0.012951161955368362, + -0.003072129617991404, + -0.04505738160444183 + ], + [ + 0.013085725244245004, + 0.9987223508306683, + 0.0488101397877142, + 0.013277918177909572 + ], + [ + 0.0024360564886820413, + -0.04884601677997799, + 0.9988033501513272, + 0.09460004729355066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9998984570902103, + -0.014110227975872004, + -0.001994235464026042, + -0.046574015184651055 + ], + [ + 0.014191849826515845, + 0.9986661437620331, + 0.049643979513854526, + 0.01344734726657021 + ], + [ + 0.001291087572042369, + -0.04966724040994531, + 0.9987649865323385, + 0.09656449850847817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9998649901207542, + -0.016430957393890198, + 0.00015865038437884357, + -0.04835698542543921 + ], + [ + 0.01640116992722322, + 0.9985478252251319, + 0.05131512801482722, + 0.013798553763795409 + ], + [ + -0.0010015766783662726, + -0.05130559791367723, + 0.9986824983281111, + 0.10050086914719507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.999846359019741, + -0.017464231933198918, + 0.0015029830175266915, + -0.04979837533154318 + ], + [ + 0.017362331261569268, + 0.9984929170148404, + 0.05206192586102514, + 0.013840847504786386 + ], + [ + -0.002409939445519943, + -0.052027831726670866, + 0.9986427273643415, + 0.10243332230714323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9998004233996496, + -0.01953363819238308, + 0.004189313649097313, + -0.051430820368568136 + ], + [ + 0.019281435756581394, + 0.998378498743933, + 0.05355930807035702, + 0.013942493002857574 + ], + [ + -0.005228728817433981, + -0.053467842903745975, + 0.9985558823471895, + 0.10630236120844877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9997429237643748, + -0.021606830337685783, + 0.006872500696147298, + -0.053062557910764724 + ], + [ + 0.02119622739704148, + 0.9982579459907868, + 0.055061721825502306, + 0.014039561773487022 + ], + [ + -0.008050237710340729, + -0.05490189567778648, + 0.9984593008850151, + 0.11017858645863497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999709837681602, + -0.022644837222457182, + 0.008212903858762475, + -0.054502966480752035 + ], + [ + 0.022151997677079083, + 0.9981953696974407, + 0.05581480908777212, + 0.014072540367988122 + ], + [ + -0.009461999869982068, + -0.055616681506164896, + 0.9984073593963049, + 0.11212531027335554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9996393183097874, + -0.024448605419648817, + 0.011113009591372815, + -0.05549926345143991 + ], + [ + 0.023773800631731377, + 0.9980761329829684, + 0.05726114889946565, + 0.014516616718105436 + ], + [ + -0.01249158487407881, + -0.05697629737705326, + 0.9982973814673338, + 0.11554291401184826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995996569000912, + -0.025351941550897008, + 0.012562045407489958, + -0.05662185626670434 + ], + [ + 0.024583028134373377, + 0.9980146762674172, + 0.057986038686799614, + 0.014721861082683576 + ], + [ + -0.014007164344168483, + -0.057654011260642714, + 0.9982383554705725, + 0.11726335338613832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9995115313134277, + -0.02716150238390475, + 0.015458058084247423, + -0.057616848863400544 + ], + [ + 0.02619812130972732, + 0.9978880871738431, + 0.05943924559051286, + 0.015159221562428174 + ], + [ + -0.017039871223916037, + -0.05900523929938449, + 0.9981122304249631, + 0.12069438814823936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9994630674387818, + -0.028067720877833255, + 0.01690502500990402, + -0.05873867664966065 + ], + [ + 0.02700398144174377, + 0.9978229552300935, + 0.060167557721559344, + 0.01535960608121318 + ], + [ + -0.01855698822965071, + -0.05967874881904999, + 0.9980451318087963, + 0.12242439023744152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9993814282998683, + -0.029589823500222774, + 0.01900534436786306, + -0.0591207894676631 + ], + [ + 0.028370864471042548, + 0.9977045693221812, + 0.06148728651361056, + 0.01613918501229943 + ], + [ + -0.02078111687280392, + -0.060910054168969205, + 0.9979269063827533, + 0.125610838106025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9992930154985439, + -0.03111445068605349, + 0.0211035573857173, + -0.059502291768073624 + ], + [ + 0.029734742592830526, + 0.9975824659143327, + 0.06280978254394337, + 0.016915527030263073 + ], + [ + -0.02300683069797376, + -0.06213786815448764, + 0.997802370754074, + 0.12880294140713733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9992462692048272, + -0.031877706980433254, + 0.022151868496892015, + -0.06031733496851422 + ], + [ + 0.030415551224627236, + 0.9975200204679129, + 0.06347206479544161, + 0.017283478216254353 + ], + [ + -0.0241202761994144, + -0.06275046265458366, + 0.9977377369392718, + 0.13041619052022863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9991644273119895, + -0.03325355657163793, + 0.023762326688289682, + -0.06035853664621522 + ], + [ + 0.03166071664168096, + 0.9974136485375021, + 0.06452606243095345, + 0.017589723526162712 + ], + [ + -0.025846590027299825, + -0.06371981392349628, + 0.997633068366078, + 0.13377832929180683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9991303316196216, + -0.03386571352474508, + 0.02432475868585293, + -0.06083378739790652 + ], + [ + 0.03222557773904181, + 0.9973701636942168, + 0.06491739914657806, + 0.017489406179978993 + ], + [ + -0.026459262594601, + -0.06407706313518947, + 0.9975941245831988, + 0.1355574971798369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9990600606734934, + -0.035090595333277665, + 0.02544887593257922, + -0.06053507033681221 + ], + [ + 0.03335454439196411, + 0.9972817321141934, + 0.06570099816379305, + 0.017326278264515518 + ], + [ + -0.027685186209959894, + -0.06479040754980936, + 0.9975147786143569, + 0.13908585984173952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9990238854784391, + -0.03570331916541043, + 0.026010560242630494, + -0.061009967623921496 + ], + [ + 0.033918649004362464, + 0.997236785451333, + 0.06609325981074791, + 0.017222481598029308 + ], + [ + -0.028298436233854606, + -0.06514650215679273, + 0.9974743764946815, + 0.1408688959129155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9989515776239183, + -0.03699736656981303, + 0.026961832830576717, + -0.06103074834352839 + ], + [ + 0.03512922271062758, + 0.9971514227252309, + 0.06674562059637487, + 0.017151694872684996 + ], + [ + -0.02935444215842315, + -0.06572849476404413, + 0.9974056755912416, + 0.144403956523526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9988788518345966, + -0.03835985329335654, + 0.027740962725011066, + -0.06137126356754092 + ], + [ + 0.03642227393473176, + 0.9970700628162407, + 0.06726594827281816, + 0.01717499980565734 + ], + [ + -0.030239995354193583, + -0.06618014423473444, + 0.9973493526292823, + 0.14794274214059183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9988415656460258, + -0.039041203459469084, + 0.02813025364678639, + -0.062165664924133474 + ], + [ + 0.03706860208617305, + 0.9970286318268702, + 0.06752648411413509, + 0.01716228585914693 + ], + [ + -0.030682983511600814, + -0.06640550993611832, + 0.9973208424438703, + 0.1497321566968824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9987651468071244, + -0.04040411509681237, + 0.02890828612330735, + -0.06250559768891778 + ], + [ + 0.038360861282675865, + 0.9969442679184516, + 0.06804829892211903, + 0.01717999037180618 + ], + [ + -0.031569381447769364, + -0.0668553225090292, + 0.9972631247605714, + 0.1532748770613825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9987168811756344, + -0.041088310347439136, + 0.029603074293159476, + -0.06357815321144109 + ], + [ + 0.0389889823202481, + 0.9969022605451308, + 0.06830623820442451, + 0.017428980339829814 + ], + [ + -0.032317959595945626, + -0.06706439944412183, + 0.9972251078942779, + 0.15540556544383483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9986174881151547, + -0.042457083189786984, + 0.030992071850625875, + -0.06447441576929508 + ], + [ + 0.040244591708362434, + 0.9968167887327136, + 0.06882341562889684, + 0.017972602559258 + ], + [ + -0.03381545902107577, + -0.06748100316100956, + 0.9971473456533783, + 0.15963031295573285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9985663607866287, + -0.04314165939799054, + 0.031686279834280066, + -0.065546451427097 + ], + [ + 0.04087207878976949, + 0.9967733243800097, + 0.0690826532483151, + 0.01821771510836798 + ], + [ + -0.03456437878439889, + -0.06768852952171321, + 0.9971076003573721, + 0.16176570600165827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9984612447913946, + -0.044511187928704836, + 0.033074110703000634, + -0.06644184097803853 + ], + [ + 0.0421264145560517, + 0.996684939001274, + 0.06960242499136542, + 0.01875594154740368 + ], + [ + -0.03606255462762581, + -0.06810203019883103, + 0.9970263816151141, + 0.16599705686298452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9983437066709574, + -0.045541646670946366, + 0.035153972307438816, + -0.06797666690292248 + ], + [ + 0.043001849488167064, + 0.9966264813700715, + 0.06990348755611295, + 0.019656138879766732 + ], + [ + -0.038218899658291075, + -0.06827602104992125, + 0.9969341506130184, + 0.17062633259408486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9982829094108279, + -0.04605699605723822, + 0.036193727252616145, + -0.06936773803864028 + ], + [ + 0.043439307617281736, + 0.9965968921388857, + 0.07005470100461406, + 0.02007828751913727 + ], + [ + -0.039297065182840235, + -0.06836218028484936, + 0.9968863290138539, + 0.1729675521526856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9981572589068477, + -0.04708793133307067, + 0.03827287831271926, + -0.07090139820831401 + ], + [ + 0.044313702207625746, + 0.996536993047855, + 0.07035849119895357, + 0.02097473837518521 + ], + [ + -0.041453374871318505, + -0.06853282578379052, + 0.9967872739465862, + 0.17760625905718164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9980924058349901, + -0.0476035158114498, + 0.03931227158166827, + -0.07229175475647344 + ], + [ + 0.04475063747196915, + 0.9965066832700017, + 0.07051106752895892, + 0.021394196036096304 + ], + [ + -0.04253151608365479, + -0.0686173118142212, + 0.9967360406140716, + 0.17995421514824272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.997954483249912, + -0.04821899390660856, + 0.04197353914117617, + -0.07396939179598853 + ], + [ + 0.04518052060125869, + 0.996484303275619, + 0.07055319896010209, + 0.021316175081163697 + ], + [ + -0.04522797717785576, + -0.06851249485998126, + 0.9966245371896383, + 0.18372338562047832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9978090932570637, + -0.048834176957962, + 0.044634477417741604, + -0.07564605863364016 + ], + [ + 0.045610276062642056, + 0.9964616601754909, + 0.07059647666699914, + 0.021237090110595006 + ], + [ + -0.04792406630291313, + -0.06840601553330691, + 0.9965058458974794, + 0.18749926609303366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.997733598320429, + -0.04914165640398248, + 0.045964816854221144, + -0.07710760300334271 + ], + [ + 0.045825104913171585, + 0.9964502400136295, + 0.07061854527301799, + 0.021168508163258562 + ], + [ + -0.0492719650741269, + -0.06835215272874294, + 0.996443805076373, + 0.18942051658989517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9975721920786863, + -0.04971942091172184, + 0.04876167322321871, + -0.07864247620943886 + ], + [ + 0.04622014618425964, + 0.9964447059435677, + 0.07043895288647357, + 0.02124313068184701 + ], + [ + -0.05209049508337002, + -0.06801416897412048, + 0.9963235684960632, + 0.19302925735169177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9974859341348506, + -0.04998936114420041, + 0.05022822887101644, + -0.0799628213032524 + ], + [ + 0.046400687387069164, + 0.9964505520025796, + 0.07023726663077043, + 0.021328843003195232 + ], + [ + -0.053561062472023316, + -0.0677300611704224, + 0.996264950402612, + 0.19478032369078008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9973067798020228, + -0.050527978205690056, + 0.05316117360786413, + -0.08135563362148406 + ], + [ + 0.046762655127963716, + 0.996461926830983, + 0.06983467950573224, + 0.02155728722560577 + ], + [ + -0.05650169064995567, + -0.06716064170874578, + 0.9961410578622721, + 0.19822281291711558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9972138838207067, + -0.05079665380904511, + 0.05462755602281937, + -0.08267483388171895 + ], + [ + 0.046944080842369056, + 0.9964674555744899, + 0.0696337795525088, + 0.021641790451723722 + ], + [ + -0.057971744747655866, + -0.06687533134651594, + 0.9960757836973082, + 0.199983023472948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9970389964134663, + -0.05127070774897931, + 0.057311029983298754, + -0.08395774767958442 + ], + [ + 0.04727092895367935, + 0.9964896710501298, + 0.06909265348978977, + 0.022079503326491674 + ], + [ + -0.06065227866027801, + -0.06617892426840066, + 0.9959626755436135, + 0.20347781031047293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9968749142482113, + -0.051680799018941875, + 0.05974529567577198, + -0.08513172381521415 + ], + [ + 0.047562422698244816, + 0.9965227492092156, + 0.06841217914655659, + 0.02272731750723446 + ], + [ + -0.06307314238005877, + -0.06535675421309417, + 0.9958665941726503, + 0.20701844527955124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9967906115168443, + -0.051885088507776046, + 0.0609624013832755, + -0.08634134157215825 + ], + [ + 0.0477087875767725, + 0.9965390347842064, + 0.06807219505287478, + 0.023021075778153276 + ], + [ + -0.06428334449785374, + -0.06494528267628431, + 0.9958161285489745, + 0.2088311880194062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9966174834529541, + -0.052292153505765965, + 0.06339654846780254, + -0.08751373766088373 + ], + [ + 0.04800275213737752, + 0.9965710987905697, + 0.06739273582957132, + 0.023667379173732024 + ], + [ + -0.06670327925326106, + -0.06412156998301193, + 0.9957103478420697, + 0.21238232572846547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.996559957903466, + -0.05253116248490844, + 0.06409935468806464, + -0.08844300994955932 + ], + [ + 0.04823746463754343, + 0.9966004884032129, + 0.06678782463757342, + 0.02391235268199464 + ], + [ + -0.06738989025650595, + -0.06346608135422936, + 0.9957061108624143, + 0.21444398553671673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9964432896695169, + -0.05300778328994272, + 0.06550530805421649, + -0.08905540928112393 + ], + [ + 0.04870813258494406, + 0.9966579095287265, + 0.0655784201846664, + 0.024461301779476745 + ], + [ + -0.06876255007399625, + -0.062154535510416456, + 0.9956949961824684, + 0.2184864460319874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.99638414709457, + -0.05324539466844001, + 0.06620845388036567, + -0.08998416033243246 + ], + [ + 0.048944087590372096, + 0.9966859409876965, + 0.06497392805900123, + 0.02470468408353485 + ], + [ + -0.06944859759975311, + -0.061498479526508165, + 0.9956881184926109, + 0.22055234081287076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9962642453063111, + -0.05371921826218971, + 0.0676150805186661, + -0.09059572487447007 + ], + [ + 0.04941723855725246, + 0.9967406455665001, + 0.06376536684637069, + 0.025251324930509446 + ], + [ + -0.07082012466539492, + -0.06018580451382081, + 0.9956717224454062, + 0.22460069306667935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_153/move_right/transforms.json b/spatialvid_eval/camera_controls/scene_153/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d2ad1dcf32a04c0e2edbe554b2075b3fd78a05f6 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_153/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": [ + [ + 0.9999999918751143, + -0.00011446534111034202, + 5.610220203472413e-05, + -2.7641434846766612e-05 + ], + [ + 0.00011447147034955688, + 0.9999999874792367, + -0.00010926028067274708, + 0.0002786070447213657 + ], + [ + -5.608969481698472e-05, + 0.00010926670188657656, + 0.999999992457367, + 0.00023206044795460348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999993433467963, + -5.798173481084076e-05, + -0.0011445278915237082, + 0.00017932062333502505 + ], + [ + 5.98011128730707e-05, + 0.9999987346989467, + 0.0015896617037139509, + 0.0008944240463017259 + ], + [ + 0.001144434272008018, + -0.0015897291038991278, + 0.9999980815139463, + 0.0030457874119515452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999984774050613, + -2.897501232552682e-05, + -0.0017448060086843824, + 0.0009077990771633312 + ], + [ + 3.32308125947382e-05, + 0.999997024727827, + 0.0024391455895438965, + 0.0012023034970367556 + ], + [ + 0.0017447301431380968, + -0.0024391998570346555, + 0.9999955031002815, + 0.004454866905047846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999956621711263, + 3.056811428328786e-05, + -0.0029452851340585995, + 0.001114749495790698 + ], + [ + -1.8379887199161404e-05, + 0.9999914376328943, + 0.004138154549648138, + 0.001817893745617541 + ], + [ + 0.002945386411027247, + -0.004138082465033316, + 0.9999871004030013, + 0.007273846699888284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999993712881975, + 6.110445393735906e-05, + -0.0035454848424713303, + 0.0018432157665579972 + ], + [ + -4.342023083401544e-05, + 0.9999875605151314, + 0.004987677784345903, + 0.002125616694135002 + ], + [ + 0.0035457455077937076, + -0.004987492480456722, + 0.9999812761284842, + 0.008686678438964366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999854383244128, + 0.0025534284812224117, + -0.004754276193427553, + 0.0016176274188635462 + ], + [ + -0.0025214755583696296, + 0.9999742765606198, + 0.006714788014051137, + 0.002326229355008792 + ], + [ + 0.004771299628052543, + -0.006702702444266973, + 0.9999661536671144, + 0.011877371531532012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999784293805518, + 0.0038003616778856026, + -0.005357053735233992, + 0.0021297922632840293 + ], + [ + -0.0037597031910296523, + 0.9999642075863453, + 0.007579457640765298, + 0.0024218681942955946 + ], + [ + 0.005385666673707851, + -0.0075591532151460285, + 0.9999569259708889, + 0.013477244007625136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999586682557176, + 0.0062957538834918225, + -0.006559364549282011, + 0.0019040636173552634 + ], + [ + -0.006234541955944051, + 0.9999372157774296, + 0.009311014438925843, + 0.0026116685080732364 + ], + [ + 0.006617572579991344, + -0.009269734964971212, + 0.9999351377698594, + 0.01667335646507854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999353564565042, + 0.008489946269178972, + -0.007563314124783796, + 0.0020582000976441996 + ], + [ + -0.008406384349452335, + 0.9999040248695944, + 0.011012436231588407, + 0.0028648279556592517 + ], + [ + 0.007656083226623317, + -0.010948144223199301, + 0.9999107572817161, + 0.019889657801519703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999237418456953, + 0.009436011737950806, + -0.00796694268743236, + 0.002950174278210725 + ], + [ + -0.00934126299344859, + 0.9998861841259526, + 0.011847345682853611, + 0.0030183962484637912 + ], + [ + 0.008077827615813873, + -0.011772020919241387, + 0.9998980789182897, + 0.0215123161954656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998973478865967, + 0.01132911247783157, + -0.008771824201118656, + 0.003484120329764105 + ], + [ + -0.0112099361988318, + 0.9998457849694617, + 0.013518269460967415, + 0.003332548570627317 + ], + [ + 0.008923621449210538, + -0.01341855019239578, + 0.9998701473146229, + 0.024749673233971255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998825685843155, + 0.012276144448998199, + -0.009173075749134086, + 0.004375974448583482 + ], + [ + -0.012143727502857096, + 0.9998232266270342, + 0.01435428087515958, + 0.0034802901779347425 + ], + [ + 0.009347669419078391, + -0.014241199899374724, + 0.9998548941230712, + 0.026375002085902672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998543009434836, + 0.01396195771459444, + -0.00982041860584467, + 0.005289018414761121 + ], + [ + -0.013803374117616458, + 0.999776149508121, + 0.016034891258905646, + 0.003951069787277934 + ], + [ + 0.010042098774024254, + -0.0158970000783698, + 0.9998232051921587, + 0.029626676099413753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999841264298017, + 0.01470061819380528, + -0.010066679276851214, + 0.006560053566143866 + ], + [ + -0.014529359786949404, + 0.9997519628147646, + 0.016879293593245238, + 0.004258278612461094 + ], + [ + 0.010312318416554157, + -0.01673035184165454, + 0.9998068570559667, + 0.031264849112951215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998133816110505, + 0.016178529443108675, + -0.010557326201955167, + 0.00785222544087892 + ], + [ + -0.015980621296144987, + 0.9996998684317359, + 0.018568597161856274, + 0.004887240456230165 + ], + [ + 0.010854570210985813, + -0.01839641928823556, + 0.9997718490050149, + 0.03452968755913212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997830865188685, + 0.017657221305634182, + -0.011045471767595653, + 0.00914428237629877 + ], + [ + -0.017430930041846083, + 0.9996428129500196, + 0.020258558567890984, + 0.00551259201054177 + ], + [ + 0.011399236320085744, + -0.02006163136776917, + 0.9997337587368863, + 0.037795926903199134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997685105673546, + 0.018353904306595684, + -0.011227621058702342, + 0.010771940680589644 + ], + [ + -0.018115370677892234, + 0.9996155468082079, + 0.020990281668675462, + 0.005849235256674754 + ], + [ + 0.01160855818506545, + -0.020782030122971612, + 0.9997166341523142, + 0.039486327622258684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997378125089429, + 0.01974763647414017, + -0.011590387979664891, + 0.012777440915402723 + ], + [ + -0.01948376508897518, + 0.9995580011959915, + 0.022454067405082375, + 0.006541754104904307 + ], + [ + 0.01202867980252129, + -0.022222355832799533, + 0.9996806879016163, + 0.04285369637708067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9997216904340701, + 0.020444684186738272, + -0.011771005231070976, + 0.014404971399526829 + ], + [ + -0.02016771743646022, + 0.9995277217856202, + 0.02318612851363786, + 0.0068741311921308905 + ], + [ + 0.012239479116713442, + -0.0229422812848323, + 0.999661866272991, + 0.044545440447763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9996879002770862, + 0.02183913923367729, + -0.012130706373605209, + 0.01641026292668618 + ], + [ + -0.021535128847716013, + 0.9994641499142937, + 0.0246505833929087, + 0.0075606869671304205 + ], + [ + 0.01266255365646434, + -0.02438165362789271, + 0.9996225261073636, + 0.047914718289697684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9997053647498396, + 0.020917212953546833, + -0.0123147834997775, + 0.018998391831411863 + ], + [ + -0.02058601205150892, + 0.99943858506691, + 0.02643351636215537, + 0.0075775227273419425 + ], + [ + 0.01286078528728122, + -0.02617221583491124, + 0.9995747172273244, + 0.05144741147312119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9997137552925497, + 0.020456366922759157, + -0.012407438542652896, + 0.020917284997875547 + ], + [ + -0.020111314639870558, + 0.9994242770914094, + 0.027324885796103628, + 0.007574264395016059 + ], + [ + 0.012959263186014544, + -0.027067534291756658, + 0.9995496016131667, + 0.053222027099863296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9997298529475717, + 0.01953491144507687, + -0.012593981112421007, + 0.02350545229506483 + ], + [ + -0.019161644225955735, + 0.999392610110228, + 0.029107425987608043, + 0.0075952679394648654 + ], + [ + 0.013154942644683393, + -0.028858241316809093, + 0.999496948165484, + 0.05675551656454172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9997375600433589, + 0.01907430294407477, + -0.01268786844782404, + 0.025424377399033426 + ], + [ + -0.01868667219853498, + 0.9993752511370538, + 0.029998594915350976, + 0.007594984705653763 + ], + [ + 0.013252144003750035, + -0.029753628046819473, + 0.9994694103860086, + 0.05853070938221199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9998021100790417, + 0.015511145528328465, + -0.012455723419174822, + 0.02753686681887985 + ], + [ + -0.015104763249074778, + 0.9993710685762552, + 0.03208291476695058, + 0.007871188697091192 + ], + [ + 0.012945532383234155, + -0.031888425128140635, + 0.9994075952954139, + 0.06178894781718453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998295706723105, + 0.01372930576487678, + -0.012342437864465079, + 0.029217918084379166 + ], + [ + -0.013313975396976305, + 0.9993625220877627, + 0.033125330270278516, + 0.008004322395008822 + ], + [ + 0.012789357620786502, + -0.03295535782844486, + 0.9993749930441761, + 0.06342568507312875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998748624161445, + 0.010165142641088046, + -0.012121443122930219, + 0.031330057998115904 + ], + [ + -0.009732771645726272, + 0.9993325188793223, + 0.035210649900293545, + 0.008296174110880019 + ], + [ + 0.01247127356721219, + -0.0350882684867069, + 0.9993063998345134, + 0.06668220564199691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999087843431634, + 0.006783864367999674, + -0.011679134283577192, + 0.033232749550821075 + ], + [ + -0.006345707008365244, + 0.9992894378128889, + 0.037153081677899435, + 0.008801198340152446 + ], + [ + 0.011922876999333172, + -0.037075580370875744, + 0.9992413353861127, + 0.07006329359585226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.99992219155405, + 0.005184568972740654, + -0.011345972074393487, + 0.034704367408918295 + ], + [ + -0.004749375263181605, + 0.9992644311922716, + 0.03805312061573402, + 0.009155962048191173 + ], + [ + 0.011534915359702497, + -0.03799627348244849, + 0.9992113034434167, + 0.07182318997898494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999409545127415, + 0.0019850254357091793, + -0.010683967529321206, + 0.036397475556187886 + ], + [ + -0.0015577316299391361, + 0.999204271881078, + 0.03985469265687995, + 0.009879370872252746 + ], + [ + 0.01075457857459275, + -0.039835696662978815, + 0.9991483655148811, + 0.07532646430326549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999463101946228, + 0.0003847885355089311, + -0.010355127519380633, + 0.03786886521268659 + ], + [ + 3.7569044303741305e-05, + 0.9991691194018708, + 0.04075621943038145, + 0.010244071713717186 + ], + [ + 0.010362206170821122, + -0.04075442026913685, + 0.9991154597501735, + 0.0770837650056129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999524064930534, + -0.0025917967288337923, + -0.009405707760081896, + 0.0393650504491221 + ], + [ + 0.002988700063075881, + 0.9990948687752299, + 0.04243242697441883, + 0.011099708430582595 + ], + [ + 0.009287218134868405, + -0.04245851830578669, + 0.9990550644496994, + 0.0805656820374759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.999953539214928, + -0.00396832633829601, + -0.008784748010746832, + 0.0406397897579542 + ], + [ + 0.004344351196057605, + 0.9990566771576643, + 0.043207435001073616, + 0.011592079548845564 + ], + [ + 0.008604999954959159, + -0.04324359158025007, + 0.9990275000033862, + 0.08230205094922016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999489292885302, + -0.0067228210910135295, + -0.007546024867473456, + 0.04193904850619056 + ], + [ + 0.0070540353894119395, + 0.9989728687974873, + 0.04475989266344922, + 0.012578102856546213 + ], + [ + 0.007237361359447797, + -0.044810836670350115, + 0.9989692735602314, + 0.08576048933964316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999351522576027, + -0.009479203246707934, + -0.006311575506406306, + 0.0432379061276684 + ], + [ + 0.009761535948842302, + 0.9988791610930933, + 0.0463155907862353, + 0.013570807570288479 + ], + [ + 0.005865466348460767, + -0.04637419799593462, + 0.9989069176178276, + 0.08921532773591964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999297584009016, + -0.010635645877710997, + -0.0052308031007499214, + 0.04422024566152245 + ], + [ + 0.010870564753259381, + 0.9988288596669918, + 0.04714594275526021, + 0.01386847400756375 + ], + [ + 0.004723249544548827, + -0.04719949293266833, + 0.9988743158078693, + 0.09108722905682784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.999911410787784, + -0.012951161955368362, + -0.003072129617991404, + 0.04493464536645874 + ], + [ + 0.013085725244245004, + 0.9987223508306683, + 0.0488101397877142, + 0.014455633449891623 + ], + [ + 0.0024360564886820413, + -0.04884601677997799, + 0.9988033501513272, + 0.09481929237753205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9998984570902103, + -0.014110227975872004, + -0.001994235464026042, + 0.04591659209619341 + ], + [ + 0.014191849826515845, + 0.9986661437620331, + 0.049643979513854526, + 0.014760093375522925 + ], + [ + 0.001291087572042369, + -0.04966724040994531, + 0.9987649865323385, + 0.0966839241088921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9998649901207542, + -0.016430957393890198, + 0.00015865038437884357, + 0.04663018863603246 + ], + [ + 0.01640116992722322, + 0.9985478252251319, + 0.05131512801482722, + 0.015356664906881616 + ], + [ + -0.0010015766783662726, + -0.05130559791367723, + 0.9986824983281111, + 0.10040571936275026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.999846359019741, + -0.017464231933198918, + 0.0015029830175266915, + 0.04768664467288158 + ], + [ + 0.017362331261569268, + 0.9984929170148404, + 0.05206192586102514, + 0.015533674802789391 + ], + [ + -0.002409939445519943, + -0.052027831726670866, + 0.9986427273643415, + 0.10219835321120503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9998004233996496, + -0.01953363819238308, + 0.004189313649097313, + 0.04854922197139683 + ], + [ + 0.019281435756581394, + 0.998378498743933, + 0.05355930807035702, + 0.015870636578515715 + ], + [ + -0.005228728817433981, + -0.053467842903745975, + 0.9985558823471895, + 0.10577948832670536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9997429237643748, + -0.021606830337685783, + 0.006872500696147298, + 0.04941109177508371 + ], + [ + 0.02119622739704148, + 0.9982579459907868, + 0.055061721825502306, + 0.016212175081683773 + ], + [ + -0.008050237710340729, + -0.05490189567778648, + 0.9984593008850151, + 0.10935343709332505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999709837681602, + -0.022644837222457182, + 0.008212903858762475, + 0.05046656647581618 + ], + [ + 0.022151997677079083, + 0.9981953696974407, + 0.05581480908777212, + 0.016398500124081426 + ], + [ + -0.009461999869982068, + -0.055616681506164896, + 0.9984073593963049, + 0.11113180028700742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9996393183097874, + -0.024448605419648817, + 0.011113009591372815, + 0.05196196326686222 + ], + [ + 0.023773800631731377, + 0.9980761329829684, + 0.05726114889946565, + 0.01707230028601656 + ], + [ + -0.01249158487407881, + -0.05697629737705326, + 0.9982973814673338, + 0.11420006863788477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995996569000912, + -0.025351941550897008, + 0.012562045407489958, + 0.053334105992305716 + ], + [ + 0.024583028134373377, + 0.9980146762674172, + 0.057986038686799614, + 0.017425994177464647 + ], + [ + -0.014007164344168483, + -0.057654011260642714, + 0.9982383554705725, + 0.11572256530827978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9995115313134277, + -0.02716150238390475, + 0.015458058084247423, + 0.05482819840936008 + ], + [ + 0.02619812130972732, + 0.9978880871738431, + 0.05943924559051286, + 0.018106510209772497 + ], + [ + -0.017039871223916037, + -0.05900523929938449, + 0.9981122304249631, + 0.1187774026355488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9994630674387818, + -0.028067720877833255, + 0.01690502500990402, + 0.05619957610579927 + ], + [ + 0.02700398144174377, + 0.9978229552300935, + 0.060167557721559344, + 0.018465063947013714 + ], + [ + -0.01855698822965071, + -0.05967874881904999, + 0.9980451318087963, + 0.12029033659103168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9993814282998683, + -0.029589823500222774, + 0.01900534436786306, + 0.058306528357571434 + ], + [ + 0.028370864471042548, + 0.9977045693221812, + 0.06148728651361056, + 0.019472761587646926 + ], + [ + -0.02078111687280392, + -0.060910054168969205, + 0.9979269063827533, + 0.12316905687347053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9992930154985439, + -0.03111445068605349, + 0.0211035573857173, + 0.06041287009175166 + ], + [ + 0.029734742592830526, + 0.9975824659143327, + 0.06280978254394337, + 0.020483696141402736 + ], + [ + -0.02300683069797376, + -0.06213786815448764, + 0.997802370754074, + 0.12604212172338047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9992462692048272, + -0.031877706980433254, + 0.022151868496892015, + 0.06209033300907712 + ], + [ + 0.030415551224627236, + 0.9975200204679129, + 0.06347206479544161, + 0.02100938324127119 + ], + [ + -0.0241202761994144, + -0.06275046265458366, + 0.9977377369392718, + 0.12746145668580033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9991644273119895, + -0.03325355657163793, + 0.023762326688289682, + 0.06453701676778346 + ], + [ + 0.03166071664168096, + 0.9974136485375021, + 0.06452606243095345, + 0.021547313106372833 + ], + [ + -0.025846590027299825, + -0.06371981392349628, + 0.997633068366078, + 0.13054750553839434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9991303316196216, + -0.03386571352474508, + 0.02432475868585293, + 0.06655532988359526 + ], + [ + 0.03222557773904181, + 0.9973701636942168, + 0.06491739914657806, + 0.021598167341706827 + ], + [ + -0.026459262594601, + -0.06407706313518947, + 0.9975941245831988, + 0.13218394119902527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9990600606734934, + -0.035090595333277665, + 0.02544887593257922, + 0.06934273755074194 + ], + [ + 0.03335454439196411, + 0.9972817321141934, + 0.06570099816379305, + 0.021662369035470853 + ], + [ + -0.027685186209959894, + -0.06479040754980936, + 0.9975147786143569, + 0.13548678563444475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9990238854784391, + -0.03570331916541043, + 0.026010560242630494, + 0.07136069720197172 + ], + [ + 0.033918649004362464, + 0.997236785451333, + 0.06609325981074791, + 0.021716702591107338 + ], + [ + -0.028298436233854606, + -0.06514650215679273, + 0.9974743764946815, + 0.13711935311192977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9989515776239183, + -0.03699736656981303, + 0.026961832830576717, + 0.07382771463570059 + ], + [ + 0.03512922271062758, + 0.9971514227252309, + 0.06674562059637487, + 0.021894139938619717 + ], + [ + -0.02935444215842315, + -0.06572849476404413, + 0.9974056755912416, + 0.1404411068321389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9988788518345966, + -0.03835985329335654, + 0.027740962725011066, + 0.07597457855971611 + ], + [ + 0.03642227393473176, + 0.9970700628162407, + 0.06726594827281816, + 0.022183062471682957 + ], + [ + -0.030239995354193583, + -0.06618014423473444, + 0.9973493526292823, + 0.14378474277939024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9988415656460258, + -0.039041203459469084, + 0.02813025364678639, + 0.07767215426631016 + ], + [ + 0.03706860208617305, + 0.9970286318268702, + 0.06752648411413509, + 0.022351890151211157 + ], + [ + -0.030682983511600814, + -0.06640550993611832, + 0.9973208424438703, + 0.14543653900525827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9987651468071244, + -0.04040411509681237, + 0.02890828612330735, + 0.07981843573109745 + ], + [ + 0.038360861282675865, + 0.9969442679184516, + 0.06804829892211903, + 0.022646413104587492 + ], + [ + -0.031569381447769364, + -0.0668553225090292, + 0.9972631247605714, + 0.14877624020507535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9987168811756344, + -0.041088310347439136, + 0.029603074293159476, + 0.08123579455902591 + ], + [ + 0.0389889823202481, + 0.9969022605451308, + 0.06830623820442451, + 0.023082382776265786 + ], + [ + -0.032317959595945626, + -0.06706439944412183, + 0.9972251078942779, + 0.1507194613024227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9986174881151547, + -0.042457083189786984, + 0.030992071850625875, + 0.08282166372769026 + ], + [ + 0.040244591708362434, + 0.9968167887327136, + 0.06882341562889684, + 0.02390867983624146 + ], + [ + -0.03381545902107577, + -0.06748100316100956, + 0.9971473456533783, + 0.15464253275012416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9985663607866287, + -0.04314165939799054, + 0.031686279834280066, + 0.08423850269089733 + ], + [ + 0.04087207878976949, + 0.9967733243800097, + 0.0690826532483151, + 0.024348526926833407 + ], + [ + -0.03456437878439889, + -0.06768852952171321, + 0.9971076003573721, + 0.15658104918399843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9984612447913946, + -0.044511187928704836, + 0.033074110703000634, + 0.08582349885264919 + ], + [ + 0.0421264145560517, + 0.996684939001274, + 0.06960242499136542, + 0.025180219767201566 + ], + [ + -0.03606255462762581, + -0.06810203019883103, + 0.9970263816151141, + 0.1604975172822716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9983437066709574, + -0.045541646670946366, + 0.035153972307438816, + 0.08676660763107594 + ], + [ + 0.043001849488167064, + 0.9966264813700715, + 0.06990348755611295, + 0.02632142555043263 + ], + [ + -0.038218899658291075, + -0.06827602104992125, + 0.9969341506130184, + 0.16470240314704973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9982829094108279, + -0.04605699605723822, + 0.036193727252616145, + 0.08786182019356513 + ], + [ + 0.043439307617281736, + 0.9965968921388857, + 0.07005470100461406, + 0.026919978468859147 + ], + [ + -0.039297065182840235, + -0.06836218028484936, + 0.9968863290138539, + 0.16677826438638826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9981572589068477, + -0.04708793133307067, + 0.03827287831271926, + 0.08880376321678166 + ], + [ + 0.044313702207625746, + 0.996536993047855, + 0.07035849119895357, + 0.02806493072840533 + ], + [ + -0.041453374871318505, + -0.06853282578379052, + 0.9967872739465862, + 0.1709737190777707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9980924058349901, + -0.0476035158114498, + 0.03931227158166827, + 0.08989826119171247 + ], + [ + 0.04475063747196915, + 0.9965066832700017, + 0.07051106752895892, + 0.028666174625291294 + ], + [ + -0.04253151608365479, + -0.0686173118142212, + 0.9967360406140716, + 0.17304284378464885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.997954483249912, + -0.04821899390660856, + 0.04197353914117617, + 0.09069309794024698 + ], + [ + 0.04518052060125869, + 0.996484303275619, + 0.07055319896010209, + 0.028770960980371383 + ], + [ + -0.04522797717785576, + -0.06851249485998126, + 0.9966245371896383, + 0.17626076938613214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9978090932570637, + -0.048834176957962, + 0.044634477417741604, + 0.09148696448691801 + ], + [ + 0.045610276062642056, + 0.9964616601754909, + 0.07059647666699914, + 0.02887681135108755 + ], + [ + -0.04792406630291313, + -0.06840601553330691, + 0.9965058458974794, + 0.1794719849872957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.997733598320429, + -0.04914165640398248, + 0.045964816854221144, + 0.09250710871113024 + ], + [ + 0.045825104913171585, + 0.9964502400136295, + 0.07061854527301799, + 0.028958775998497735 + ], + [ + -0.0492719650741269, + -0.06835215272874294, + 0.996443805076373, + 0.1810442825272936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9975721920786863, + -0.04971942091172184, + 0.04876167322321871, + 0.09343872692413453 + ], + [ + 0.04622014618425964, + 0.9964447059435677, + 0.07043895288647357, + 0.0292161058986318 + ], + [ + -0.05209049508337002, + -0.06801416897412048, + 0.9963235684960632, + 0.18404364694981043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9974859341348506, + -0.04998936114420041, + 0.05022822887101644, + 0.09459721717034648 + ], + [ + 0.046400687387069164, + 0.9964505520025796, + 0.07023726663077043, + 0.02944896329593234 + ], + [ + -0.053561062472023316, + -0.0677300611704224, + 0.996264950402612, + 0.18540713775817602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9973067798020228, + -0.050527978205690056, + 0.05316117360786413, + 0.09566631979337499 + ], + [ + 0.046762655127963716, + 0.996461926830983, + 0.06983467950573224, + 0.029857658510819333 + ], + [ + -0.05650169064995567, + -0.06716064170874578, + 0.9961410578622721, + 0.18819376282674843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9972138838207067, + -0.05079665380904511, + 0.05462755602281937, + 0.0968236652060083 + ], + [ + 0.046944080842369056, + 0.9964674555744899, + 0.0696337795525088, + 0.030091725003350153 + ], + [ + -0.057971744747655866, + -0.06687533134651594, + 0.9960757836973082, + 0.18954810941836991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9970389964134663, + -0.05127070774897931, + 0.057311029983298754, + 0.0980018691658732 + ], + [ + 0.04727092895367935, + 0.9964896710501298, + 0.06909265348978977, + 0.030706447860538152 + ], + [ + -0.06065227866027801, + -0.06617892426840066, + 0.9959626755436135, + 0.19240876945497218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9968749142482113, + -0.051680799018941875, + 0.05974529567577198, + 0.09929013532070495 + ], + [ + 0.047562422698244816, + 0.9965227492092156, + 0.06841217914655659, + 0.03152636570640975 + ], + [ + -0.06307314238005877, + -0.06535675421309417, + 0.9958665941726503, + 0.19534991393924037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9967906115168443, + -0.051885088507776046, + 0.0609624013832755, + 0.10055689808725007 + ], + [ + 0.0477087875767725, + 0.9965390347842064, + 0.06807219505287478, + 0.03196647344879812 + ], + [ + -0.06428334449785374, + -0.06494528267628431, + 0.9958161285489745, + 0.19677806092605865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9966174834529541, + -0.052292153505765965, + 0.06339654846780254, + 0.10184358419517757 + ], + [ + 0.04800275213737752, + 0.9965710987905697, + 0.06739273582957132, + 0.03278790207983376 + ], + [ + -0.06670327925326106, + -0.06412156998301193, + 0.9957103478420697, + 0.19970870267034588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.996559957903466, + -0.05253116248490844, + 0.06409935468806464, + 0.10339478194685787 + ], + [ + 0.04823746463754343, + 0.9966004884032129, + 0.06678782463757342, + 0.033198064624721746 + ], + [ + -0.06738989025650595, + -0.06346608135422936, + 0.9957061108624143, + 0.20147143166233933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9964432896695169, + -0.05300778328994272, + 0.06550530805421649, + 0.10525103220443191 + ], + [ + 0.04870813258494406, + 0.9966579095287265, + 0.0655784201846664, + 0.03395938763354084 + ], + [ + -0.06876255007399625, + -0.062154535510416456, + 0.9956949961824684, + 0.20507774876755813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.99638414709457, + -0.05324539466844001, + 0.06620845388036567, + 0.10680170871874513 + ], + [ + 0.048944087590372096, + 0.9966859409876965, + 0.06497392805900123, + 0.034371141382633336 + ], + [ + -0.06944859759975311, + -0.061498479526508165, + 0.9956881184926109, + 0.2068362427869195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9962642453063111, + -0.05371921826218971, + 0.0676150805186661, + 0.10865712418679216 + ], + [ + 0.04941723855725246, + 0.9967406455665001, + 0.06376536684637069, + 0.03513477264195994 + ], + [ + -0.07082012466539492, + -0.06018580451382081, + 0.9956717224454062, + 0.21043666813360035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_153/orbit_left/transforms.json b/spatialvid_eval/camera_controls/scene_153/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..aae8622f3ade85863e039ecb37d89d00128b2c3e --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_153/orbit_left/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999918751143, + -0.00011446534111034202, + 5.610220203472413e-05, + -2.7641434846766612e-05 + ], + [ + 0.00011447147034955688, + 0.9999999874792367, + -0.00010926028067274708, + 0.0002786070447213657 + ], + [ + -5.608969481698472e-05, + 0.00010926670188657656, + 0.999999992457367, + 0.00023206044795460348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999977342040901, + -5.798173481084076e-05, + 0.002127962594601275, + -0.004306401980727951 + ], + [ + 5.4598646186787125e-05, + 0.9999987346989467, + 0.0015898488900490412, + 0.0008948329041869356 + ], + [ + -0.0021280520842846947, + -0.0015897291038991278, + 0.9999964720716281, + 0.0034665807060445465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999988478748894, + -2.897501232552682e-05, + 0.004800159364219176, + -0.008064149712573934 + ], + [ + 1.726604426912811e-05, + 0.999997024727827, + 0.0024393108407114593, + 0.0012040831975887842 + ], + [ + -0.004800215761500268, + -0.0024391998570346555, + 0.9999855040112835, + 0.005291066357019524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999763861441988, + 3.056811428328786e-05, + 0.00687213355359542, + -0.012344669757866527 + ], + [ + -5.9004586133644177e-05, + 0.9999914376328943, + 0.004137774686451915, + 0.001823428717512839 + ], + [ + -0.006871948227895642, + -0.004138082465033316, + 0.9999678257829426, + 0.008511979453451784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999544499573071, + 6.110445393735906e-05, + 0.009544332183328627, + -0.016103664165004326 + ], + [ + -0.00010870319595476989, + 0.9999875605151314, + 0.004986682124628815, + 0.0021348932443851993 + ], + [ + -0.009543908748264666, + -0.004987492480456722, + 0.9999420176813067, + 0.010326741173624268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999293663743858, + 0.0025534284812224117, + 0.011607853596181012, + -0.020818361214191207 + ], + [ + -0.002631003587795052, + 0.9999742765606198, + 0.0066726334521019365, + 0.0023970764990916913 + ], + [ + -0.011590516909961341, + -0.006702702444266973, + 0.9999103628314407, + 0.013899933234573865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998908527660915, + 0.0038003616778856026, + 0.014277247837581435, + -0.02479474591169107 + ], + [ + -0.003907791212792115, + 0.9999642075863453, + 0.0075041797719683345, + 0.002542416959182613 + ], + [ + -0.014248218223191627, + -0.0075591532151460285, + 0.9998699152790499, + 0.015887760974566213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998465601729637, + 0.0062957538834918225, + 0.016346852704131516, + -0.029510861831246404 + ], + [ + -0.006446179146910398, + 0.9999372157774296, + 0.009165766617596683, + 0.0028351730406095212 + ], + [ + -0.016288120968915097, + -0.009269734964971212, + 0.9998243691413914, + 0.01944688355970227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997906880666703, + 0.008489946269178974, + 0.01861453377124541, + -0.03384715624708478 + ], + [ + -0.00869177566546795, + 0.9999040248695946, + 0.010788609056161849, + 0.0032039890026763483 + ], + [ + -0.018521152527733283, + -0.010948144223199303, + 0.9997685257333884, + 0.02302205623816411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999724695328746, + 0.009436011737950806, + 0.021482440092499697, + -0.03744443000830673 + ], + [ + -0.00968609445530513, + 0.9998861841259526, + 0.011567124458771482, + 0.003440891301458113 + ], + [ + -0.021370847527636586, + -0.011772020919241387, + 0.9997023088897153, + 0.02501919122026705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999648996366724, + 0.01132911247783157, + 0.023948596482189603, + -0.04140101769908618 + ], + [ + -0.011646239636702284, + 0.9998457849694617, + 0.013144252779283746, + 0.0038929188786784663 + ], + [ + -0.023795990530478192, + -0.01341855019239578, + 0.9996267770250095, + 0.02860814620406016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9995649433609287, + 0.012276144448998199, + 0.026818282594738903, + -0.04499882815087667 + ], + [ + -0.01265246577658798, + 0.9998232266270342, + 0.013907933235347728, + 0.004146685435841705 + ], + [ + -0.026642806039083318, + -0.014241199899374724, + 0.9995435703919014, + 0.030598329371715884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994689973380415, + 0.013961957714594443, + 0.029441248221954878, + -0.048576189808590714 + ], + [ + -0.014422259092957372, + 0.9997761495081212, + 0.015480611014149966, + 0.0047759631658181095 + ], + [ + -0.029218518147683205, + -0.015897000078369805, + 0.9994466286829741, + 0.034196404091566386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999364748005699, + 0.01470061819380528, + 0.03246524708400586, + -0.05179452542563715 + ], + [ + -0.015234082829325493, + 0.9997519628147646, + 0.016246093942078578, + 0.005198919447802802 + ], + [ + -0.03221836687131799, + -0.01673035184165454, + 0.9993408188217869, + 0.03619954125807496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9992477723699936, + 0.016178529443108675, + 0.0352440718229865, + -0.05499234219065344 + ], + [ + -0.016814273242935655, + 0.9996998684317359, + 0.017817218438409447, + 0.0060014411100357675 + ], + [ + -0.03494523757133815, + -0.01839641928823556, + 0.9992198967837131, + 0.03980971285796573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9991207796173137, + 0.017657221305634182, + 0.03802486387425157, + -0.05819026344959114 + ], + [ + -0.0184039740773783, + 0.9996428129500196, + 0.019378861048358568, + 0.006814750132411667 + ], + [ + -0.03766910504711642, + -0.02006163136776917, + 0.9990888696566553, + 0.04341620915356392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9989859708545914, + 0.018353904306595687, + 0.04111160702787362, + -0.06105177015854283 + ], + [ + -0.019189090654909043, + 0.9996155468082081, + 0.020013429970033966, + 0.00729230855910262 + ], + [ + -0.04072847696081529, + -0.020782030122971615, + 0.9989541022431515, + 0.04546615692042502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.998835605115671, + 0.01974763647414017, + 0.044016642385544695, + -0.06353553786237912 + ], + [ + -0.020702150848639734, + 0.9995580011959915, + 0.021335960145128598, + 0.008189957182624257 + ], + [ + -0.043575852297481066, + -0.022222355832799533, + 0.9988029395220004, + 0.049174970855148895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9986807518537981, + 0.020444684186738272, + 0.047103829623896386, + -0.06639708926200918 + ], + [ + -0.02149772477189851, + 0.9995277217856202, + 0.02195862499519343, + 0.008680118280829695 + ], + [ + -0.04663264635814942, + -0.0229422812848323, + 0.9986486108852721, + 0.051221391569495955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9985098836689357, + 0.02183913923367729, + 0.05001064099749667, + -0.06888083244718124 + ], + [ + -0.02302523527559285, + 0.9994641499142937, + 0.023264814132119584, + 0.00959538809173238 + ], + [ + -0.04947575927615495, + -0.02438165362789271, + 0.998477683381265, + 0.05492518300943572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9983703442018076, + 0.020917212953546833, + 0.05309544255979657, + -0.07078484327748528 + ], + [ + -0.022270770506136756, + 0.99943858506691, + 0.025030530568012247, + 0.009649361081118506 + ], + [ + -0.05254206504723309, + -0.02617221583491124, + 0.9982756866311348, + 0.058808658437073315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9982059774080395, + 0.020456366922759157, + 0.056270451563696006, + -0.07335673092198565 + ], + [ + -0.021940195203918163, + 0.9994242770914094, + 0.02587937778865528, + 0.009712955745287716 + ], + [ + -0.0557086573278766, + -0.027067534291756658, + 0.9980801040428018, + 0.06094183613292398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9980459625784253, + 0.01953491144507687, + 0.059351864467243706, + -0.07526113889613388 + ], + [ + -0.021205780198449306, + 0.999392610110228, + 0.02765367504042163, + 0.009758795892076032 + ], + [ + -0.058775602651781604, + -0.028858241316809093, + 0.9978540125895276, + 0.06482313345076982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9978611355207764, + 0.019074302944074775, + 0.06252459663512262, + -0.07783331911936754 + ], + [ + -0.020889548250257777, + 0.999375251137054, + 0.02850849327219827, + 0.009816586678141122 + ], + [ + -0.06194175482731562, + -0.02975362804681948, + 0.9976361764826718, + 0.06695473901945173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9976973186368584, + 0.015511145528328468, + 0.06602624288283189, + -0.08021487025517839 + ], + [ + -0.017575396785866237, + 0.9993710685762555, + 0.03079890778214998, + 0.009825111358027617 + ], + [ + -0.06550699056316857, + -0.03188842512814064, + 0.9973424499790453, + 0.07061161314979192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9974940173065188, + 0.01372930576487678, + 0.06940599110247843, + -0.08302534759865579 + ], + [ + -0.015976480906149632, + 0.9993625220877627, + 0.031926501597289936, + 0.009849955581359742 + ], + [ + -0.06892341761374161, + -0.03295535782844486, + 0.997077482894304, + 0.07263312633137348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9972878932427278, + 0.010165142641088046, + 0.07289394945102168, + -0.08540577274353538 + ], + [ + -0.012689840762220586, + 0.9993325188793223, + 0.03425616224474628, + 0.0098210993404018 + ], + [ + -0.07249707534039738, + -0.0350882684867069, + 0.9967512164435485, + 0.07629427869238437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9970387679189036, + 0.006783864367999674, + 0.0766007470654938, + -0.08799194226200668 + ], + [ + -0.00959942861572583, + 0.9992894378128889, + 0.03644818851263073, + 0.009996934207430466 + ], + [ + -0.07629905790379563, + -0.037075580370875744, + 0.9963954310930758, + 0.0801107251275458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9967656203508946, + 0.005184568972740654, + 0.08019612416484675, + -0.09100783829185094 + ], + [ + -0.0082113734215108, + 0.9992644311922716, + 0.03745890949451984, + 0.010206240276796343 + ], + [ + -0.07994292609749237, + -0.03799627348244849, + 0.9960750030838129, + 0.08229111325344765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9964537893897076, + 0.0019850254357091793, + 0.08411840039439693, + -0.09379871530453401 + ], + [ + -0.00532734825164979, + 0.999204271881078, + 0.03952774234902516, + 0.01057426868983081 + ], + [ + -0.08397300144390535, + -0.039835696662978815, + 0.995671458012068, + 0.08626896446942839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.996146275385105, + 0.0003847885355089311, + 0.08770661305834211, + -0.09681336825920757 + ], + [ + -0.003957419940123308, + 0.9991691194018708, + 0.040563649504303814, + 0.01075979196824313 + ], + [ + -0.08761813090793664, + -0.04075442026913685, + 0.995320119541812, + 0.08845596880915113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9957638367553797, + -0.0025917967288337923, + 0.09191117451062406, + -0.09979490255516274 + ], + [ + -0.0013239397025820456, + 0.9990948687752299, + 0.04251694216039465, + 0.01124441929225926 + ], + [ + -0.09193817810828052, + -0.04245851830578669, + 0.9948591084316452, + 0.09246563075211361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9953939453100002, + -0.00396832633829601, + 0.09578698255120709, + -0.1030008930891304 + ], + [ + -0.00019585439675061432, + 0.9990566771576643, + 0.043424848505688105, + 0.011557448228073959 + ], + [ + -0.09586894847262976, + -0.04324359158025007, + 0.9944541902501055, + 0.09468341043328718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9949370580646781, + -0.0067228210910135295, + 0.10027489300010162, + -0.10617231235862286 + ], + [ + 0.0021886106443912436, + 0.9989728687974873, + 0.04525944531217577, + 0.012163141929127612 + ], + [ + -0.10047616868218484, + -0.044810836670350115, + 0.9939298408056038, + 0.09873037599482835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9944528230362739, + -0.009479203246707936, + 0.10475556052541314, + -0.10934170011485905 + ], + [ + 0.00455850920709131, + 0.9988791610930935, + 0.047113071729270734, + 0.01275291227347124 + ], + [ + -0.10508474079995991, + -0.046374197995934625, + 0.9933814126564076, + 0.10278654962495298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9939758102695493, + -0.010635645877710997, + 0.10908240754474298, + -0.11283003775144998 + ], + [ + 0.005411171702813218, + 0.9988288596669918, + 0.048079395973116716, + 0.012864802360753195 + ], + [ + -0.10946601216722998, + -0.04719949293266833, + 0.9928692764141225, + 0.10523642752095821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9933415719226001, + -0.012951161955368362, + 0.11447614989308669, + -0.1165667266814551 + ], + [ + 0.007258004176237334, + 0.9987223508306683, + 0.05000987229179649, + 0.013091124435306993 + ], + [ + -0.11497757549068581, + -0.04884601677997799, + 0.9921664294759295, + 0.10974097530439651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9928185773255909, + -0.014110227975872004, + 0.11879467152889912, + -0.12005179259673093 + ], + [ + 0.00809161812986569, + 0.9986661437620331, + 0.050994695993905235, + 0.013187256480656979 + ], + [ + -0.11935576330127735, + -0.04966724040994531, + 0.9916084746495617, + 0.11220950559635391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9921242666714767, + -0.0164309573938902, + 0.12417513084633897, + -0.12378327903922909 + ], + [ + 0.009909674897049706, + 0.9985478252251321, + 0.0529531782010725, + 0.013391812422591229 + ], + [ + -0.12486487826855083, + -0.051305597913677246, + 0.9908463542839023, + 0.11674033557852839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9915230052293669, + -0.017464231933198918, + 0.12875220659821154, + -0.12718579798515092 + ], + [ + 0.010594624013138017, + 0.9984929170148404, + 0.053848385428122016, + 0.013361390393762981 + ], + [ + -0.12949858703069062, + -0.052027831726670866, + 0.9902137247498017, + 0.11920852395596421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9907001770203105, + -0.019533638192383084, + 0.13465361573643236, + -0.13075312093677782 + ], + [ + 0.012125587860407494, + 0.9983784987439333, + 0.05561783315493445, + 0.01332385797883797 + ], + [ + -0.1355216933592746, + -0.05346784290374599, + 0.9893306122850215, + 0.12373005536497661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9898383073399918, + -0.021606830337685783, + 0.14054632761142902, + -0.13431637929109172 + ], + [ + 0.013640118734642282, + 0.9982579459907868, + 0.05740226848445059, + 0.013275843539144235 + ], + [ + -0.14154176939407512, + -0.05490189567778648, + 0.9884086752795023, + 0.1282699424065587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9891566453575223, + -0.022644837222457182, + 0.14510803662175734, + -0.13771185127165456 + ], + [ + 0.014295772034844235, + 0.9981953696974407, + 0.058323535699728736, + 0.013223974668702069 + ], + [ + -0.14616689723388335, + -0.055616681506164896, + 0.9876953087320306, + 0.13077470235414337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9881999131898871, + -0.024448605419648817, + 0.15120581094830302, + -0.14063017720831472 + ], + [ + 0.015507751180203795, + 0.9980761329829684, + 0.06002951293403084, + 0.013535891003693453 + ], + [ + -0.1523825489510939, + -0.05697629737705326, + 0.9866778908602185, + 0.13489294624723064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9874526258825488, + -0.025351941550897008, + 0.15586722136889145, + -0.14370193818866955 + ], + [ + 0.016008059155358745, + 0.9980146762674172, + 0.060913446766054445, + 0.013661226398229856 + ], + [ + -0.15710204861725272, + -0.057654011260642714, + 0.9858980481296328, + 0.137194666763363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9864251600173101, + -0.02716150238390475, + 0.16194954915983314, + -0.14661264372226585 + ], + [ + 0.017193017498025303, + 0.9978880871738431, + 0.06263996827777842, + 0.013958049257832096 + ], + [ + -0.16330892147747675, + -0.05900523929938449, + 0.9848089042555848, + 0.1413471975476532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9856249876586057, + -0.028067720877833255, + 0.16660008027518333, + -0.14967938015523655 + ], + [ + 0.017675461069917183, + 0.9978229552300935, + 0.06353682469126908, + 0.014072418709751396 + ], + [ + -0.16802071830265258, + -0.05967874881904999, + 0.9839753478418317, + 0.14367338088478984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9846720662002384, + -0.029589823500222774, + 0.17188765048769325, + -0.15198880194674477 + ], + [ + 0.01861600563445165, + 0.9977045693221812, + 0.06510788498990859, + 0.014722895752921496 + ], + [ + -0.1734196251269498, + -0.060910054168969205, + 0.9829626640528936, + 0.14752692159539568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9836887365359875, + -0.03111445068605349, + 0.17716760587290722, + -0.15429489749936423 + ], + [ + 0.019543043837981337, + 0.9975824659143327, + 0.0666880284445873, + 0.015366175839974417 + ], + [ + -0.17881425851922264, + -0.06213786815448764, + 0.9819187065594771, + 0.15139486992266213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9828901646295604, + -0.03187770698043326, + 0.18141316399904883, + -0.1570583606238508 + ], + [ + 0.019891034299170402, + 0.9975200204679131, + 0.06751411348898755, + 0.01564944419917429 + ], + [ + -0.1831154581923257, + -0.06275046265458367, + 0.9810866977019159, + 0.15358574754274126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9819481444089355, + -0.03325355657163793, + 0.18620430356784323, + -0.1590314482704305 + ], + [ + 0.020726831477564336, + 0.9974136485375021, + 0.0688215966685514, + 0.015821190698576133 + ], + [ + -0.18801127665315526, + -0.06371981392349628, + 0.9800977222526364, + 0.1575898625534116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9812064803648755, + -0.03386571352474508, + 0.18996567147101395, + -0.16146448785466405 + ], + [ + 0.02099350490878521, + 0.9973701636942168, + 0.06936879214903464, + 0.015636812852485575 + ], + [ + -0.1918153164938038, + -0.06407706313518947, + 0.9793370279624634, + 0.15990644650465752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9803199416469944, + -0.035090595333277665, + 0.19427161946200325, + -0.1631067703578336 + ], + [ + 0.02174634188119782, + 0.9972817321141934, + 0.07040059237037925, + 0.01533816898178017 + ], + [ + -0.19621393585578806, + -0.06479040754980936, + 0.9784182615147318, + 0.16403703718574053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.979546376725767, + -0.03570331916541043, + 0.19802567723402556, + -0.1655377145295252 + ], + [ + 0.02200378747881547, + 0.997236785451333, + 0.0709551060832079, + 0.015145640670570008 + ], + [ + -0.2000118226005872, + -0.06514650215679273, + 0.9776252881737083, + 0.16636351625371845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9786546833364697, + -0.03699736656981303, + 0.20215391574365743, + -0.16750108594688426 + ], + [ + 0.022848508349936052, + 0.9971514227252309, + 0.07188174888823308, + 0.014920895651255678 + ], + [ + -0.20423750010656166, + -0.06572849476404413, + 0.9767122444846669, + 0.1704912341618771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9777768687066695, + -0.03835985329335655, + 0.20610899222861018, + -0.1697870814066282 + ], + [ + 0.023792169806871512, + 0.9970700628162409, + 0.07269953570346295, + 0.01477389288281498 + ], + [ + -0.20829384935245238, + -0.06618014423473445, + 0.9758247080449481, + 0.1746084899567396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9769895397447692, + -0.039041203459469084, + 0.20968362754812434, + -0.17253924888485428 + ], + [ + 0.02414216060058854, + 0.9970286318268702, + 0.0731509630761958, + 0.014651882273374467 + ], + [ + -0.21191648192351528, + -0.06640550993611832, + 0.9750290831248496, + 0.1769313047381042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9760787404297028, + -0.04040411509681237, + 0.21363005398213136, + -0.17482260210477435 + ], + [ + 0.02507571680257844, + 0.9969442679184516, + 0.0739819916694573, + 0.014491196489292535 + ], + [ + -0.2159664346790994, + -0.0668553225090292, + 0.9741092674562808, + 0.18105862643616727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.975195930040808, + -0.041088310347439136, + 0.2174963190139922, + -0.1778429100091145 + ], + [ + 0.025401653533308394, + 0.9969022605451308, + 0.07443546814376842, + 0.014627062461090117 + ], + [ + -0.21988099970124178, + -0.06706439944412183, + 0.9732187381558074, + 0.18376200399637188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9741148879108232, + -0.042457083189786984, + 0.22203058626572156, + -0.18066270767014986 + ], + [ + 0.026290970849565144, + 0.9968167887327136, + 0.07526668952722707, + 0.014988303937226605 + ], + [ + -0.22451942010051565, + -0.06748100316100956, + 0.9721303123604943, + 0.18864910215791386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9731975016289843, + -0.04314165939799054, + 0.22588806973253633, + -0.18368020549332584 + ], + [ + 0.02660937618854468, + 0.9967733243800097, + 0.07572899644971257, + 0.015114717460204706 + ], + [ + -0.22842627677646882, + -0.06768852952171321, + 0.9712052816213618, + 0.19136453041378382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9720748410151152, + -0.044511187928704836, + 0.23041106226614652, + -0.18649570344115238 + ], + [ + 0.027487768093118033, + 0.996684939001274, + 0.07657385306542917, + 0.015462832289589203 + ], + [ + -0.2330556287041733, + -0.06810203019883103, + 0.9700758668331566, + 0.19626851320421673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9707813885593182, + -0.045541646670946366, + 0.23560444402714617, + -0.18992923440730614 + ], + [ + 0.028033845799752165, + 0.9966264813700715, + 0.0771346881862261, + 0.016209241830858027 + ], + [ + -0.2383224687613774, + -0.06827602104992125, + 0.9687831469596656, + 0.20165701993966875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9697328204878086, + -0.04605699605723822, + 0.2397853414680378, + -0.19325177835243973 + ], + [ + 0.028178512588067507, + 0.9965968921388857, + 0.07746357858657722, + 0.01652514004192799 + ], + [ + -0.24253706582104942, + -0.06836218028484936, + 0.9677305327463932, + 0.20463229739881184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9683877491123054, + -0.04708793133307068, + 0.24496508749610593, + -0.1966792110224661 + ], + [ + 0.028716988625460602, + 0.9965369930478553, + 0.07803432610988917, + 0.017262376440448902 + ], + [ + -0.24779124668455904, + -0.06853282578379054, + 0.9663864391932458, + 0.21004488956809497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9672980995032874, + -0.0476035158114498, + 0.24913508781325458, + -0.19999770134542927 + ], + [ + 0.028856345558808436, + 0.9965066832700017, + 0.07836926386799643, + 0.017571670228750735 + ], + [ + -0.25199543253463874, + -0.0686173118142212, + 0.9652926843714661, + 0.21303740470567917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9657725767252278, + -0.04821899390660856, + 0.25486910105414606, + -0.20354716244378504 + ], + [ + 0.02901059470845478, + 0.996484303275619, + 0.0785965566673648, + 0.01737969980609766 + ], + [ + -0.2577629054774481, + -0.06851249485998126, + 0.9637760749302119, + 0.21766571856594621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9642126745088203, + -0.048834176957962015, + 0.26059382471076825, + -0.20709185485940138 + ], + [ + 0.02916328692955816, + 0.9964616601754911, + 0.0788267879325857, + 0.01718504410958742 + ], + [ + -0.26352119651370065, + -0.06840601553330693, + 0.962225127517903, + 0.2223110990792435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9629874858541959, + -0.04914165640398248, + 0.2650286771164362, + -0.21046655457153274 + ], + [ + 0.029109832356854, + 0.9964502400136295, + 0.07899073893144899, + 0.017027621961849926 + ], + [ + -0.2679696246748335, + -0.06835215272874294, + 0.960999616789193, + 0.2249320934780341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9613315350376548, + -0.04971942091172184, + 0.2708683424218303, + -0.21385828243145885 + ], + [ + 0.029276402043433854, + 0.9964447059435677, + 0.07899898911016773, + 0.016981957742195623 + ], + [ + -0.2738331098051112, + -0.06801416897412048, + 0.9593693245008525, + 0.22944561594290316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9600229498960121, + -0.04998936114420041, + 0.2754214941600488, + -0.21708256469915813 + ], + [ + 0.029239345236646563, + 0.9964505520025796, + 0.07893895175315321, + 0.016974811469282855 + ], + [ + -0.27839000765668886, + -0.0677300611704224, + 0.9580770545476807, + 0.2319270677470678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9582668101624685, + -0.050527978205690056, + 0.28137456167801206, + -0.22032028366966838 + ], + [ + 0.02942580373537381, + 0.996461926830983, + 0.07872579279253065, + 0.017077860631002206 + ], + [ + -0.2843568930333418, + -0.06716064170874578, + 0.9563632184424988, + 0.23631096526879675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9569082351378926, + -0.05079665380904511, + 0.28591315025211395, + -0.2235384850439689 + ], + [ + 0.029391329147539166, + 0.9964674555744899, + 0.07866867071359021, + 0.017067179918942008 + ], + [ + -0.28889925457886684, + -0.06687533134651594, + 0.9550208954578266, + 0.23881575225698182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9551625634175687, + -0.05127070774897931, + 0.2916089710082623, + -0.226669056935692 + ], + [ + 0.02957934007482433, + 0.9964896710501298, + 0.0783160145253948, + 0.017377163869152088 + ], + [ + -0.29460064508808653, + -0.06617892426840066, + 0.9533261823197559, + 0.2432348350645006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9534601202557548, + -0.05168079901894189, + 0.2970570552850849, + -0.22969715292068324 + ], + [ + 0.029769062683499305, + 0.9965227492092158, + 0.07782167574302777, + 0.0178962921836835 + ], + [ + -0.3000459997880794, + -0.06535675421309418, + 0.9516831892441421, + 0.24767270177918263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9521053908067972, + -0.05188508850777606, + 0.30133579672381483, + -0.23280892560374605 + ], + [ + 0.029738820801131344, + 0.9965390347842066, + 0.07762444646321436, + 0.018092113009253966 + ], + [ + -0.30432043528819125, + -0.06494528267628433, + 0.950353188516829, + 0.250213404710785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9503472009447413, + -0.05229215350576598, + 0.30676656978592926, + -0.2358293071077283 + ], + [ + 0.02993680727185628, + 0.9965710987905699, + 0.07713515816879242, + 0.01860634967795446 + ], + [ + -0.30974826105543146, + -0.06412156998301194, + 0.9486540143993755, + 0.2546779962791004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9491072875571368, + -0.05253116248490845, + 0.3105411948098334, + -0.23867825699147494 + ], + [ + 0.030062342270120133, + 0.9966004884032131, + 0.0767054241348789, + 0.01872901285357275 + ], + [ + -0.3135149315155004, + -0.06346608135422938, + 0.9474599961129598, + 0.2574009967556309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9476180841392231, + -0.05300778328994272, + 0.31497641423286726, + -0.24117698848666108 + ], + [ + 0.03057194614916598, + 0.9966579095287265, + 0.07575201305893887, + 0.019097584370289925 + ], + [ + -0.3179391808521888, + -0.062154535510416456, + 0.9460716098660417, + 0.26221352566646583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9463453129047519, + -0.05324539466844003, + 0.3187404534881162, + -0.24402308101515235 + ], + [ + 0.03070654112082428, + 0.9966859409876967, + 0.07532757376861021, + 0.019214855244671217 + ], + [ + -0.3216949752103738, + -0.06149847952650818, + 0.9448440505926495, + 0.2649473880554766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9448172937753823, + -0.05371921826218971, + 0.3231633131595574, + -0.24651753298473023 + ], + [ + 0.03122969562854849, + 0.9967406455665001, + 0.07438273715469772, + 0.019575678477907657 + ], + [ + -0.3261057918742185, + -0.06018580451382081, + 0.9434154341757998, + 0.26977496886974617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_153/orbit_right/transforms.json b/spatialvid_eval/camera_controls/scene_153/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9a659e2f7d7b40ac8b3952c52b7b99f767aa3394 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_153/orbit_right/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999918751143, + -0.00011446534111034202, + 5.610220203472413e-05, + -2.7641434846766612e-05 + ], + [ + 0.00011447147034955688, + 0.9999999874792367, + -0.00010926028067274708, + 0.0002786070447213657 + ], + [ + -5.608969481698472e-05, + 0.00010926670188657656, + 0.999999992457367, + 0.00023206044795460348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999902432999274, + -5.798173481084076e-05, + -0.0044170061206744785, + 0.0021640698979761893 + ], + [ + 6.500293913747918e-05, + 0.9999987346989467, + 0.0015894574933791364, + 0.0008952198458601826 + ], + [ + 0.004416908372329108, + -0.0015897291038991278, + 0.9999889817802027, + 0.0034739857406811394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999656394547101, + -2.897501232552682e-05, + -0.008289696639905694, + 0.004876782838723699 + ], + [ + 4.919415742293747e-05, + 0.999997024727827, + 0.002438875853497385, + 0.0012045132359479718 + ], + [ + 0.008289601309344042, + -0.0024391998570346555, + 0.9999626657101702, + 0.005313644826499954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999185565347988, + 3.056811428328786e-05, + -0.012762419949001248, + 0.007066674421368014 + ], + [ + 2.2246583227104493e-05, + 0.9999914376328943, + 0.0041381355688959445, + 0.0018230719376487908 + ], + [ + 0.01276243716747748, + -0.004138082465033316, + 0.9999099941850059, + 0.008569153610828786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998616320319226, + 6.110445393735906e-05, + -0.016634694367695737, + 0.009778077622659384 + ], + [ + 2.187017411976446e-05, + 0.9999875605151314, + 0.004987818831151279, + 0.00213376944611694 + ], + [ + 0.01663479221861287, + -0.004987492480456722, + 0.9998491929319149, + 0.01041851182027464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9997737899920758, + 0.0025534284812224117, + -0.02111513314833657, + 0.011533548318752565 + ], + [ + -0.002411272468965742, + 0.9999742765606198, + 0.006755144864879516, + 0.00231550076205837 + ], + [ + 0.02113183877378179, + -0.006702702444266973, + 0.9997542293833932, + 0.014054296136277686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9996804952750262, + 0.0038003616778856026, + -0.024989290061858307, + 0.014027273420617874 + ], + [ + -0.003610165732117825, + 0.9999642075863453, + 0.007651813484360173, + 0.0023964545407169336 + ], + [ + 0.02501747529358376, + -0.0075591532151460285, + 0.9996584342327158, + 0.016096847940425645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9995460698709221, + 0.0062957538834918225, + -0.029462139919434475, + 0.015780599009241898 + ], + [ + -0.006019633325276903, + 0.9999372157774296, + 0.009451376508822825, + 0.002552789856363939 + ], + [ + 0.029519793702244137, + -0.009269734964971212, + 0.9995212122778867, + 0.019746615477511015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9993947191009089, + 0.008489946269178974, + -0.03373597850310785, + 0.017913306577379447 + ], + [ + -0.008115231717511873, + 0.9999040248695946, + 0.011228716033305303, + 0.0027688425286583425 + ], + [ + 0.03382807188396628, + -0.010948144223199303, + 0.9993676999436601, + 0.023418364268152123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9992554715117137, + 0.009436011737950806, + -0.037409415076747575, + 0.020785414300657796 + ], + [ + -0.008988329078910767, + 0.9998861841259526, + 0.012117290720743204, + 0.0028969095286545403 + ], + [ + 0.0375194961889461, + -0.011772020919241387, + 0.99922655435552, + 0.025489597737023285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999074984281655, + 0.01132911247783157, + -0.04148285179536212, + 0.023297101496051804 + ], + [ + -0.010761628880501323, + 0.9998457849694617, + 0.013877810441116554, + 0.0031675826330180095 + ], + [ + 0.04163367779153911, + -0.01341855019239578, + 0.9990428316064757, + 0.029185546999645418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9989046719364191, + 0.012276144448998199, + -0.04515254877703765, + 0.026168051043426586 + ], + [ + -0.011619254916844794, + 0.9998232266270342, + 0.014782030046106594, + 0.0032823527478661654 + ], + [ + 0.045326033344787756, + -0.014241199899374724, + 0.9988707318400382, + 0.031263651961785356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9986979016877566, + 0.013961957714594443, + -0.04906694305995215, + 0.029058210814961547 + ], + [ + -0.0131632053398747, + 0.9997761495081212, + 0.016564446863572203, + 0.0037041903333238074 + ], + [ + 0.04928723150728801, + -0.015897000078369805, + 0.9986581267875689, + 0.03497613001622183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9985084849423463, + 0.01470061819380528, + -0.05258038914709556, + 0.03230831199026855 + ], + [ + -0.013798344663650805, + 0.9997519628147646, + 0.017481948763472893, + 0.0039767650643498095 + ], + [ + 0.052824342709428415, + -0.01673035184165454, + 0.9984636619049144, + 0.03706697418981881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9982807452141361, + 0.016178529443108675, + -0.05633656822852823, + 0.03557741845759957 + ], + [ + -0.015113431821708231, + 0.9996998684317359, + 0.019281007135019596, + 0.004553809909631129 + ], + [ + 0.05663159818758188, + -0.01839641928823556, + 0.998225642750221, + 0.040792992181917696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9980368283943436, + 0.017657221305634182, + -0.060089197900485676, + 0.03884582546133302 + ], + [ + -0.016415893369073904, + 0.9996428129500196, + 0.02108945144539319, + 0.0051229538816568755 + ], + [ + 0.060440115928537645, + -0.02006163136776917, + 0.9979702016259848, + 0.04452258645078738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9978107542857102, + 0.018353904306595687, + -0.06353607501637877, + 0.04245188233290203 + ], + [ + -0.01699199772903131, + 0.9996155468082081, + 0.021909600464279717, + 0.0054168673828905115 + ], + [ + 0.06391377507986191, + -0.020782030122971615, + 0.9977390122567169, + 0.04666796329821529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9975466687207999, + 0.01974763647414017, + -0.06716155580181433, + 0.046433716181861096 + ], + [ + -0.01820509339533646, + 0.9995580011959915, + 0.023502698133223504, + 0.006046780155608843 + ], + [ + 0.06759599321337093, + -0.022222355832799533, + 0.9974652618526314, + 0.050498102708790224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9972948147783272, + 0.020444684186738272, + -0.07060500906286149, + 0.05003906671688156 + ], + [ + -0.018767752733583287, + 0.9995277217856202, + 0.024333204461782453, + 0.006331213064868753 + ], + [ + 0.07106914853572749, + -0.0229422812848323, + 0.9972075149415264, + 0.05264690620338896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9970023450069951, + 0.02183913923367729, + -0.0742251712566873, + 0.054019844734192 + ], + [ + -0.019961793926038977, + 0.9994641499142937, + 0.02594108361947954, + 0.0069478798865827175 + ], + [ + 0.07475192862934611, + -0.02438165362789271, + 0.9969040496118785, + 0.05648190528125035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9967594934484533, + 0.020917212953546833, + -0.07767227576580557, + 0.05858655066672506 + ], + [ + -0.01881310113285446, + 0.99943858506691, + 0.027723309781088487, + 0.006985335090298244 + ], + [ + 0.07820856376477171, + -0.02617221583491124, + 0.9965934154268444, + 0.06047296652073465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9965019830041618, + 0.020456366922759157, + -0.08102675435370058, + 0.06248437282636758 + ], + [ + -0.01818749054025258, + 0.9994242770914094, + 0.02864139570904673, + 0.006980230338592703 + ], + [ + 0.08156600429481459, + -0.027067534291756658, + 0.9963003239639858, + 0.06270274079751816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9962341256279812, + 0.01953491144507687, + -0.08447457705774782, + 0.06705088034907182 + ], + [ + -0.017018231442746327, + 0.999392610110228, + 0.03041037085645789, + 0.00703112673844018 + ], + [ + 0.085017331955393, + -0.028858241316809093, + 0.9959614727364146, + 0.06669574578229127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9959529745778556, + 0.019074302944074775, + -0.08782848852576004, + 0.07094857525067151 + ], + [ + -0.016377982939238585, + 0.999375251137054, + 0.031318829633190826, + 0.00703561835176415 + ], + [ + 0.08837100262169663, + -0.02975362804681948, + 0.9956431526976359, + 0.06892693569200345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9957427890446492, + 0.015511145528328468, + -0.09086089604435398, + 0.07504582619810739 + ], + [ + -0.012541003824009304, + 0.9993710685762555, + 0.03316911991356117, + 0.007479471117652507 + ], + [ + 0.09131824181766789, + -0.03188842512814064, + 0.9953110604500371, + 0.07262194334765537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9954767427470945, + 0.01372930576487678, + -0.09400830182941268, + 0.07870898661801337 + ], + [ + -0.010562405764710283, + 0.9993625220877627, + 0.0341025663381502, + 0.00769626158213233 + ], + [ + 0.09441657817405294, + -0.03295535782844486, + 0.9949871628098035, + 0.07470195716067761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9952276799837623, + 0.010165142641088046, + -0.0970491363651673, + 0.08280555437962915 + ], + [ + -0.006705285371769204, + 0.9993325188793223, + 0.035910386497391436, + 0.008183732009095755 + ], + [ + 0.09734939209990805, + -0.0350882684867069, + 0.9946315444788503, + 0.07839235071770517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9949775789292864, + 0.006783864367999674, + -0.09986789580366956, + 0.08669497754648425 + ], + [ + -0.003042476616936322, + 0.9992894378128889, + 0.03756810897072247, + 0.008888321073256777 + ], + [ + 0.10005179040902473, + -0.037075580370875744, + 0.9942912252333879, + 0.08219368578443931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9946892707306609, + 0.005184568972740654, + -0.10279287396445783, + 0.09015139646453643 + ], + [ + -0.0012475291584440977, + 0.9992644311922716, + 0.03832806054296192, + 0.009345780137481207 + ], + [ + 0.10291597720618917, + -0.03799627348244849, + 0.9939640762306967, + 0.08438093229856328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9944289662803152, + 0.0019850254357091793, + -0.10539018311343647, + 0.09383401287473689 + ], + [ + 0.0022259040853602028, + 0.999204271881078, + 0.03982296329516489, + 0.010281969995415351 + ], + [ + 0.10538537077634094, + -0.039835696662978815, + 0.9936332527133482, + 0.08828699454336658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9941163154107099, + 0.0003847885355089311, + -0.10831714255840323, + 0.09729049360956339 + ], + [ + 0.004032196218296817, + 0.9991691194018708, + 0.040556284683728676, + 0.010767084656372211 + ], + [ + 0.10824274953959578, + -0.04075442026913685, + 0.9932887719090735, + 0.09046742103886667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9938587417988366, + -0.0025917967288337923, + -0.11062587373553318, + 0.10078031086712455 + ], + [ + 0.007270607851396079, + 0.9990948687752299, + 0.04191159086073487, + 0.011843906976987197 + ], + [ + 0.11041711647885459, + -0.04245851830578669, + 0.9929780131562697, + 0.09432850517234084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9935574328904864, + -0.00396832633829601, + -0.11326023103516832, + 0.10404472304406458 + ], + [ + 0.008836959168047883, + 0.9990566771576643, + 0.042516631796850314, + 0.012456968890596859 + ], + [ + 0.11298467020232954, + -0.04324359158025007, + 0.9926552554066853, + 0.09646512073044698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9933103997718817, + -0.0067228210910135295, + -0.11527902403127394, + 0.10734249494091715 + ], + [ + 0.011837273597983424, + 0.9989728687974873, + 0.04373884269485255, + 0.013669359859603377 + ], + [ + 0.1148665689345307, + -0.044810836670350115, + 0.9923697195391001, + 0.10027573873362253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9930512075686391, + -0.009479203246707936, + -0.11730065580496997, + 0.1106402219661339 + ], + [ + 0.014843841034737905, + 0.9988791610930935, + 0.04494532141718398, + 0.01490041297453254 + ], + [ + 0.11674313482943595, + -0.046374197995934625, + 0.9920788649247754, + 0.10407692986443413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9927801850481015, + -0.010635645877710997, + -0.11947546699059904, + 0.11362071933260118 + ], + [ + 0.016187505118811955, + 0.9988288596669918, + 0.045594668266865535, + 0.015326622901271443 + ], + [ + 0.11885061570680325, + -0.04719949293266833, + 0.9917896647036675, + 0.10630608609074663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9926193916826963, + -0.012951161955368362, + -0.1205778199316952, + 0.11634977819303266 + ], + [ + 0.018732037776639694, + 0.9987223508306683, + 0.04693374811368271, + 0.01613927585627749 + ], + [ + 0.11981591720722683, + -0.04884601677997799, + 0.9915937739964495, + 0.11030842333719136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9923368235977899, + -0.014110227975872004, + -0.12275394086675258, + 0.1193315139770732 + ], + [ + 0.02008427026402921, + 0.9986661437620331, + 0.04756632623434164, + 0.016584893424468894 + ], + [ + 0.12191903304985116, + -0.04966724040994531, + 0.9912965825676241, + 0.11251860179495317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9921636228982744, + -0.0164309573938902, + -0.12386028030200646, + 0.12206161783654115 + ], + [ + 0.02263936240591076, + 0.9985478252251321, + 0.04888455797093385, + 0.01742450080476292 + ], + [ + 0.1228771934381042, + -0.051305597913677246, + 0.9910948143116759, + 0.11649406981501127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9919056076024164, + -0.017464231933198918, + -0.12577068899336138, + 0.1251239999083025 + ], + [ + 0.023847612335477136, + 0.9984929170148404, + 0.04942859554035642, + 0.017742749841689158 + ], + [ + 0.1247179096712986, + -0.052027831726670866, + 0.990827203771194, + 0.11860037918557095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9917938073375749, + -0.019533638192383084, + -0.12634666875627099, + 0.12801426994061543 + ], + [ + 0.02610737294113626, + 0.9983784987439333, + 0.05058436837525021, + 0.01831426076956197 + ], + [ + 0.12515370072415044, + -0.05346784290374599, + 0.9906955844104034, + 0.12237676076534831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9916769759458114, + -0.021606830337685783, + -0.12692486069218153, + 0.13090494230752345 + ], + [ + 0.028371329945676566, + 0.9982579459907868, + 0.051731430517332935, + 0.018898980557189356 + ], + [ + 0.12558599848743007, + -0.05490189567778648, + 0.990562435606611, + 0.12613429869859405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9914071837369182, + -0.022644837222457182, + -0.1288371351047556, + 0.1339692915751111 + ], + [ + 0.029590407422139534, + 0.9981953696974407, + 0.052253341550388493, + 0.019244001498891678 + ], + [ + 0.12742136329291265, + -0.055616681506164896, + 0.990288130250392, + 0.12820330929447898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9913171842333488, + -0.024448605419648817, + -0.12919948117813526, + 0.13749994363944978 + ], + [ + 0.03156987367834497, + 0.9980761329829684, + 0.05336080814321902, + 0.020150486810003053 + ], + [ + 0.1276463212145119, + -0.05697629737705326, + 0.9901818611838956, + 0.131417406673135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9910577475487347, + -0.025351941550897008, + -0.1310031300512632, + 0.1408850333633883 + ], + [ + 0.03264919661546042, + 0.9980146762674172, + 0.053858480439086115, + 0.020660037852443466 + ], + [ + 0.12937762938001798, + -0.057654011260642714, + 0.989917897606445, + 0.13320681377319607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9909614964110304, + -0.02716150238390475, + -0.1313680532666157, + 0.14441655389417124 + ], + [ + 0.034636114911554744, + 0.9978880871738431, + 0.05495184273854759, + 0.021586193591303676 + ], + [ + 0.12959804078243162, + -0.05900523929938449, + 0.9898094410342717, + 0.13638567394895384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9906953711651963, + -0.028067720877833255, + -0.13317238676459223, + 0.1478027080839666 + ], + [ + 0.03572172791214315, + 0.9978229552300935, + 0.055437425723549164, + 0.02210993510407746 + ], + [ + 0.13132646232509618, + -0.05967874881904999, + 0.9895412104771423, + 0.13815004361517638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.990495358093755, + -0.029589823500222774, + -0.13432567863200975, + 0.15193546073802935 + ], + [ + 0.03745588615324414, + 0.9977045693221812, + 0.05641497093960355, + 0.023350826812997206 + ], + [ + 0.13234803431558595, + -0.060910054168969205, + 0.9893300577228684, + 0.14120712672580568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9902913839561486, + -0.03111445068605349, + -0.13548013072300044, + 0.1560683793593777 + ], + [ + 0.03919427330109136, + 0.9975824659143327, + 0.05738495134335047, + 0.024601277061069196 + ], + [ + 0.13336710165035268, + -0.06213786815448764, + 0.9891168290644944, + 0.14424934278016022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9899639573102074, + -0.03187770698043326, + -0.13767779423125548, + 0.1597559967680151 + ], + [ + 0.040159673373050056, + 0.9975200204679131, + 0.05780146538163715, + 0.025292796006349705 + ], + [ + 0.13549377794306358, + -0.06275046265458367, + 0.9887890652587901, + 0.14593833364715295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9896896953186272, + -0.03325355657163793, + -0.13931442120419607, + 0.16422203045118963 + ], + [ + 0.04174883844952223, + 0.9974136485375021, + 0.058506821817834294, + 0.026064186259152824 + ], + [ + 0.13700854523802145, + -0.06371981392349628, + 0.988518307288902, + 0.149227875365884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9892883025358243, + -0.03386571352474508, + -0.14199214032208696, + 0.16824280905784905 + ], + [ + 0.04256210020211837, + 0.9973701636942168, + 0.05866194847561744, + 0.026271069256812787 + ], + [ + 0.13963209549445343, + -0.06407706313518947, + 0.9881280321333853, + 0.1511750411291219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9889394506723898, + -0.035090595333277665, + -0.14410903171886177, + 0.17304173181682037 + ], + [ + 0.043999204764045875, + 0.9972817321141934, + 0.059103441282600484, + 0.026560797709945294 + ], + [ + 0.14164332982503383, + -0.06479040754980936, + 0.987795206611981, + 0.15472194768988903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9885238599981712, + -0.03570331916541043, + -0.14678505106068782, + 0.1770627761687099 + ], + [ + 0.04481571958772754, + 0.997236785451333, + 0.05924816470175543, + 0.026777540529651582 + ], + [ + 0.14426409633775852, + -0.06514650215679273, + 0.987392426426588, + 0.15665898538049686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9881342631601243, + -0.03699736656981303, + -0.14907002661802143, + 0.1815383001758926 + ], + [ + 0.04631577195544113, + 0.9971514227252309, + 0.05953057554920554, + 0.02719524668541954 + ], + [ + 0.14644291460214218, + -0.06572849476404413, + 0.9870330479466648, + 0.16023462443178074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9877090688583166, + -0.03835985329335655, + -0.15152332147346204, + 0.18569011567515412 + ], + [ + 0.04787564766806399, + 0.9970700628162409, + 0.05965913338275616, + 0.027735712853158324 + ], + [ + 0.1487908520554989, + -0.06618014423473445, + 0.9866516461516035, + 0.16384679571470867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9872422028558683, + -0.039041203459469084, + -0.15436520764968123, + 0.1893876594360414 + ], + [ + 0.048753609234941646, + 0.9970286318268702, + 0.05964053071532969, + 0.028083566546694534 + ], + [ + 0.15157809369054448, + -0.06640550993611832, + 0.9862121423726565, + 0.16581342804738772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.986800953152778, + -0.04040411509681237, + -0.1568164096643344, + 0.19353910214430153 + ], + [ + 0.050315135472165505, + 0.9969442679184516, + 0.05975377650793628, + 0.028639339607544244 + ], + [ + 0.153922922266914, + -0.0668553225090292, + 0.9858184923468555, + 0.1694152974820431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.98636617438537, + -0.041088310347439136, + -0.15935344609126795, + 0.19696316678567133 + ], + [ + 0.05117591479567958, + 0.9969022605451308, + 0.05972360224261047, + 0.029259144662876352 + ], + [ + 0.15640586873003026, + -0.06706439944412183, + 0.9854134008394669, + 0.17163347400505935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9860083849984134, + -0.042457083189786984, + -0.16119820346342692, + 0.20056759875739738 + ], + [ + 0.052702599516583716, + 0.9968167887327136, + 0.0598224515110779, + 0.030352002462062908 + ], + [ + 0.15814518872547298, + -0.06748100316100956, + 0.9851073106496412, + 0.17573977705794494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.98556087470171, + -0.04314165939799054, + -0.16373319602813713, + 0.20399178246211588 + ], + [ + 0.053564090324429325, + 0.9967733243800097, + 0.059781502424583174, + 0.030982426065789402 + ], + [ + 0.16062580890042852, + -0.06768852952171321, + 0.9846916331960334, + 0.1779456511464739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9851919594973024, + -0.044511187928704836, + -0.16557643881615933, + 0.2075959951307417 + ], + [ + 0.05509193448953916, + 0.996684939001274, + 0.059866611080194775, + 0.032090087832799305 + ], + [ + 0.1623628088450867, + -0.06810203019883103, + 0.9843781955055342, + 0.18203465737638036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9849488136009907, + -0.045541646670946366, + -0.166738696781819, + 0.21057583110196065 + ], + [ + 0.05620569538311077, + 0.9966264813700715, + 0.05980448510280455, + 0.0334602731452211 + ], + [ + 0.16345260595200573, + -0.06827602104992125, + 0.9841857703488143, + 0.18632476231230544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.984551227540718, + -0.04605699605723822, + -0.16893085408607053, + 0.21368826288306608 + ], + [ + 0.056860252609225344, + 0.9965968921388857, + 0.05967869177796868, + 0.03423273922686373 + ], + [ + 0.1656073428966264, + -0.06836218028484936, + 0.9838195059488408, + 0.18861324190343395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9843025067972251, + -0.04708793133307068, + -0.17009203930657943, + 0.2166681627574057 + ], + [ + 0.05797369436258235, + 0.9965369930478553, + 0.059607652605124885, + 0.03561314458498516 + ], + [ + 0.16669620833916057, + -0.06853282578379054, + 0.9836237217124423, + 0.1928786129273406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9838966488640137, + -0.0476035158114498, + -0.1722825865737835, + 0.21978094918329155 + ], + [ + 0.058627747407861114, + 0.9965066832700017, + 0.05947451077647506, + 0.03639293577336496 + ], + [ + 0.1688495531176917, + -0.0686173118142212, + 0.9832504731406674, + 0.19514945933893638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9837632039742042, + -0.04821899390660856, + -0.1728724591513719, + 0.22263072113357588 + ], + [ + 0.059250987338793776, + 0.996484303275619, + 0.05923135845717715, + 0.036674105484864356 + ], + [ + 0.16940861550047093, + -0.06851249485998126, + 0.9831616138978753, + 0.19835104648854568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9836290702083378, + -0.048834176957962015, + -0.1734620287034593, + 0.22548023963220246 + ], + [ + 0.05987338381563401, + 0.9964616601754911, + 0.058985911120964726, + 0.03695809767272467 + ], + [ + 0.1699677326775499, + -0.06840601553330693, + 0.9830725237169993, + 0.2015349667736775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9832761202161152, + -0.04914165640398248, + -0.1753658148517465, + 0.2285286226412595 + ], + [ + 0.060280495970263644, + 0.9964502400136295, + 0.058763772703592676, + 0.037190318783944756 + ], + [ + 0.17185555917200682, + -0.06835215272874294, + 0.9827480094098506, + 0.20325280446165664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9831658466941757, + -0.04971942091172184, + -0.17582063894300984, + 0.23152064431978478 + ], + [ + 0.06081728135333247, + 0.9964447059435677, + 0.058302712508311094, + 0.037617536064538645 + ], + [ + 0.17229676776688177, + -0.06801416897412048, + 0.9826942030132494, + 0.20618914490412113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9828342269177434, + -0.04998936114420041, + -0.17758926254533672, + 0.23471206000880326 + ], + [ + 0.06113777730117502, + 0.9964505520025796, + 0.05786596236498953, + 0.037991229272121035 + ], + [ + 0.17406623620241163, + -0.0677300611704224, + 0.982401946368276, + 0.20766747742061814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.982748811411041, + -0.050527978205690056, + -0.17790923834537672, + 0.23784624578049895 + ], + [ + 0.061586356161554286, + 0.996461926830983, + 0.05719046346225388, + 0.03856080233135577 + ], + [ + 0.17439006395127257, + -0.06716064170874578, + 0.9823836082714028, + 0.21035387359205507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9824133345225043, + -0.05079665380904511, + -0.17967676564925697, + 0.2410378162682436 + ], + [ + 0.06190269515613381, + 0.9964674555744899, + 0.05675091464733445, + 0.0389372198372495 + ], + [ + 0.1761592929276817, + -0.06687533134651594, + 0.982087365549783, + 0.2118082073436542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9822851437594717, + -0.05127070774897931, + -0.18024208963600116, + 0.2442770858559269 + ], + [ + 0.06227760157628746, + 0.9964896710501298, + 0.055944935716373434, + 0.0397053393336953 + ], + [ + 0.17674104416161723, + -0.06617892426840066, + 0.9820300164920308, + 0.21458604922028574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.982114497546123, + -0.05168079901894189, + -0.18105305499353075, + 0.24762174185521843 + ], + [ + 0.06258015467574549, + 0.9965227492092158, + 0.055010313117331365, + 0.04066990471089953 + ], + [ + 0.17758051117869467, + -0.06535675421309418, + 0.9819336315292613, + 0.21747232038670167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9817307013176838, + -0.05188508850777606, + -0.1830649275006797, + 0.25091931359615527 + ], + [ + 0.06281920920184651, + 0.9965390347842066, + 0.05443986688647279, + 0.041244505841040086 + ], + [ + 0.17960672884261192, + -0.06494528267628433, + 0.981592345738573, + 0.21901761626278962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9815577392887849, + -0.05229215350576598, + -0.183874781098496, + 0.2542635051518364 + ], + [ + 0.06311469497322025, + 0.9965710987905699, + 0.053503087142652395, + 0.04221199997188363 + ], + [ + 0.18044650099330767, + -0.06412156998301194, + 0.9814924780874209, + 0.22187624610018242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9810702730944288, + -0.05253116248490845, + -0.1863909767623079, + 0.25783448414059296 + ], + [ + 0.06336592673437136, + 0.9966004884032131, + 0.05265193105263847, + 0.042762203834709786 + ], + [ + 0.1829914713299976, + -0.06346608135422938, + 0.9810637991170714, + 0.22382555669255724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9806971612061689, + -0.05300778328994272, + -0.18821066099678907, + 0.2617250879389426 + ], + [ + 0.06368794361034415, + 0.9966579095287265, + 0.051155226639267026, + 0.0436804394807962 + ], + [ + 0.18487001877223744, + -0.062154535510416456, + 0.9807955392815758, + 0.22750926344598216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9801985799184174, + -0.05324539466844003, + -0.19072407260888846, + 0.2652962261598023 + ], + [ + 0.06392857858876698, + 0.9966859409876967, + 0.05030180789087138, + 0.04423348772144084 + ], + [ + 0.18741366216351021, + -0.06149847952650818, + 0.9803540463783428, + 0.22944751411938388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9798174349241247, + -0.05371921826218971, + -0.19254100812036848, + 0.2691867882951956 + ], + [ + 0.06423707834412767, + 0.9967406455665001, + 0.048802492164714606, + 0.04515592346789076 + ], + [ + 0.1892918170035857, + -0.06018580451382081, + 0.9800746282556778, + 0.2331157747898682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_153/pan_right/transforms.json b/spatialvid_eval/camera_controls/scene_153/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..69f37fa90291f4dc5f7cf4bad4d38642992733b7 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_153/pan_right/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999918751143, + -0.00011446534111034202, + 5.610220203472413e-05, + -2.7641434846766612e-05 + ], + [ + 0.00011447147034955688, + 0.9999999874792367, + -0.00010926028067274708, + 0.0002786070447213657 + ], + [ + -5.608969481698472e-05, + 0.00010926670188657656, + 0.999999992457367, + 0.00023206044795460348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999977342040901, + -5.798173481084076e-05, + 0.002127962594601275, + -0.0010706785558484706 + ], + [ + 5.4598646186787125e-05, + 0.9999987346989467, + 0.0015898488900490412, + 0.0008943492949106346 + ], + [ + -0.0021280520842846947, + -0.0015897291038991278, + 0.9999964720716281, + 0.003044356869111535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999988478748894, + -2.897501232552682e-05, + 0.004800159364219176, + -0.0015921971163493226 + ], + [ + 1.726604426912811e-05, + 0.999997024727827, + 0.0024393108407114593, + 0.0012022204200052688 + ], + [ + -0.004800215761500268, + -0.0024391998570346555, + 0.9999855040112835, + 0.004450505079690001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999763861441988, + 3.056811428328786e-05, + 0.00687213355359542, + -0.0026352342373510266 + ], + [ + -5.9004586133644177e-05, + 0.9999914376328943, + 0.004137774686451915, + 0.0018179626701945377 + ], + [ + -0.006871948227895642, + -0.004138082465033316, + 0.9999678257829426, + 0.007262801500846932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999544499573071, + 6.110445393735906e-05, + 0.009544332183328627, + -0.003156752797851879 + ], + [ + -0.00010870319595476989, + 0.9999875605151314, + 0.004986682124628815, + 0.002125833795289172 + ], + [ + -0.009543908748264666, + -0.004987492480456722, + 0.9999420176813067, + 0.008668949711425398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999293663743858, + 0.0025534284812224117, + 0.011607853596181012, + -0.004632281570664034 + ], + [ + -0.002631003587795052, + 0.9999742765606198, + 0.0066726334521019365, + 0.002341988577248602 + ], + [ + -0.011590516909961341, + -0.006702702444266973, + 0.9999103628314407, + 0.011847550908856684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998908527660915, + 0.0038003616778856026, + 0.014277247837581435, + -0.005370045957070111 + ], + [ + -0.003907791212792115, + 0.9999642075863453, + 0.0075041797719683345, + 0.002450065968228317 + ], + [ + -0.014248218223191627, + -0.0075591532151460285, + 0.9998699152790499, + 0.013436851507572328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998465601729637, + 0.0062957538834918225, + 0.016346852704131516, + -0.006845574729882266 + ], + [ + -0.006446179146910398, + 0.9999372157774296, + 0.009165766617596683, + 0.002666220750187747 + ], + [ + -0.016288120968915097, + -0.009269734964971212, + 0.9998243691413914, + 0.016615452705003614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997906880666703, + 0.008489946269178974, + 0.01861453377124541, + -0.007941153466920845 + ], + [ + -0.00869177566546795, + 0.9999040248695946, + 0.010788609056161849, + 0.002948891799153775 + ], + [ + -0.018521152527733283, + -0.010948144223199303, + 0.9997685257333884, + 0.01981309696925347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999724695328746, + 0.009436011737950806, + 0.021482440092499697, + -0.008298967817553349 + ], + [ + -0.00968609445530513, + 0.9998861841259526, + 0.011567124458771482, + 0.003123485457140088 + ], + [ + -0.021370847527636586, + -0.011772020919241387, + 0.9997023088897153, + 0.02142144063478769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999648996366724, + 0.01132911247783157, + 0.023948596482189603, + -0.009014596518818354 + ], + [ + -0.011646239636702284, + 0.9998457849694617, + 0.013144252779283746, + 0.0034726727731127145 + ], + [ + -0.023795990530478192, + -0.01341855019239578, + 0.9996267770250095, + 0.024638127965856123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9995649433609287, + 0.012276144448998199, + 0.026818282594738903, + -0.009372410869450856 + ], + [ + -0.01265246577658798, + 0.9998232266270342, + 0.013907933235347728, + 0.0036472664310990277 + ], + [ + -0.026642806039083318, + -0.014241199899374724, + 0.9995435703919014, + 0.026246471631390343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994689973380415, + 0.013961957714594443, + 0.029441248221954878, + -0.009708796099391136 + ], + [ + -0.014422259092957372, + 0.9997761495081212, + 0.015480611014149966, + 0.004158120399042181 + ], + [ + -0.029218518147683205, + -0.015897000078369805, + 0.9994466286829741, + 0.029476044617803388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999364748005699, + 0.01470061819380528, + 0.03246524708400586, + -0.009687366978698911 + ], + [ + -0.015234082829325493, + 0.9997519628147646, + 0.016246093942078578, + 0.004494380708999022 + ], + [ + -0.03221836687131799, + -0.01673035184165454, + 0.9993408188217869, + 0.031097273938682213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9992477723699936, + 0.016178529443108675, + 0.0352440718229865, + -0.009644508737314464 + ], + [ + -0.016814273242935655, + 0.9996998684317359, + 0.017817218438409447, + 0.005166901328912702 + ], + [ + -0.03494523757133815, + -0.01839641928823556, + 0.9992198967837131, + 0.03433973258043987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9991207796173137, + 0.017657221305634182, + 0.03802486387425157, + -0.009601650495930016 + ], + [ + -0.0184039740773783, + 0.9996428129500196, + 0.019378861048358568, + 0.005839421948826384 + ], + [ + -0.03766910504711642, + -0.02006163136776917, + 0.9990888696566553, + 0.037582191222197525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9989859708545914, + 0.018353904306595687, + 0.04111160702787362, + -0.00922342953075745 + ], + [ + -0.019189090654909043, + 0.9996155468082081, + 0.020013429970033966, + 0.006211542670232599 + ], + [ + -0.04072847696081529, + -0.020782030122971615, + 0.9989541022431515, + 0.03925415645855738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.998835605115671, + 0.01974763647414017, + 0.044016642385544695, + -0.00846698760041232 + ], + [ + -0.020702150848639734, + 0.9995580011959915, + 0.021335960145128598, + 0.0069557841130450295 + ], + [ + -0.043575852297481066, + -0.022222355832799533, + 0.9988029395220004, + 0.04259808693127709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9986807518537981, + 0.020444684186738272, + 0.047103829623896386, + -0.008088766635239752 + ], + [ + -0.02149772477189851, + 0.9995277217856202, + 0.02195862499519343, + 0.007327904834451246 + ], + [ + -0.04663264635814942, + -0.0229422812848323, + 0.9986486108852721, + 0.04427005216763694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9985098836689357, + 0.02183913923367729, + 0.05001064099749667, + -0.007332324704894621 + ], + [ + -0.02302523527559285, + 0.9994641499142937, + 0.023264814132119584, + 0.008072146277263676 + ], + [ + -0.04947575927615495, + -0.02438165362789271, + 0.998477683381265, + 0.047613982640356656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9983703442018076, + 0.020917212953546833, + 0.05309544255979657, + -0.00599424228733413 + ], + [ + -0.022270770506136756, + 0.99943858506691, + 0.025030530568012247, + 0.008092173028629666 + ], + [ + -0.05254206504723309, + -0.02617221583491124, + 0.9982756866311348, + 0.051125891840939165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9982059774080395, + 0.020456366922759157, + 0.056270451563696006, + -0.005325201078553885 + ], + [ + -0.021940195203918163, + 0.9994242770914094, + 0.02587937778865528, + 0.00810218640431266 + ], + [ + -0.0557086573278766, + -0.027067534291756658, + 0.9980801040428018, + 0.052881846441230417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9980459625784253, + 0.01953491144507687, + 0.059351864467243706, + -0.003987118660993393 + ], + [ + -0.021205780198449306, + 0.999392610110228, + 0.02765367504042163, + 0.008122213155678648 + ], + [ + -0.058775602651781604, + -0.028858241316809093, + 0.9978540125895276, + 0.056393755641812926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9978611355207764, + 0.019074302944074775, + 0.06252459663512262, + -0.003318077452213148 + ], + [ + -0.020889548250257777, + 0.999375251137054, + 0.02850849327219827, + 0.008132226531361643 + ], + [ + -0.06194175482731562, + -0.02975362804681948, + 0.9976361764826718, + 0.05814971024210418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9976973186368584, + 0.015511145528328468, + 0.06602624288283189, + -0.0024571964834914075 + ], + [ + -0.017575396785866237, + 0.9993710685762555, + 0.03079890778214998, + 0.008324331594563436 + ], + [ + -0.06550699056316857, + -0.03188842512814064, + 0.9973424499790453, + 0.06140058184568751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9974940173065188, + 0.01372930576487678, + 0.06940599110247843, + -0.0020267559991305373 + ], + [ + -0.015976480906149632, + 0.9993625220877627, + 0.031926501597289936, + 0.008420384126164332 + ], + [ + -0.06892341761374161, + -0.03295535782844486, + 0.997077482894304, + 0.06302601764747917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9972878932427278, + 0.010165142641088046, + 0.07289394945102168, + -0.0011658750304087968 + ], + [ + -0.012689840762220586, + 0.9993325188793223, + 0.03425616224474628, + 0.008612489189366123 + ], + [ + -0.07249707534039738, + -0.0350882684867069, + 0.9967512164435485, + 0.06627688925106251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9970387679189036, + 0.006783864367999674, + 0.0766007470654938, + -0.0005141719207606938 + ], + [ + -0.00959942861572583, + 0.9992894378128889, + 0.03644818851263073, + 0.009015365951684774 + ], + [ + -0.07629905790379563, + -0.037075580370875744, + 0.9963954310930758, + 0.06966089649712476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9967656203508946, + 0.005184568972740654, + 0.08019612416484675, + -0.00029290929547346134 + ], + [ + -0.0082113734215108, + 0.9992644311922716, + 0.03745890949451984, + 0.00932219018240253 + ], + [ + -0.07994292609749237, + -0.03799627348244849, + 0.9960750030838129, + 0.07141946794139535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9964537893897076, + 0.0019850254357091793, + 0.08411840039439693, + 0.00014961595510100368 + ], + [ + -0.00532734825164979, + 0.999204271881078, + 0.03952774234902516, + 0.009935838643838039 + ], + [ + -0.08397300144390535, + -0.039835696662978815, + 0.995671458012068, + 0.07493661082993651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.996146275385105, + 0.0003847885355089311, + 0.08770661305834211, + 0.0003708785803882362 + ], + [ + -0.003957419940123308, + 0.9991691194018708, + 0.040563649504303814, + 0.010242662874555795 + ], + [ + -0.08761813090793664, + -0.04075442026913685, + 0.995320119541812, + 0.0766951822742071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9957638367553797, + -0.0025917967288337923, + 0.09191117451062406, + 0.0006168946975162705 + ], + [ + -0.0013239397025820456, + 0.9990948687752299, + 0.04251694216039465, + 0.010983896303138405 + ], + [ + -0.09193817810828052, + -0.04245851830578669, + 0.9948591084316452, + 0.08020580233474975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9953939453100002, + -0.00396832633829601, + 0.09578698255120709, + 0.0006416481893570724 + ], + [ + -0.00019585439675061432, + 0.9990566771576643, + 0.043424848505688105, + 0.01141830550100326 + ], + [ + -0.09586894847262976, + -0.04324359158025007, + 0.9944541902501055, + 0.0819578509510218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9949370580646781, + -0.0067228210910135295, + 0.10027489300010162, + 0.0006911551730386762 + ], + [ + 0.0021886106443912436, + 0.9989728687974873, + 0.04525944531217577, + 0.012287123896732971 + ], + [ + -0.10047616868218484, + -0.044810836670350115, + 0.9939298408056038, + 0.08546194818356594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9944528230362739, + -0.009479203246707936, + 0.10475556052541314, + 0.00074066215672028 + ], + [ + 0.00455850920709131, + 0.9988791610930935, + 0.047113071729270734, + 0.013155942292462681 + ], + [ + -0.10508474079995991, + -0.046374197995934625, + 0.9933814126564076, + 0.08896604541611006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9939758102695493, + -0.010635645877710997, + 0.10908240754474298, + 0.00047331873148300456 + ], + [ + 0.005411171702813218, + 0.9988288596669918, + 0.048079395973116716, + 0.013392886799608653 + ], + [ + -0.10946601216722998, + -0.04719949293266833, + 0.9928692764141225, + 0.09088058688925382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9933415719226001, + -0.012951161955368362, + 0.11447614989308669, + -6.136811899154623e-05 + ], + [ + 0.007258004176237334, + 0.9987223508306683, + 0.05000987229179649, + 0.013866775813900598 + ], + [ + -0.11497757549068581, + -0.04884601677997799, + 0.9921664294759295, + 0.09470966983554135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9928185773255909, + -0.014110227975872004, + 0.11879467152889912, + -0.0003287115442288217 + ], + [ + 0.00809161812986569, + 0.9986661437620331, + 0.050994695993905235, + 0.014103720321046568 + ], + [ + -0.11935576330127735, + -0.04966724040994531, + 0.9916084746495617, + 0.09662421130868513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9921242666714767, + -0.0164309573938902, + 0.12417513084633897, + -0.0008633983947033726 + ], + [ + 0.009909674897049706, + 0.9985478252251321, + 0.0529531782010725, + 0.014577609335338512 + ], + [ + -0.12486487826855083, + -0.051305597913677246, + 0.9908463542839023, + 0.10045329425497267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9915230052293669, + -0.017464231933198918, + 0.12875220659821154, + -0.0010558653293307988 + ], + [ + 0.010594624013138017, + 0.9984929170148404, + 0.053848385428122016, + 0.014687261153787889 + ], + [ + -0.12949858703069062, + -0.052027831726670866, + 0.9902137247498017, + 0.10231583775917413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9907001770203105, + -0.019533638192383084, + 0.13465361573643236, + -0.0014407991985856514 + ], + [ + 0.012125587860407494, + 0.9983784987439333, + 0.05561783315493445, + 0.014906564790686644 + ], + [ + -0.1355216933592746, + -0.05346784290374599, + 0.9893306122850215, + 0.10604092476757707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9898383073399918, + -0.021606830337685783, + 0.14054632761142902, + -0.0018257330678405036 + ], + [ + 0.013640118734642282, + 0.9982579459907868, + 0.05740226848445059, + 0.015125868427585398 + ], + [ + -0.14154176939407512, + -0.05490189567778648, + 0.9884086752795023, + 0.10976601177598001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9891566453575223, + -0.022644837222457182, + 0.14510803662175734, + -0.00201820000246793 + ], + [ + 0.014295772034844235, + 0.9981953696974407, + 0.058323535699728736, + 0.015235520246034775 + ], + [ + -0.14616689723388335, + -0.055616681506164896, + 0.9876953087320306, + 0.11162855528018148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9881999131898871, + -0.024448605419648817, + 0.15120581094830302, + -0.00176865009228885 + ], + [ + 0.015507751180203795, + 0.9980761329829684, + 0.06002951293403084, + 0.015794458502060998 + ], + [ + -0.1523825489510939, + -0.05697629737705326, + 0.9866778908602185, + 0.11487149132486651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9874526258825488, + -0.025351941550897008, + 0.15586722136889145, + -0.0016438751371993102 + ], + [ + 0.016008059155358745, + 0.9980146762674172, + 0.060913446766054445, + 0.016073927630074113 + ], + [ + -0.15710204861725272, + -0.057654011260642714, + 0.9858980481296328, + 0.11649295934720905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9864251600173101, + -0.02716150238390475, + 0.16194954915983314, + -0.0013943252270202304 + ], + [ + 0.017193017498025303, + 0.9978880871738431, + 0.06263996827777842, + 0.016632865886100336 + ], + [ + -0.16330892147747675, + -0.05900523929938449, + 0.9848089042555848, + 0.11973589539189408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9856249876586057, + -0.028067720877833255, + 0.16660008027518333, + -0.0012695502719306906 + ], + [ + 0.017675461069917183, + 0.9978229552300935, + 0.06353682469126908, + 0.016912335014113447 + ], + [ + -0.16802071830265258, + -0.05967874881904999, + 0.9839753478418317, + 0.1213573634142366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9846720662002384, + -0.029589823500222774, + 0.17188765048769325, + -0.0004071305550458344 + ], + [ + 0.01861600563445165, + 0.9977045693221812, + 0.06510788498990859, + 0.017805973299973177 + ], + [ + -0.1734196251269498, + -0.060910054168969205, + 0.9829626640528936, + 0.12438994748974776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9836887365359875, + -0.03111445068605349, + 0.17716760587290722, + 0.0004552891618390218 + ], + [ + 0.019543043837981337, + 0.9975824659143327, + 0.0666880284445873, + 0.018699611585832904 + ], + [ + -0.17881425851922264, + -0.06213786815448764, + 0.9819187065594771, + 0.1274225315652589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9828901646295604, + -0.03187770698043326, + 0.18141316399904883, + 0.0008864990202814499 + ], + [ + 0.019891034299170402, + 0.9975200204679131, + 0.06751411348898755, + 0.01914643072876277 + ], + [ + -0.1831154581923257, + -0.06275046265458367, + 0.9810866977019159, + 0.12893882360301448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9819481444089355, + -0.03325355657163793, + 0.18620430356784323, + 0.0020892400607841247 + ], + [ + 0.020726831477564336, + 0.9974136485375021, + 0.0688215966685514, + 0.019568518316267772 + ], + [ + -0.18801127665315526, + -0.06371981392349628, + 0.9800977222526364, + 0.13216291741510058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9812064803648755, + -0.03386571352474508, + 0.18996567147101395, + 0.0028607712428443716 + ], + [ + 0.02099350490878521, + 0.9973701636942168, + 0.06936879214903464, + 0.01954378676084291 + ], + [ + -0.1918153164938038, + -0.06407706313518947, + 0.9793370279624634, + 0.13387071918943108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9803199416469944, + -0.035090595333277665, + 0.19427161946200325, + 0.004403833606964865 + ], + [ + 0.02174634188119782, + 0.9972817321141934, + 0.07040059237037925, + 0.019494323649993185 + ], + [ + -0.19621393585578806, + -0.06479040754980936, + 0.9784182615147318, + 0.13728632273809213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.979546376725767, + -0.03570331916541043, + 0.19802567723402556, + 0.005175364789025113 + ], + [ + 0.02200378747881547, + 0.997236785451333, + 0.0709551060832079, + 0.019469592094568323 + ], + [ + -0.2000118226005872, + -0.06514650215679273, + 0.9776252881737083, + 0.13899412451242263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9786546833364697, + -0.03699736656981303, + 0.20215391574365743, + 0.006398483146086104 + ], + [ + 0.022848508349936052, + 0.9971514227252309, + 0.07188174888823308, + 0.019522917405652356 + ], + [ + -0.20423750010656166, + -0.06572849476404413, + 0.9767122444846669, + 0.14242253167783245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9777768687066695, + -0.03835985329335655, + 0.20610899222861018, + 0.007301657496087596 + ], + [ + 0.023792169806871512, + 0.9970700628162409, + 0.07269953570346295, + 0.019679031138670148 + ], + [ + -0.20829384935245238, + -0.06618014423473445, + 0.9758247080449481, + 0.14586374245999104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9769895397447692, + -0.039041203459469084, + 0.20968362754812434, + 0.007753244671088341 + ], + [ + 0.02414216060058854, + 0.9970286318268702, + 0.0731509630761958, + 0.019757088005179044 + ], + [ + -0.21191648192351528, + -0.06640550993611832, + 0.9750290831248496, + 0.14758434785107033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9760787404297028, + -0.04040411509681237, + 0.21363005398213136, + 0.008656419021089833 + ], + [ + 0.02507571680257844, + 0.9969442679184516, + 0.0739819916694573, + 0.019913201738196835 + ], + [ + -0.2159664346790994, + -0.0668553225090292, + 0.9741092674562808, + 0.15102555863322892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.975195930040808, + -0.041088310347439136, + 0.2174963190139922, + 0.008828820673792417 + ], + [ + 0.025401653533308394, + 0.9969022605451308, + 0.07443546814376842, + 0.0202556815580478 + ], + [ + -0.21988099970124178, + -0.06706439944412183, + 0.9732187381558074, + 0.15306251337312876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9741148879108232, + -0.042457083189786984, + 0.22203058626572156, + 0.009173623979197583 + ], + [ + 0.026290970849565144, + 0.9968167887327136, + 0.07526668952722707, + 0.02094064119774973 + ], + [ + -0.22451942010051565, + -0.06748100316100956, + 0.9721303123604943, + 0.1571364228529285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9731975016289843, + -0.04314165939799054, + 0.22588806973253633, + 0.009346025631900167 + ], + [ + 0.02660937618854468, + 0.9967733243800097, + 0.07572899644971257, + 0.021283121017600694 + ], + [ + -0.22842627677646882, + -0.06768852952171321, + 0.9712052816213618, + 0.15917337759282835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9720748410151152, + -0.044511187928704836, + 0.23041106226614652, + 0.009690828937305333 + ], + [ + 0.027487768093118033, + 0.996684939001274, + 0.07657385306542917, + 0.021968080657302623 + ], + [ + -0.2330556287041733, + -0.06810203019883103, + 0.9700758668331566, + 0.16324728707262806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9707813885593182, + -0.045541646670946366, + 0.23560444402714617, + 0.009394970364076728 + ], + [ + 0.028033845799752165, + 0.9966264813700715, + 0.0771346881862261, + 0.02298878221509968 + ], + [ + -0.2383224687613774, + -0.06827602104992125, + 0.9687831469596656, + 0.1676643678705673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9697328204878086, + -0.04605699605723822, + 0.2397853414680378, + 0.009247041077462426 + ], + [ + 0.028178512588067507, + 0.9965968921388857, + 0.07746357858657722, + 0.02349913299399821 + ], + [ + -0.24253706582104942, + -0.06836218028484936, + 0.9677305327463932, + 0.16987290826953694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9683877491123054, + -0.04708793133307068, + 0.24496508749610593, + 0.00895118250423382 + ], + [ + 0.028716988625460602, + 0.9965369930478553, + 0.07803432610988917, + 0.02451983455179527 + ], + [ + -0.24779124668455904, + -0.06853282578379054, + 0.9663864391932458, + 0.17428998906747617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9672980995032874, + -0.0476035158114498, + 0.24913508781325458, + 0.008803253217619518 + ], + [ + 0.028856345558808436, + 0.9965066832700017, + 0.07836926386799643, + 0.0250301853306938 + ], + [ + -0.25199543253463874, + -0.0686173118142212, + 0.9652926843714661, + 0.17649852946644579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9657725767252278, + -0.04821899390660856, + 0.25486910105414606, + 0.008361853072129218 + ], + [ + 0.02901059470845478, + 0.996484303275619, + 0.0785965566673648, + 0.02504356803076754 + ], + [ + -0.2577629054774481, + -0.06851249485998126, + 0.9637760749302119, + 0.17999207750330523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9642126745088203, + -0.048834176957962015, + 0.26059382471076825, + 0.00792045292663892 + ], + [ + 0.02916328692955816, + 0.9964616601754911, + 0.0788267879325857, + 0.025056950730841278 + ], + [ + -0.26352119651370065, + -0.06840601553330693, + 0.962225127517903, + 0.18348562554016468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9629874858541959, + -0.04914165640398248, + 0.2650286771164362, + 0.00769975285389377 + ], + [ + 0.029109832356854, + 0.9964502400136295, + 0.07899073893144899, + 0.02506364208087815 + ], + [ + -0.2679696246748335, + -0.06835215272874294, + 0.960999616789193, + 0.18523239955859438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9613315350376548, + -0.04971942091172184, + 0.2708683424218303, + 0.007398125357347831 + ], + [ + 0.029276402043433854, + 0.9964447059435677, + 0.07899898911016773, + 0.025229618290239404 + ], + [ + -0.2738331098051112, + -0.06801416897412048, + 0.9593693245008525, + 0.1885364521507511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9600229498960121, + -0.04998936114420041, + 0.2754214941600488, + 0.007317197933547043 + ], + [ + 0.029239345236646563, + 0.9964505520025796, + 0.07893895175315321, + 0.025388903149563786 + ], + [ + -0.27839000765668886, + -0.0677300611704224, + 0.9580770545476807, + 0.19009373072447805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9582668101624685, + -0.050527978205690056, + 0.28137456167801206, + 0.007155343085945466 + ], + [ + 0.02942580373537381, + 0.996461926830983, + 0.07872579279253065, + 0.025707472868212553 + ], + [ + -0.2843568930333418, + -0.06716064170874578, + 0.9563632184424988, + 0.193208287871932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9569082351378926, + -0.05079665380904511, + 0.28591315025211395, + 0.007074415662144677 + ], + [ + 0.029391329147539166, + 0.9964674555744899, + 0.07866867071359021, + 0.025866757727536938 + ], + [ + -0.28889925457886684, + -0.06687533134651594, + 0.9550208954578266, + 0.19476556644565896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9551625634175687, + -0.05127070774897931, + 0.2916089710082623, + 0.007022060743144393 + ], + [ + 0.02957934007482433, + 0.9964896710501298, + 0.0783160145253948, + 0.026392975593514913 + ], + [ + -0.29460064508808653, + -0.06617892426840066, + 0.9533261823197559, + 0.19794328988272256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9534601202557548, + -0.05168079901894189, + 0.2970570552850849, + 0.007079205752745402 + ], + [ + 0.029769062683499305, + 0.9965227492092158, + 0.07782167574302777, + 0.027126841606822105 + ], + [ + -0.3000459997880794, + -0.06535675421309418, + 0.9516831892441421, + 0.2011841796093958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9521053908067972, + -0.05188508850777606, + 0.30133579672381483, + 0.007107778257545906 + ], + [ + 0.029738820801131344, + 0.9965390347842066, + 0.07762444646321436, + 0.0274937746134757 + ], + [ + -0.30432043528819125, + -0.06494528267628433, + 0.950353188516829, + 0.20280462447273243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9503472009447413, + -0.05229215350576598, + 0.30676656978592926, + 0.007164923267146915 + ], + [ + 0.02993680727185628, + 0.9965710987905699, + 0.07713515816879242, + 0.02822764062678289 + ], + [ + -0.30974826105543146, + -0.06412156998301194, + 0.9486540143993755, + 0.20604551419940567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9491072875571368, + -0.05253116248490845, + 0.3105411948098334, + 0.007475885998649271 + ], + [ + 0.030062342270120133, + 0.9966004884032131, + 0.0767054241348789, + 0.028555208653358193 + ], + [ + -0.3135149315155004, + -0.06346608135422938, + 0.9474599961129598, + 0.20795770859952803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9476180841392231, + -0.05300778328994272, + 0.31497641423286726, + 0.008097811461653982 + ], + [ + 0.03057194614916598, + 0.9966579095287265, + 0.07575201305893887, + 0.02921034470650879 + ], + [ + -0.3179391808521888, + -0.062154535510416456, + 0.9460716098660417, + 0.21178209739977277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9463453129047519, + -0.05324539466844003, + 0.3187404534881162, + 0.008408774193156337 + ], + [ + 0.03070654112082428, + 0.9966859409876967, + 0.07532757376861021, + 0.029537912733084093 + ], + [ + -0.3216949752103738, + -0.06149847952650818, + 0.9448440505926495, + 0.21369429179989513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9448172937753823, + -0.05371921826218971, + 0.3231633131595574, + 0.009030699656161049 + ], + [ + 0.03122969562854849, + 0.9967406455665001, + 0.07438273715469772, + 0.030193048786234692 + ], + [ + -0.3261057918742185, + -0.06018580451382081, + 0.9434154341757998, + 0.21751868060013985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_153/pull_out/transforms.json b/spatialvid_eval/camera_controls/scene_153/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7be751b634e60924dfa1c91490c3360a50d425d4 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_153/pull_out/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999918751143, + -0.00011446534111034202, + 5.610220203472413e-05, + -2.7641434846766612e-05 + ], + [ + 0.00011447147034955688, + 0.9999999874792367, + -0.00010926028067274708, + 0.0002786070447213657 + ], + [ + -5.608969481698472e-05, + 0.00010926670188657656, + 0.999999992457367, + 0.00023206044795460348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999993433467963, + -5.798173481084076e-05, + -0.0011445278915237082, + -0.001069247895984066 + ], + [ + 5.98011128730707e-05, + 0.9999987346989467, + 0.0015896617037139509, + 0.0008923622177809921 + ], + [ + 0.001144434272008018, + -0.0015897291038991278, + 0.9999980815139463, + 0.001794359267219102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999984774050613, + -2.897501232552682e-05, + -0.0017448060086843824, + -0.0015878351013276116 + ], + [ + 3.32308125947382e-05, + 0.999997024727827, + 0.0024391455895438965, + 0.001196122556031409 + ], + [ + 0.0017447301431380968, + -0.0024391998570346555, + 0.9999955031002815, + 0.0019505163219392966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999956621711263, + 3.056811428328786e-05, + -0.0029452851340585995, + -0.0026241894180983067 + ], + [ + -1.8379887199161404e-05, + 0.9999914376328943, + 0.004138154549648138, + 0.0018024445906333572 + ], + [ + 0.002945386411027247, + -0.004138082465033316, + 0.9999871004030013, + 0.003512849874335676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999993712881975, + 6.110445393735906e-05, + -0.0035454848424713303, + -0.0031390253736395222 + ], + [ + -4.342023083401544e-05, + 0.9999875605151314, + 0.004987677784345903, + 0.0021008954063674425 + ], + [ + 0.0035457455077937076, + -0.004987492480456722, + 0.9999812761284842, + 0.003669043330782976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999854383244128, + 0.0025534284812224117, + -0.004754276193427553, + -0.004602567344455111 + ], + [ + -0.0025214755583696296, + 0.9999742765606198, + 0.006714788014051137, + 0.0023000211521607824 + ], + [ + 0.004771299628052543, + -0.006702702444266973, + 0.9999661536671144, + 0.005597762448437219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999784293805518, + 0.0038003616778856026, + -0.005357053735233992, + -0.005329868054055856 + ], + [ + -0.0037597031910296523, + 0.9999642075863453, + 0.007579457640765298, + 0.002393220035922577 + ], + [ + 0.005385666673707851, + -0.0075591532151460285, + 0.9999569259708889, + 0.0059371745627906595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999586682557176, + 0.0062957538834918225, + -0.006559364549282011, + -0.006788180290076048 + ], + [ + -0.006234541955944051, + 0.9999372157774296, + 0.009311014438925843, + 0.002584749373847146 + ], + [ + 0.006617572579991344, + -0.009269734964971212, + 0.9999351377698594, + 0.007866020249517342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999353564565042, + 0.008489946269178972, + -0.007563314124783796, + -0.007865520325673007 + ], + [ + -0.008406384349452335, + 0.9999040248695944, + 0.011012436231588407, + 0.0028387674368378912 + ], + [ + 0.007656083226623317, + -0.010948144223199301, + 0.9999107572817161, + 0.00981398939643631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999237418456953, + 0.009436011737950806, + -0.00796694268743236, + -0.008209339712319734 + ], + [ + -0.00934126299344859, + 0.9998861841259526, + 0.011847345682853611, + 0.002990202818207985 + ], + [ + 0.008077827615813873, + -0.011772020919241387, + 0.9998980789182897, + 0.010172587246956931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998973478865967, + 0.01132911247783157, + -0.008771824201118656, + -0.008904948716304371 + ], + [ + -0.0112099361988318, + 0.9998457849694617, + 0.013518269460967415, + 0.0033036944048506216 + ], + [ + 0.008923621449210538, + -0.01341855019239578, + 0.9998701473146229, + 0.012139751124423337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998825685843155, + 0.012276144448998199, + -0.009173075749134086, + -0.009246281077900263 + ], + [ + -0.012143727502857096, + 0.9998232266270342, + 0.01435428087515958, + 0.0034498950690655832 + ], + [ + 0.009347669419078391, + -0.014241199899374724, + 0.9998548941230712, + 0.012498466837198113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998543009434836, + 0.01396195771459444, + -0.00982041860584467, + -0.009561489820303467 + ], + [ + -0.013803374117616458, + 0.999776149508121, + 0.016034891258905646, + 0.003917597030158596 + ], + [ + 0.010042098774024254, + -0.0158970000783698, + 0.9998232051921587, + 0.014478696539921005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999841264298017, + 0.01470061819380528, + -0.010066679276851214, + -0.009523783440450078 + ], + [ + -0.014529359786949404, + 0.9997519628147646, + 0.016879293593245238, + 0.004220092188108787 + ], + [ + 0.010312318416554157, + -0.01673035184165454, + 0.9998068570559667, + 0.014850412511522755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998133816110505, + 0.016178529443108675, + -0.010557326201955167, + -0.009459755528780249 + ], + [ + -0.015980621296144987, + 0.9996998684317359, + 0.018568597161856274, + 0.0048419508785802175 + ], + [ + 0.010854570210985813, + -0.01839641928823556, + 0.9997718490050149, + 0.016843725222852105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997830865188685, + 0.017657221305634182, + -0.011045471767595653, + -0.009394547900287598 + ], + [ + -0.017430930041846083, + 0.9996428129500196, + 0.020258558567890984, + 0.0054595739756784275 + ], + [ + 0.011399236320085744, + -0.02006163136776917, + 0.9997337587368863, + 0.018837183245880903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997685105673546, + 0.018353904306595684, + -0.011227621058702342, + -0.008998877109583404 + ], + [ + -0.018115370677892234, + 0.9996155468082079, + 0.020990281668675462, + 0.0057917370368590895 + ], + [ + 0.01160855818506545, + -0.020782030122971612, + 0.9997166341523142, + 0.01925982377551109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997378125089429, + 0.01974763647414017, + -0.011590387979664891, + -0.008220691855844441 + ], + [ + -0.01948376508897518, + 0.9995580011959915, + 0.022454067405082375, + 0.006478635180687029 + ], + [ + 0.01202867980252129, + -0.022222355832799533, + 0.9996806879016163, + 0.02135487231336774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9997216904340701, + 0.020444684186738272, + -0.011771005231070976, + -0.007823919017540655 + ], + [ + -0.02016771743646022, + 0.9995277217856202, + 0.02318612851363786, + 0.006806216942894394 + ], + [ + 0.012239479116713442, + -0.0229422812848323, + 0.999661866272991, + 0.021777660176494643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9996879002770862, + 0.02183913923367729, + -0.012130706373605209, + -0.007044220428521497 + ], + [ + -0.021535128847716013, + 0.9994641499142937, + 0.0246505833929087, + 0.007486694921682095 + ], + [ + 0.01266255365646434, + -0.02438165362789271, + 0.9996225261073636, + 0.02387294764530677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9997053647498396, + 0.020917212953546833, + -0.0123147834997775, + -0.005686372699839693 + ], + [ + -0.02058601205150892, + 0.99943858506691, + 0.02643351636215537, + 0.007431335119575781 + ], + [ + 0.01286078528728122, + -0.02617221583491124, + 0.9995747172273244, + 0.026136523910256053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9997137552925497, + 0.020456366922759157, + -0.012407438542652896, + -0.004999505816809246 + ], + [ + -0.020111314639870558, + 0.9994242770914094, + 0.027324885796103628, + 0.00738490815216494 + ], + [ + 0.012959263186014544, + -0.027067534291756658, + 0.9995496016131667, + 0.026643669398884788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9997298529475717, + 0.01953491144507687, + -0.012593981112421007, + -0.0036407841804018157 + ], + [ + -0.019161644225955735, + 0.999392610110228, + 0.029107425987608043, + 0.007321758941019427 + ], + [ + 0.013154942644683393, + -0.028858241316809093, + 0.999496948165484, + 0.028907589567262113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9997375600433589, + 0.01907430294407477, + -0.01268786844782404, + -0.002953301234338207 + ], + [ + -0.01868667219853498, + 0.9993752511370538, + 0.029998594915350976, + 0.007269766927545302 + ], + [ + 0.013252144003750035, + -0.029753628046819473, + 0.9994694103860086, + 0.029414964693506428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9998021100790417, + 0.015511145528328465, + -0.012455723419174822, + -0.0020835247809161627 + ], + [ + -0.015104763249074778, + 0.9993710685762552, + 0.03208291476695058, + 0.007361844151554918 + ], + [ + 0.012945532383234155, + -0.031888425128140635, + 0.9994075952954139, + 0.03141835398682509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998295706723105, + 0.01372930576487678, + -0.012342437864465079, + -0.0016410548158660035 + ], + [ + -0.013313975396976305, + 0.9993625220877627, + 0.033125330270278516, + 0.007385217555218128 + ], + [ + 0.012789357620786502, + -0.03295535782844486, + 0.9993749930441761, + 0.031795549114848665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998748624161445, + 0.010165142641088046, + -0.012121443122930219, + -0.0007719281289135647 + ], + [ + -0.009732771645726272, + 0.9993325188793223, + 0.035210649900293545, + 0.007468143067606583 + ], + [ + 0.01247127356721219, + -0.0350882684867069, + 0.9993063998345134, + 0.033799431256440825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999087843431634, + 0.006783864367999674, + -0.011679134283577192, + -0.00012000113868996354 + ], + [ + -0.006345707008365244, + 0.9992894378128889, + 0.037153081677899435, + 0.007761449445055668 + ], + [ + 0.011922876999333172, + -0.037075580370875744, + 0.9992413353861127, + 0.03593650142784345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.99992219155405, + 0.005184568972740654, + -0.011345972074393487, + 0.00010419972713031074 + ], + [ + -0.004749375263181605, + 0.9992644311922716, + 0.03805312061573402, + 0.00799033096085184 + ], + [ + 0.011534915359702497, + -0.03799627348244849, + 0.9992113034434167, + 0.03644707232087576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999409545127415, + 0.0019850254357091793, + -0.010683967529321206, + 0.0005369097780388974 + ], + [ + -0.0015577316299391361, + 0.999204271881078, + 0.03985469265687995, + 0.00849110603502614 + ], + [ + 0.01075457857459275, + -0.039835696662978815, + 0.9991483655148811, + 0.03871748258002207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999463101946228, + 0.0003847885355089311, + -0.010355127519380633, + 0.00075919586236501 + ], + [ + 3.7569044303741305e-05, + 0.9991691194018708, + 0.04075621943038145, + 0.008714304645916491 + ], + [ + 0.010362206170821122, + -0.04075442026913685, + 0.9991154597501735, + 0.039228352533575594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999524064930534, + -0.0025917967288337923, + -0.009405707760081896, + 0.0009813658732194441 + ], + [ + 0.002988700063075881, + 0.9990948687752299, + 0.04243242697441883, + 0.009339639757879674 + ], + [ + 0.009287218134868405, + -0.04245851830578669, + 0.9990550644496994, + 0.041492418587323894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.999953539214928, + -0.00396832633829601, + -0.008784748010746832, + 0.0009930381097869457 + ], + [ + 0.004344351196057605, + 0.9990566771576643, + 0.043207435001073616, + 0.009690008100960315 + ], + [ + 0.008604999954959159, + -0.04324359158025007, + 0.9990275000033862, + 0.04199675095088634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999489292885302, + -0.0067228210910135295, + -0.007546024867473456, + 0.0010024286988219563 + ], + [ + 0.0070540353894119395, + 0.9989728687974873, + 0.04475989266344922, + 0.01044077832436569 + ], + [ + 0.007237361359447797, + -0.044810836670350115, + 0.9989692735602314, + 0.04425446564920638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999351522576027, + -0.009479203246707934, + -0.006311575506406306, + 0.001008904115742548 + ], + [ + 0.009761535948842302, + 0.9988791610930933, + 0.0463155907862353, + 0.011187529684047681 + ], + [ + 0.005865466348460767, + -0.04637419799593462, + 0.9989069176178276, + 0.04651250141735237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999297584009016, + -0.010635645877710997, + -0.0052308031007499214, + 0.0007021663671408137 + ], + [ + 0.010870564753259381, + 0.9988288596669918, + 0.04714594275526021, + 0.011330251804066018 + ], + [ + 0.004723249544548827, + -0.04719949293266833, + 0.9988743158078693, + 0.047179835572659534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.999911410787784, + -0.012951161955368362, + -0.003072129617991404, + 7.687771381806695e-05 + ], + [ + 0.013085725244245004, + 0.9987223508306683, + 0.0488101397877142, + 0.011670319523453458 + ], + [ + 0.0024360564886820413, + -0.04884601677997799, + 0.9988033501513272, + 0.049763519078731625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9998984570902103, + -0.014110227975872004, + -0.001994235464026042, + -0.00023647815401761727 + ], + [ + 0.014191849826515845, + 0.9986661437620331, + 0.049643979513854526, + 0.011807686268530796 + ], + [ + 0.001291087572042369, + -0.04966724040994531, + 0.9987649865323385, + 0.050431330681564475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9998649901207542, + -0.016430957393890198, + 0.00015865038437884357, + -0.0008709342879613676 + ], + [ + 0.01640116992722322, + 0.9985478252251319, + 0.05131512801482722, + 0.012140140754634219 + ], + [ + -0.0010015766783662726, + -0.05130559791367723, + 0.9986824983281111, + 0.05301587558438738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.999846359019741, + -0.017464231933198918, + 0.0015029830175266915, + -0.0011291357514352249 + ], + [ + 0.017362331261569268, + 0.9984929170148404, + 0.05206192586102514, + 0.012149242268062913 + ], + [ + -0.002409939445519943, + -0.052027831726670866, + 0.9986427273643415, + 0.05363200480016248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9998004233996496, + -0.01953363819238308, + 0.004189313649097313, + -0.001650264881040517 + ], + [ + 0.019281435756581394, + 0.998378498743933, + 0.05355930807035702, + 0.012228599387168793 + ], + [ + -0.005228728817433981, + -0.053467842903745975, + 0.9985558823471895, + 0.056113130650217585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9997429237643748, + -0.021606830337685783, + 0.006872500696147298, + -0.0021779487285180526 + ], + [ + 0.02119622739704148, + 0.9982579459907868, + 0.055061721825502306, + 0.012303955184028405 + ], + [ + -0.008050237710340729, + -0.05490189567778648, + 0.9984593008850151, + 0.05859497260562298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999709837681602, + -0.022644837222457182, + 0.008212903858762475, + -0.0024493774550529597 + ], + [ + 0.022151997677079083, + 0.9981953696974407, + 0.05581480908777212, + 0.012305242768926737 + ], + [ + -0.009461999869982068, + -0.055616681506164896, + 0.9984073593963049, + 0.05921216891187547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9996393183097874, + -0.024448605419648817, + 0.011113009591372815, + -0.0023659743578251387 + ], + [ + 0.023773800631731377, + 0.9980761329829684, + 0.05726114889946565, + 0.01271667174871472 + ], + [ + -0.01249158487407881, + -0.05697629737705326, + 0.9982973814673338, + 0.061213007070997326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995996569000912, + -0.025351941550897008, + 0.012562045407489958, + -0.002334787634611258 + ], + [ + 0.024583028134373377, + 0.9980146762674172, + 0.057986038686799614, + 0.012884695502300134 + ], + [ + -0.014007164344168483, + -0.057654011260642714, + 0.9982383554705725, + 0.061589849796327555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9995115313134277, + -0.02716150238390475, + 0.015458058084247423, + -0.0022638409942591477 + ], + [ + 0.02619812130972732, + 0.9978880871738431, + 0.05943924559051286, + 0.013289408321633988 + ], + [ + -0.017039871223916037, + -0.05900523929938449, + 0.9981122304249631, + 0.06359208243048992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9994630674387818, + -0.028067720877833255, + 0.01690502500990402, + -0.0022415892100001718 + ], + [ + 0.02700398144174377, + 0.9978229552300935, + 0.060167557721559344, + 0.013452700445123785 + ], + [ + -0.01855698822965071, + -0.05967874881904999, + 0.9980451318087963, + 0.0639697683352308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9993814282998683, + -0.029589823500222774, + 0.01900534436786306, + -0.0015236945366577893 + ], + [ + 0.028370864471042548, + 0.9977045693221812, + 0.06148728651361056, + 0.014193595217298557 + ], + [ + -0.02078111687280392, + -0.060910054168969205, + 0.9979269063827533, + 0.065761741739761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9992930154985439, + -0.03111445068605349, + 0.0211035573857173, + -0.0008109242813040165 + ], + [ + 0.029734742592830526, + 0.9975824659143327, + 0.06280978254394337, + 0.014931024633196302 + ], + [ + -0.02300683069797376, + -0.06213786815448764, + 0.997802370754074, + 0.06755438932001445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9992462692048272, + -0.031877706980433254, + 0.022151868496892015, + -0.0004703029251531862 + ], + [ + 0.030415551224627236, + 0.9975200204679129, + 0.06347206479544161, + 0.015258766760041972 + ], + [ + -0.0241202761994144, + -0.06275046265458366, + 0.9977377369392718, + 0.06782738721548408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9991644273119895, + -0.03325355657163793, + 0.023762326688289682, + 0.0006040946427660196 + ], + [ + 0.03166071664168096, + 0.9974136485375021, + 0.06452606243095345, + 0.015535639414333183 + ], + [ + -0.025846590027299825, + -0.06371981392349628, + 0.997633068366078, + 0.0698108506422207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9991303316196216, + -0.03386571352474508, + 0.02432475868585293, + 0.001310067876621247 + ], + [ + 0.03222557773904181, + 0.9973701636942168, + 0.06491739914657806, + 0.015405302565248559 + ], + [ + -0.026459262594601, + -0.06407706313518947, + 0.9975941245831988, + 0.07027409374725214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9990600606734934, + -0.035090595333277665, + 0.02544887593257922, + 0.0027496566713472153 + ], + [ + 0.03335454439196411, + 0.9972817321141934, + 0.06570099816379305, + 0.015223758769346637 + ], + [ + -0.027685186209959894, + -0.06479040754980936, + 0.9975147786143569, + 0.07244786212815893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9990238854784391, + -0.03570331916541043, + 0.026010560242630494, + 0.003452165172950842 + ], + [ + 0.033918649004362464, + 0.997236785451333, + 0.06609325981074791, + 0.015090913632106271 + ], + [ + -0.028298436233854606, + -0.06514650215679273, + 0.9974743764946815, + 0.07291144706964996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9989515776239183, + -0.03699736656981303, + 0.026961832830576717, + 0.004578559430022175 + ], + [ + 0.03512922271062758, + 0.9971514227252309, + 0.06674562059637487, + 0.015017588015397052 + ], + [ + -0.02935444215842315, + -0.06572849476404413, + 0.9974056755912416, + 0.07509764857542364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9988788518345966, + -0.03835985329335654, + 0.027740962725011066, + 0.0053944663087430855 + ], + [ + 0.03642227393473176, + 0.9970700628162407, + 0.06726594827281816, + 0.015054497194913898 + ], + [ + -0.030239995354193583, + -0.06618014423473444, + 0.9973493526292823, + 0.07729597446672788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9988415656460258, + -0.039041203459469084, + 0.02813025364678639, + 0.005784126915813294 + ], + [ + 0.03706860208617305, + 0.9970286318268702, + 0.06752648411413509, + 0.015030234117189588 + ], + [ + -0.030682983511600814, + -0.06640550993611832, + 0.9973208424438703, + 0.0777718888799994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9987651468071244, + -0.04040411509681237, + 0.02890828612330735, + 0.006596703634804184 + ], + [ + 0.038360861282675865, + 0.9969442679184516, + 0.06804829892211903, + 0.015064760439995854 + ], + [ + -0.031569381447769364, + -0.0668553225090292, + 0.9972631247605714, + 0.0799705609940382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9987168811756344, + -0.041088310347439136, + 0.029603074293159476, + 0.006682597787538354 + ], + [ + 0.0389889823202481, + 0.9969022605451308, + 0.06830623820442451, + 0.015303479288227022 + ], + [ + -0.032317959595945626, + -0.06706439944412183, + 0.9972251078942779, + 0.0807636930507936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9986174881151547, + -0.042457083189786984, + 0.030992071850625875, + 0.006887958680213925 + ], + [ + 0.040244591708362434, + 0.9968167887327136, + 0.06882341562889684, + 0.015864914295118587 + ], + [ + -0.03381545902107577, + -0.06748100316100956, + 0.9971473456533783, + 0.08359680611099185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9985663607866287, + -0.04314165939799054, + 0.031686279834280066, + 0.006969554644329161 + ], + [ + 0.04087207878976949, + 0.9967733243800097, + 0.0690826532483151, + 0.01610192202397706 + ], + [ + -0.03456437878439889, + -0.06768852952171321, + 0.9971076003573721, + 0.08439030756602543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9984612447913946, + -0.044511187928704836, + 0.033074110703000634, + 0.007168927996201534 + ], + [ + 0.0421264145560517, + 0.996684939001274, + 0.06960242499136542, + 0.016660895751711008 + ], + [ + -0.03606255462762581, + -0.06810203019883103, + 0.9970263816151141, + 0.0872240254744756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9983437066709574, + -0.045541646670946366, + 0.035153972307438816, + 0.0066705375102502195 + ], + [ + 0.043001849488167064, + 0.9966264813700715, + 0.06990348755611295, + 0.017571261929500925 + ], + [ + -0.038218899658291075, + -0.06827602104992125, + 0.9969341506130184, + 0.09040197119805836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9982829094108279, + -0.04605699605723822, + 0.036193727252616145, + 0.006396785056318905 + ], + [ + 0.043439307617281736, + 0.9965968921388857, + 0.07005470100461406, + 0.017982325289884853 + ], + [ + -0.039297065182840235, + -0.06836218028484936, + 0.9968863290138539, + 0.09136810985969593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9981572589068477, + -0.04708793133307067, + 0.03827287831271926, + 0.005889352239216278 + ], + [ + 0.044313702207625746, + 0.996536993047855, + 0.07035849119895357, + 0.018891155255878984 + ], + [ + -0.041453374871318505, + -0.06853282578379052, + 0.9967872739465862, + 0.09454700715174925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9980924058349901, + -0.0476035158114498, + 0.03931227158166827, + 0.005609131151608972 + ], + [ + 0.04475063747196915, + 0.9965066832700017, + 0.07051106752895892, + 0.019301161093965888 + ], + [ + -0.04253151608365479, + -0.0686173118142212, + 0.9967360406140716, + 0.09551372616655246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.997954483249912, + -0.04821899390660856, + 0.04197353914117617, + 0.004899036092982183 + ], + [ + 0.04518052060125869, + 0.996484303275619, + 0.07055319896010209, + 0.019222929116559116 + ], + [ + -0.04522797717785576, + -0.06851249485998126, + 0.9966245371896383, + 0.09777055318516005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9978090932570637, + -0.048834176957962, + 0.044634477417741604, + 0.00418231544290306 + ], + [ + 0.045610276062642056, + 0.9964616601754909, + 0.07059647666699914, + 0.0191444958099801 + ], + [ + -0.04792406630291313, + -0.06840601553330691, + 0.9965058458974794, + 0.10002826094625078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.997733598320429, + -0.04914165640398248, + 0.045964816854221144, + 0.0037927434212849716 + ], + [ + 0.045825104913171585, + 0.9964502400136295, + 0.07061854527301799, + 0.01906106573267162 + ], + [ + -0.0492719650741269, + -0.06835215272874294, + 0.996443805076373, + 0.10053467612710267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9975721920786863, + -0.04971942091172184, + 0.04876167322321871, + 0.0031924310418452164 + ], + [ + 0.04622014618425964, + 0.9964447059435677, + 0.07043895288647357, + 0.019154258603781057 + ], + [ + -0.05209049508337002, + -0.06801416897412048, + 0.9963235684960632, + 0.10260354436796565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9974859341348506, + -0.04998936114420041, + 0.05022822887101644, + 0.002922227907333104 + ], + [ + 0.046400687387069164, + 0.9964505520025796, + 0.07023726663077043, + 0.019243142319371374 + ], + [ + -0.053561062472023316, + -0.0677300611704224, + 0.996264950402612, + 0.1029205475642495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9973067798020228, + -0.050527978205690056, + 0.05316117360786413, + 0.0024372889282475232 + ], + [ + 0.046762655127963716, + 0.996461926830983, + 0.06983467950573224, + 0.019509645062078813 + ], + [ + -0.05650169064995567, + -0.06716064170874578, + 0.9961410578622721, + 0.10480076898665534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9972138838207067, + -0.05079665380904511, + 0.05462755602281937, + 0.002157935620090933 + ], + [ + 0.046944080842369056, + 0.9964674555744899, + 0.0696337795525088, + 0.019599717567811144 + ], + [ + -0.057971744747655866, + -0.06687533134651594, + 0.9960757836973082, + 0.10511874591290121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9970389964134663, + -0.05127070774897931, + 0.057311029983298754, + 0.001792429257168381 + ], + [ + 0.04727092895367935, + 0.9964896710501298, + 0.06909265348978977, + 0.020088270962571597 + ], + [ + -0.06065227866027801, + -0.06617892426840066, + 0.9959626755436135, + 0.10706169573936782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9968749142482113, + -0.051680799018941875, + 0.05974529567577198, + 0.0015527659027364934 + ], + [ + 0.047562422698244816, + 0.9965227492092156, + 0.06841217914655659, + 0.02079871503576562 + ], + [ + -0.06307314238005877, + -0.06535675421309417, + 0.9958665941726503, + 0.10906651964842563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9967906115168443, + -0.051885088507776046, + 0.0609624013832755, + 0.0013925531278638275 + ], + [ + 0.0477087875767725, + 0.9965390347842064, + 0.06807219505287478, + 0.021112006327268687 + ], + [ + -0.06428334449785374, + -0.06494528267628431, + 0.9958161285489745, + 0.10944686242126607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9966174834529541, + -0.052292153505765965, + 0.06339654846780254, + 0.0011422511627056722 + ], + [ + 0.04800275213737752, + 0.9965710987905697, + 0.06739273582957132, + 0.021825330722973615 + ], + [ + -0.06670327925326106, + -0.06412156998301193, + 0.9957103478420697, + 0.11145303115440904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.996559957903466, + -0.05253116248490844, + 0.06409935468806464, + 0.0013063231099230488 + ], + [ + 0.04823746463754343, + 0.9966004884032129, + 0.06678782463757342, + 0.02212688053199175 + ], + [ + -0.06738989025650595, + -0.06346608135422936, + 0.9957061108624143, + 0.11212099542902065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9964432896695169, + -0.05300778328994272, + 0.06550530805421649, + 0.0017110439263678737 + ], + [ + 0.04870813258494406, + 0.9966579095287265, + 0.0655784201846664, + 0.022816448738503817 + ], + [ + -0.06876255007399625, + -0.062154535510416456, + 0.9956949961824684, + 0.11470183527198209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.99638414709457, + -0.05324539466844001, + 0.06620845388036567, + 0.0018706893724702274 + ], + [ + 0.048944087590372096, + 0.9966859409876965, + 0.06497392805900123, + 0.02312173733725772 + ], + [ + -0.06944859759975311, + -0.061498479526508165, + 0.9956881184926109, + 0.11537009009874981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9962642453063111, + -0.05371921826218971, + 0.0676150805186661, + 0.0022691916042944377 + ], + [ + 0.04941723855725246, + 0.9967406455665001, + 0.06376536684637069, + 0.023816512101597624 + ], + [ + -0.07082012466539492, + -0.06018580451382081, + 0.9956717224454062, + 0.11795150835559921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_153/push_in/transforms.json b/spatialvid_eval/camera_controls/scene_153/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..88e207c41fc013f337e06c9d3b6dd1bed4908f37 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_153/push_in/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999918751143, + -0.00011446534111034202, + 5.610220203472413e-05, + -2.7641434846766612e-05 + ], + [ + 0.00011447147034955688, + 0.9999999874792367, + -0.00010926028067274708, + 0.0002786070447213657 + ], + [ + -5.608969481698472e-05, + 0.00010926670188657656, + 0.999999992457367, + 0.00023206044795460348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999993433467963, + -5.798173481084076e-05, + -0.0011445278915237082, + -0.0010721092157128752 + ], + [ + 5.98011128730707e-05, + 0.9999987346989467, + 0.0015896617037139509, + 0.000896336372040277 + ], + [ + 0.001144434272008018, + -0.0015897291038991278, + 0.9999980815139463, + 0.004294354471003969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999984774050613, + -2.897501232552682e-05, + -0.0017448060086843824, + -0.0015965591313710336 + ], + [ + 3.32308125947382e-05, + 0.999997024727827, + 0.0024391455895438965, + 0.0012083182839791285 + ], + [ + 0.0017447301431380968, + -0.0024391998570346555, + 0.9999955031002815, + 0.006950493837440705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999956621711263, + 3.056811428328786e-05, + -0.0029452851340585995, + -0.0026462790566037465 + ], + [ + -1.8379887199161404e-05, + 0.9999914376328943, + 0.004138154549648138, + 0.0018334807497557182 + ], + [ + 0.002945386411027247, + -0.004138082465033316, + 0.9999871004030013, + 0.011012753127358187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999993712881975, + 6.110445393735906e-05, + -0.0035454848424713303, + -0.0031744802220642354 + ], + [ + -4.342023083401544e-05, + 0.9999875605151314, + 0.004987677784345903, + 0.0021507721842109013 + ], + [ + 0.0035457455077937076, + -0.004987492480456722, + 0.9999812761284842, + 0.01366885609206782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999854383244128, + 0.0025534284812224117, + -0.004754276193427553, + -0.004661995796872956 + ], + [ + -0.0025214755583696296, + 0.9999742765606198, + 0.006714788014051137, + 0.0023839560023364214 + ], + [ + 0.004771299628052543, + -0.006702702444266973, + 0.9999661536671144, + 0.01809733936927615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999784293805518, + 0.0038003616778856026, + -0.005357053735233992, + -0.005410223860084366 + ], + [ + -0.0037597031910296523, + 0.9999642075863453, + 0.007579457640765298, + 0.0025069119005340567 + ], + [ + 0.005385666673707851, + -0.0075591532151460285, + 0.9999569259708889, + 0.020936528452353997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999586682557176, + 0.0062957538834918225, + -0.006559364549282011, + -0.006902969169688484 + ], + [ + -0.006234541955944051, + 0.9999372157774296, + 0.009311014438925843, + 0.002747692126528348 + ], + [ + 0.006617572579991344, + -0.009269734964971212, + 0.9999351377698594, + 0.025364885160489885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999353564565042, + 0.008489946269178972, + -0.007563314124783796, + -0.008016786608168684 + ], + [ + -0.008406384349452335, + 0.9999040248695944, + 0.011012436231588407, + 0.003059016161469659 + ], + [ + 0.007656083226623317, + -0.010948144223199301, + 0.9999107572817161, + 0.029812204542070633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999237418456953, + 0.009436011737950806, + -0.00796694268743236, + -0.008388595922786964 + ], + [ + -0.00934126299344859, + 0.9998861841259526, + 0.011847345682853611, + 0.003256768096072191 + ], + [ + 0.008077827615813873, + -0.011772020919241387, + 0.9998980789182897, + 0.03267029402261845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998973478865967, + 0.01132911247783157, + -0.008771824201118656, + -0.009124244321332338 + ], + [ + -0.0112099361988318, + 0.9998457849694617, + 0.013518269460967415, + 0.0036416511413748073 + ], + [ + 0.008923621449210538, + -0.01341855019239578, + 0.9998701473146229, + 0.03713650480728891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998825685843155, + 0.012276144448998199, + -0.009173075749134086, + -0.00949854066100145 + ], + [ + -0.012143727502857096, + 0.9998232266270342, + 0.01435428087515958, + 0.003844637793132472 + ], + [ + 0.009347669419078391, + -0.014241199899374724, + 0.9998548941230712, + 0.03999447642558257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998543009434836, + 0.01396195771459444, + -0.00982041860584467, + -0.009856102378478806 + ], + [ + -0.013803374117616458, + 0.999776149508121, + 0.016034891258905646, + 0.004398643767925765 + ], + [ + 0.010042098774024254, + -0.0158970000783698, + 0.9998232051921587, + 0.04447339269568577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999841264298017, + 0.01470061819380528, + -0.010066679276851214, + -0.009850950516947744 + ], + [ + -0.014529359786949404, + 0.9997519628147646, + 0.016879293593245238, + 0.004768669229889257 + ], + [ + 0.010312318416554157, + -0.01673035184165454, + 0.9998068570559667, + 0.04734413536584167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998133816110505, + 0.016178529443108675, + -0.010557326201955167, + -0.00982926194584868 + ], + [ + -0.015980621296144987, + 0.9996998684317359, + 0.018568597161856274, + 0.005491851779245187 + ], + [ + 0.010854570210985813, + -0.01839641928823556, + 0.9997718490050149, + 0.05183573993802763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997830865188685, + 0.017657221305634182, + -0.011045471767595653, + -0.009808753091572434 + ], + [ + -0.017430930041846083, + 0.9996428129500196, + 0.020258558567890984, + 0.00621926992197434 + ], + [ + 0.011399236320085744, + -0.02006163136776917, + 0.9997337587368863, + 0.056327199198514144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997685105673546, + 0.018353904306595684, + -0.011227621058702342, + -0.009447981951931497 + ], + [ + -0.018115370677892234, + 0.9996155468082079, + 0.020990281668675462, + 0.006631348303606109 + ], + [ + 0.01160855818506545, + -0.020782030122971612, + 0.9997166341523142, + 0.05924848914160366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997378125089429, + 0.01974763647414017, + -0.011590387979664891, + -0.008713283344980198 + ], + [ + -0.01948376508897518, + 0.9995580011959915, + 0.022454067405082375, + 0.00743293304540303 + ], + [ + 0.01202867980252129, + -0.022222355832799533, + 0.9996806879016163, + 0.06384130154918644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9997216904340701, + 0.020444684186738272, + -0.011771005231070976, + -0.00835361425293885 + ], + [ + -0.02016771743646022, + 0.9995277217856202, + 0.02318612851363786, + 0.007849592726008098 + ], + [ + 0.012239479116713442, + -0.0229422812848323, + 0.999661866272991, + 0.06676244415877924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9996879002770862, + 0.02183913923367729, + -0.012130706373605209, + -0.007620428981267745 + ], + [ + -0.021535128847716013, + 0.9994641499142937, + 0.0246505833929087, + 0.008657597632845258 + ], + [ + 0.01266255365646434, + -0.02438165362789271, + 0.9996225261073636, + 0.07135501763540654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9997053647498396, + 0.020917212953546833, + -0.0123147834997775, + -0.006302111874828567 + ], + [ + -0.02058601205150892, + 0.99943858506691, + 0.02643351636215537, + 0.008753010937683551 + ], + [ + 0.01286078528728122, + -0.02617221583491124, + 0.9995747172273244, + 0.07611525977162228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9997137552925497, + 0.020456366922759157, + -0.012407438542652896, + -0.005650896340298524 + ], + [ + -0.020111314639870558, + 0.9994242770914094, + 0.027324885796103628, + 0.008819464656460382 + ], + [ + 0.012959263186014544, + -0.027067534291756658, + 0.9995496016131667, + 0.07912002348357605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9997298529475717, + 0.01953491144507687, + -0.012593981112421007, + -0.004333453141584971 + ], + [ + -0.019161644225955735, + 0.999392610110228, + 0.029107425987608043, + 0.00892266737033787 + ], + [ + 0.013154942644683393, + -0.028858241316809093, + 0.999496948165484, + 0.08387992171636374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9997375600433589, + 0.01907430294407477, + -0.01268786844782404, + -0.003682853670088089 + ], + [ + -0.01868667219853498, + 0.9993752511370538, + 0.029998594915350976, + 0.008994686135177983 + ], + [ + 0.013252144003750035, + -0.029753628046819473, + 0.9994694103860086, + 0.08688445579070192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9998021100790417, + 0.015511145528328465, + -0.012455723419174822, + -0.0028308681860666524 + ], + [ + -0.015104763249074778, + 0.9993710685762552, + 0.03208291476695058, + 0.009286819037571952 + ], + [ + 0.012945532383234155, + -0.031888425128140635, + 0.9994075952954139, + 0.09138280970454993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998295706723105, + 0.01372930576487678, + -0.012342437864465079, + -0.002412457182395071 + ], + [ + -0.013313975396976305, + 0.9993625220877627, + 0.033125330270278516, + 0.009455550697110536 + ], + [ + 0.012789357620786502, + -0.03295535782844486, + 0.9993749930441761, + 0.09425648618010968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998748624161445, + 0.010165142641088046, + -0.012121443122930219, + -0.001559821931904029 + ], + [ + -0.009732771645726272, + 0.9993325188793223, + 0.035210649900293545, + 0.009756835311125664 + ], + [ + 0.01247127356721219, + -0.0350882684867069, + 0.9993063998345134, + 0.09875434724568419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999087843431634, + 0.006783864367999674, + -0.011679134283577192, + -0.000908342702831424 + ], + [ + -0.006345707008365244, + 0.9992894378128889, + 0.037153081677899435, + 0.01026928245831388 + ], + [ + 0.011922876999333172, + -0.037075580370875744, + 0.9992413353861127, + 0.10338529156640607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.99992219155405, + 0.005184568972740654, + -0.011345972074393487, + -0.0006900183180772334 + ], + [ + -0.004749375263181605, + 0.9992644311922716, + 0.03805312061573402, + 0.01065404940395322 + ], + [ + 0.011534915359702497, + -0.03799627348244849, + 0.9992113034434167, + 0.10639186356191493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999409545127415, + 0.0019850254357091793, + -0.010683967529321206, + -0.00023767786783689007 + ], + [ + -0.0015577316299391361, + 0.999204271881078, + 0.03985469265687995, + 0.011380571252649938 + ], + [ + 0.01075457857459275, + -0.039835696662978815, + 0.9991483655148811, + 0.11115573907985095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999463101946228, + 0.0003847885355089311, + -0.010355127519380633, + -1.7438701588537583e-05 + ], + [ + 3.7569044303741305e-05, + 0.9991691194018708, + 0.04075621943038145, + 0.0117710211031951 + ], + [ + 0.010362206170821122, + -0.04075442026913685, + 0.9991154597501735, + 0.11416201201483861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999524064930534, + -0.0025917967288337923, + -0.009405707760081896, + 0.000252423521813097 + ], + [ + 0.002988700063075881, + 0.9990948687752299, + 0.04243242697441883, + 0.012628152848397136 + ], + [ + 0.009287218134868405, + -0.04245851830578669, + 0.9990550644496994, + 0.11891918608217561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.999953539214928, + -0.00396832633829601, + -0.008784748010746832, + 0.0002902582689271991 + ], + [ + 0.004344351196057605, + 0.9990566771576643, + 0.043207435001073616, + 0.013146602901046205 + ], + [ + 0.008604999954959159, + -0.04324359158025007, + 0.9990275000033862, + 0.12191895095115726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999489292885302, + -0.0067228210910135295, + -0.007546024867473456, + 0.0003798816472553961 + ], + [ + 0.0070540353894119395, + 0.9989728687974873, + 0.04475989266344922, + 0.014133469469100253 + ], + [ + 0.007237361359447797, + -0.044810836670350115, + 0.9989692735602314, + 0.1266694307179255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999351522576027, + -0.009479203246707934, + -0.006311575506406306, + 0.0004724201976980119 + ], + [ + 0.009761535948842302, + 0.9988791610930933, + 0.0463155907862353, + 0.015124354900877681 + ], + [ + 0.005865466348460767, + -0.04637419799593462, + 0.9989069176178276, + 0.13141958941486775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999297584009016, + -0.010635645877710997, + -0.0052308031007499214, + 0.00024447109582519545 + ], + [ + 0.010870564753259381, + 0.9988288596669918, + 0.04714594275526021, + 0.015455521795151288 + ], + [ + 0.004723249544548827, + -0.04719949293266833, + 0.9988743158078693, + 0.1345813382058481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.999911410787784, + -0.012951161955368362, + -0.003072129617991404, + -0.00019961395180115941 + ], + [ + 0.013085725244245004, + 0.9987223508306683, + 0.0488101397877142, + 0.016063232104347736 + ], + [ + 0.0024360564886820413, + -0.04884601677997799, + 0.9988033501513272, + 0.1396558205923511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9998984570902103, + -0.014110227975872004, + -0.001994235464026042, + -0.00042094493444002614 + ], + [ + 0.014191849826515845, + 0.9986661437620331, + 0.049643979513854526, + 0.01639975437356234 + ], + [ + 0.001291087572042369, + -0.04966724040994531, + 0.9987649865323385, + 0.1428170919358058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9998649901207542, + -0.016430957393890198, + 0.00015865038437884357, + -0.0008558625014453775 + ], + [ + 0.01640116992722322, + 0.9985478252251319, + 0.05131512801482722, + 0.017015077916042804 + ], + [ + -0.0010015766783662726, + -0.05130559791367723, + 0.9986824983281111, + 0.14789071292555794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.999846359019741, + -0.017464231933198918, + 0.0015029830175266915, + -0.0009825949072263726 + ], + [ + 0.017362331261569268, + 0.9984929170148404, + 0.05206192586102514, + 0.017225280039512864 + ], + [ + -0.002409939445519943, + -0.052027831726670866, + 0.9986427273643415, + 0.1509996707181858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9998004233996496, + -0.01953363819238308, + 0.004189313649097313, + -0.0012313335161307857 + ], + [ + 0.019281435756581394, + 0.998378498743933, + 0.05355930807035702, + 0.017584530194204494 + ], + [ + -0.005228728817433981, + -0.053467842903745975, + 0.9985558823471895, + 0.15596871888493655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9997429237643748, + -0.021606830337685783, + 0.006872500696147298, + -0.0014735174071629545 + ], + [ + 0.02119622739704148, + 0.9982579459907868, + 0.055061721825502306, + 0.01794778167114239 + ], + [ + -0.008050237710340729, + -0.05490189567778648, + 0.9984593008850151, + 0.16093705094633703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999709837681602, + -0.022644837222457182, + 0.008212903858762475, + -0.0015870225498828998 + ], + [ + 0.022151997677079083, + 0.9981953696974407, + 0.05581480908777212, + 0.01816579772314281 + ], + [ + -0.009461999869982068, + -0.055616681506164896, + 0.9984073593963049, + 0.16404494164848749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9996393183097874, + -0.024448605419648817, + 0.011113009591372815, + -0.0011713258267525613 + ], + [ + 0.023773800631731377, + 0.9980761329829684, + 0.05726114889946565, + 0.018872245255407278 + ], + [ + -0.01249158487407881, + -0.05697629737705326, + 0.9982973814673338, + 0.1685299755787357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995996569000912, + -0.025351941550897008, + 0.012562045407489958, + -0.0009529626397873624 + ], + [ + 0.024583028134373377, + 0.9980146762674172, + 0.057986038686799614, + 0.019263159757848092 + ], + [ + -0.014007164344168483, + -0.057654011260642714, + 0.9982383554705725, + 0.17139606889809053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9995115313134277, + -0.02716150238390475, + 0.015458058084247423, + -0.0005248094597813128 + ], + [ + 0.02619812130972732, + 0.9978880871738431, + 0.05943924559051286, + 0.019976323450566685 + ], + [ + -0.017039871223916037, + -0.05900523929938449, + 0.9981122304249631, + 0.17587970835329825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9994630674387818, + -0.028067720877833255, + 0.01690502500990402, + -0.00029751133386120927 + ], + [ + 0.02700398144174377, + 0.9978229552300935, + 0.060167557721559344, + 0.02037196958310311 + ], + [ + -0.01855698822965071, + -0.05967874881904999, + 0.9980451318087963, + 0.1787449584932424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9993814282998683, + -0.029589823500222774, + 0.01900534436786306, + 0.0007094334265661204 + ], + [ + 0.028370864471042548, + 0.9977045693221812, + 0.06148728651361056, + 0.021418351382647798 + ], + [ + -0.02078111687280392, + -0.060910054168969205, + 0.9979269063827533, + 0.18301815323973453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9992930154985439, + -0.03111445068605349, + 0.0211035573857173, + 0.00172150260498206 + ], + [ + 0.029734742592830526, + 0.9975824659143327, + 0.06280978254394337, + 0.022468198538469507 + ], + [ + -0.02300683069797376, + -0.06213786815448764, + 0.997802370754074, + 0.18729067381050335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9992462692048272, + -0.031877706980433254, + 0.022151868496892015, + 0.0022433009657160862 + ], + [ + 0.030415551224627236, + 0.9975200204679129, + 0.06347206479544161, + 0.02303409469748357 + ], + [ + -0.0241202761994144, + -0.06275046265458366, + 0.9977377369392718, + 0.19005025999054487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9991644273119895, + -0.03325355657163793, + 0.023762326688289682, + 0.00357438547880223 + ], + [ + 0.03166071664168096, + 0.9974136485375021, + 0.06452606243095345, + 0.023601397218202362 + ], + [ + -0.025846590027299825, + -0.06371981392349628, + 0.997633068366078, + 0.19451498418798047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9991303316196216, + -0.03386571352474508, + 0.02432475868585293, + 0.004411474609067496 + ], + [ + 0.03222557773904181, + 0.9973701636942168, + 0.06491739914657806, + 0.02368227095643726 + ], + [ + -0.026459262594601, + -0.06407706313518947, + 0.9975941245831988, + 0.19746734463161003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9990600606734934, + -0.035090595333277665, + 0.02544887593257922, + 0.0060580105425825145 + ], + [ + 0.03335454439196411, + 0.9972817321141934, + 0.06570099816379305, + 0.02376488853063973 + ], + [ + -0.027685186209959894, + -0.06479040754980936, + 0.9975147786143569, + 0.20212478334802533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9990238854784391, + -0.03570331916541043, + 0.026010560242630494, + 0.006898564405099383 + ], + [ + 0.033918649004362464, + 0.997236785451333, + 0.06609325981074791, + 0.023848270557030374 + ], + [ + -0.028298436233854606, + -0.06514650215679273, + 0.9974743764946815, + 0.2050768019551953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9989515776239183, + -0.03699736656981303, + 0.026961832830576717, + 0.008218406862150033 + ], + [ + 0.03512922271062758, + 0.9971514227252309, + 0.06674562059637487, + 0.024028246795907662 + ], + [ + -0.02935444215842315, + -0.06572849476404413, + 0.9974056755912416, + 0.20974741478024125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9988788518345966, + -0.03835985329335654, + 0.027740962725011066, + 0.009208848683432106 + ], + [ + 0.03642227393473176, + 0.9970700628162407, + 0.06726594827281816, + 0.024303565082426398 + ], + [ + -0.030239995354193583, + -0.06618014423473444, + 0.9973493526292823, + 0.2144315104532542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9988415656460258, + -0.039041203459469084, + 0.02813025364678639, + 0.009722362426363389 + ], + [ + 0.03706860208617305, + 0.9970286318268702, + 0.06752648411413509, + 0.0244839418931685 + ], + [ + -0.030682983511600814, + -0.06640550993611832, + 0.9973208424438703, + 0.21739680682214124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9987651468071244, + -0.04040411509681237, + 0.02890828612330735, + 0.010716134407375483 + ], + [ + 0.038360861282675865, + 0.9969442679184516, + 0.06804829892211903, + 0.024761643036397815 + ], + [ + -0.031569381447769364, + -0.0668553225090292, + 0.9972631247605714, + 0.22208055627241963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9987168811756344, + -0.041088310347439136, + 0.029603074293159476, + 0.01097504356004648 + ], + [ + 0.0389889823202481, + 0.9969022605451308, + 0.06830623820442451, + 0.02520788382786858 + ], + [ + -0.032317959595945626, + -0.06706439944412183, + 0.9972251078942779, + 0.2253613336954639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9986174881151547, + -0.042457083189786984, + 0.030992071850625875, + 0.011459289278181241 + ], + [ + 0.040244591708362434, + 0.9968167887327136, + 0.06882341562889684, + 0.026016368100380872 + ], + [ + -0.03381545902107577, + -0.06748100316100956, + 0.9971473456533783, + 0.23067603959486516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9985663607866287, + -0.04314165939799054, + 0.031686279834280066, + 0.011722496619471171 + ], + [ + 0.04087207878976949, + 0.9967733243800097, + 0.0690826532483151, + 0.026464320011224327 + ], + [ + -0.03456437878439889, + -0.06768852952171321, + 0.9971076003573721, + 0.23395644761963125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9984612447913946, + -0.044511187928704836, + 0.033074110703000634, + 0.012212729878409132 + ], + [ + 0.0421264145560517, + 0.996684939001274, + 0.06960242499136542, + 0.027275265562894238 + ], + [ + -0.03606255462762581, + -0.06810203019883103, + 0.9970263816151141, + 0.23927054867078051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9983437066709574, + -0.045541646670946366, + 0.035153972307438816, + 0.012119403217903236 + ], + [ + 0.043001849488167064, + 0.9966264813700715, + 0.06990348755611295, + 0.028406302500698435 + ], + [ + -0.038218899658291075, + -0.06827602104992125, + 0.9969341506130184, + 0.24492676454307621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9982829094108279, + -0.04605699605723822, + 0.036193727252616145, + 0.012097297098605948 + ], + [ + 0.043439307617281736, + 0.9965968921388857, + 0.07005470100461406, + 0.029015940698111566 + ], + [ + -0.039297065182840235, + -0.06836218028484936, + 0.9968863290138539, + 0.24837770667937795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9981572589068477, + -0.04708793133307067, + 0.03827287831271926, + 0.01201301276925136 + ], + [ + 0.044313702207625746, + 0.996536993047855, + 0.07035849119895357, + 0.030148513847711556 + ], + [ + -0.041453374871318505, + -0.06853282578379052, + 0.9967872739465862, + 0.2540329709832031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9980924058349901, + -0.0476035158114498, + 0.03931227158166827, + 0.011997375283630065 + ], + [ + 0.04475063747196915, + 0.9965066832700017, + 0.07051106752895892, + 0.03075920956742171 + ], + [ + -0.04253151608365479, + -0.0686173118142212, + 0.9967360406140716, + 0.2574833327663391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.997954483249912, + -0.04821899390660856, + 0.04197353914117617, + 0.011824670051276253 + ], + [ + 0.04518052060125869, + 0.996484303275619, + 0.07055319896010209, + 0.030864206944975964 + ], + [ + -0.04522797717785576, + -0.06851249485998126, + 0.9966245371896383, + 0.2622136018214504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9978090932570637, + -0.048834176957962, + 0.044634477417741604, + 0.01165859041037478 + ], + [ + 0.045610276062642056, + 0.9964616601754909, + 0.07059647666699914, + 0.030969405651702454 + ], + [ + -0.04792406630291313, + -0.06840601553330691, + 0.9965058458974794, + 0.2669429901340786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.997733598320429, + -0.04914165640398248, + 0.045964816854221144, + 0.011606762286502568 + ], + [ + 0.045825104913171585, + 0.9964502400136295, + 0.07061854527301799, + 0.031066218429084677 + ], + [ + -0.0492719650741269, + -0.06835215272874294, + 0.996443805076373, + 0.2699301229900861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9975721920786863, + -0.04971942091172184, + 0.04876167322321871, + 0.011603819672850447 + ], + [ + 0.04622014618425964, + 0.9964447059435677, + 0.07043895288647357, + 0.03130497797669775 + ], + [ + -0.05209049508337002, + -0.06801416897412048, + 0.9963235684960632, + 0.27446935993353655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9974859341348506, + -0.04998936114420041, + 0.05022822887101644, + 0.011712167959760982 + ], + [ + 0.046400687387069164, + 0.9964505520025796, + 0.07023726663077043, + 0.0315346639797562 + ], + [ + -0.053561062472023316, + -0.0677300611704224, + 0.996264950402612, + 0.2772669138847066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9973067798020228, + -0.050527978205690056, + 0.05316117360786413, + 0.011873397243643408 + ], + [ + 0.046762655127963716, + 0.996461926830983, + 0.06983467950573224, + 0.03190530067434629 + ], + [ + -0.05650169064995567, + -0.06716064170874578, + 0.9961410578622721, + 0.28161580675720865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9972138838207067, + -0.05079665380904511, + 0.05462755602281937, + 0.011990895704198421 + ], + [ + 0.046944080842369056, + 0.9964674555744899, + 0.0696337795525088, + 0.03213379788726273 + ], + [ + -0.057971744747655866, + -0.06687533134651594, + 0.9960757836973082, + 0.2844123869784167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9970389964134663, + -0.05127070774897931, + 0.057311029983298754, + 0.012251692229120405 + ], + [ + 0.04727092895367935, + 0.9964896710501298, + 0.06909265348978977, + 0.03269768022445823 + ], + [ + -0.06065227866027801, + -0.06617892426840066, + 0.9959626755436135, + 0.2888248840260773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9968749142482113, + -0.051680799018941875, + 0.05974529567577198, + 0.01260564560275431 + ], + [ + 0.047562422698244816, + 0.9965227492092156, + 0.06841217914655659, + 0.03345496817787859 + ], + [ + -0.06307314238005877, + -0.06535675421309417, + 0.9958665941726503, + 0.293301839570366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9967906115168443, + -0.051885088507776046, + 0.0609624013832755, + 0.012823003387227985 + ], + [ + 0.0477087875767725, + 0.9965390347842064, + 0.06807219505287478, + 0.03387554289968271 + ], + [ + -0.06428334449785374, + -0.06494528267628431, + 0.9958161285489745, + 0.2961623865241988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9966174834529541, + -0.052292153505765965, + 0.06339654846780254, + 0.013187595371588158 + ], + [ + 0.04800275213737752, + 0.9965710987905697, + 0.06739273582957132, + 0.03462995053059217 + ], + [ + -0.06670327925326106, + -0.06412156998301193, + 0.9957103478420697, + 0.3006379972444023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.996559957903466, + -0.05253116248490844, + 0.06409935468806464, + 0.013645448887375494 + ], + [ + 0.04823746463754343, + 0.9966004884032129, + 0.06678782463757342, + 0.034983536774724634 + ], + [ + -0.06738989025650595, + -0.06346608135422936, + 0.9957061108624143, + 0.3037944217700354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9964432896695169, + -0.05300778328994272, + 0.06550530805421649, + 0.014484578996940091 + ], + [ + 0.04870813258494406, + 0.9966579095287265, + 0.0655784201846664, + 0.03560424067451377 + ], + [ + -0.06876255007399625, + -0.062154535510416456, + 0.9956949961824684, + 0.30886235952756347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.99638414709457, + -0.05324539466844001, + 0.06620845388036567, + 0.014946859013842448 + ], + [ + 0.048944087590372096, + 0.9966859409876965, + 0.06497392805900123, + 0.03595408812891047 + ], + [ + -0.06944859759975311, + -0.061498479526508165, + 0.9956881184926109, + 0.31201849350104044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9962642453063111, + -0.05371921826218971, + 0.0676150805186661, + 0.01579220770802766 + ], + [ + 0.04941723855725246, + 0.9967406455665001, + 0.06376536684637069, + 0.03656958547087176 + ], + [ + -0.07082012466539492, + -0.06018580451382081, + 0.9956717224454062, + 0.3170858528446805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_153/tilt_down/transforms.json b/spatialvid_eval/camera_controls/scene_153/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..12dede75871d5df2c573d183d8428cdff0c14b7a --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_153/tilt_down/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999918751143, + -0.00011446534111034202, + 5.610220203472413e-05, + -2.7641434846766612e-05 + ], + [ + 0.00011447147034955688, + 0.9999999874792367, + -0.00010926028067274708, + 0.0002786070447213657 + ], + [ + -5.608969481698472e-05, + 0.00010926670188657656, + 0.999999992457367, + 0.00023206044795460348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999993433467963, + -5.4235972260587196e-05, + -0.0011447115074813953, + -0.0010706785558484706 + ], + [ + 5.98011128730707e-05, + 0.9999881779609429, + 0.00486213555756009, + 0.0008943492949106346 + ], + [ + 0.001144434272008018, + -0.004862200819845266, + 0.9999875245588739, + 0.003044356869111535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999984774050613, + -1.7554744637078898e-05, + -0.0017449582775015328, + -0.0015921971163493226 + ], + [ + 3.32308125947382e-05, + 0.9999596423991047, + 0.008984011841484472, + 0.0012022204200052688 + ], + [ + 0.0017447301431380968, + -0.008984056148855016, + 0.9999581204489726, + 0.004450505079690001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999956621711263, + 5.948144587406196e-05, + -0.00294484310076346, + -0.0026352342373510266 + ], + [ + -1.8379887199161404e-05, + 0.9999026214201714, + 0.013955190405331388, + 0.0018179626701945377 + ], + [ + 0.002945386411027247, + -0.0139550757442195, + 0.9998982851069717, + 0.007262801500846932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999993712881975, + 0.00010750818166283284, + -0.003544381259593907, + -0.003156752797851879 + ], + [ + -4.342023083401544e-05, + 0.9998366024698221, + 0.01807668322140844, + 0.002125833795289172 + ], + [ + 0.0035457455077937076, + -0.01807641567331507, + 0.9998303210471265, + 0.008668949711425398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999854383244128, + 0.002630874865103187, + -0.00471186126454059, + -0.004632281570664034 + ], + [ + -0.0025214755583696296, + 0.9997305523541602, + 0.023075199904965857, + 0.002341988577248602 + ], + [ + 0.004771299628052543, + -0.023062983048377762, + 0.9997226282888516, + 0.011847550908856684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999784293805518, + 0.0039048078675332385, + -0.005281405979715673, + -0.005370045957070111 + ], + [ + -0.0037597031910296523, + 0.9996226422274014, + 0.027210986351550434, + 0.002450065968228317 + ], + [ + 0.005385666673707851, + -0.02719054287480397, + 0.9996157606663939, + 0.013436851507572328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999586682557176, + 0.006444347254851336, + -0.006413436575718982, + -0.006845574729882266 + ], + [ + -0.006234541955944051, + 0.9994615952611978, + 0.03221257649647339, + 0.002666220750187747 + ], + [ + 0.006617572579991344, + -0.032171260255085855, + 0.9994604633234614, + 0.016615452705003614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999353564565044, + 0.00868502145951434, + -0.0073384814813063, + -0.007941153466920845 + ], + [ + -0.008406384349452336, + 0.999273110759454, + 0.03718309851657926, + 0.002948891799153775 + ], + [ + 0.007656083226623318, + -0.0371190047734598, + 0.9992815238331264, + 0.01981309696925347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999237418456953, + 0.009666531328401331, + -0.0076856141836949485, + -0.008298967817553349 + ], + [ + -0.00934126299344859, + 0.9991036593007536, + 0.0412870291681432, + 0.003123485457140088 + ], + [ + 0.008077827615813873, + -0.04121208735214603, + 0.9991177671111092, + 0.02142144063478769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998973478865967, + 0.011610052771663739, + -0.00839644948712687, + -0.009014596518818354 + ], + [ + -0.0112099361988318, + 0.9988681496363856, + 0.04622506865761974, + 0.0034726727731127145 + ], + [ + 0.008923621449210538, + -0.04612619989358241, + 0.9988957616606494, + 0.024638127965856123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998825685843155, + 0.012598327220513543, + -0.008725319047283525, + -0.009372410869450856 + ], + [ + -0.012143727502857096, + 0.9986588987054372, + 0.05032826163081727, + 0.0036472664310990277 + ], + [ + 0.009347669419078391, + -0.050216393614919315, + 0.9986946154299338, + 0.026246471631390343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998543009434838, + 0.014336741376330323, + -0.009264703531487752, + -0.009708796099391136 + ], + [ + -0.013803374117616462, + 0.9983758314529194, + 0.05527355636886096, + 0.004158120399042181 + ], + [ + 0.010042098774024255, + -0.05513761889491377, + 0.9984282644410728, + 0.029476044617803388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999841264298017, + 0.015115448731878674, + -0.009432360074603375, + -0.009687366978698911 + ], + [ + -0.014529359786949404, + 0.9981295267071513, + 0.05938304151472582, + 0.004494380708999022 + ], + [ + 0.010312318416554157, + -0.05923656915278114, + 0.998190705709026, + 0.031097273938682213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998133816110505, + 0.01664506658850658, + -0.009805289885577342, + -0.009644508737314464 + ], + [ + -0.015980621296144987, + 0.9978004440136317, + 0.06433423403747691, + 0.005166901328912702 + ], + [ + 0.010854570210985813, + -0.06416553346200621, + 0.9978802346078768, + 0.03433973258043987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997830865188685, + 0.018177928020761656, + -0.010165768228565047, + -0.009601650495930016 + ], + [ + -0.017430930041846083, + 0.9974446590484844, + 0.06928430423645149, + 0.005839421948826384 + ], + [ + 0.011399236320085744, + -0.06909207674201803, + 0.9975451580468897, + 0.037582191222197525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997685105673548, + 0.01891635920306622, + -0.010251664861575407, + -0.00922342953075745 + ], + [ + -0.018115370677892238, + 0.9971470619795809, + 0.07327735073467757, + 0.006211542670232599 + ], + [ + 0.011608558185065452, + -0.07307467509329729, + 0.9972589098307788, + 0.03925415645855738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997378125089429, + 0.02036155347412518, + -0.010474415494637039, + -0.00846698760041232 + ], + [ + -0.01948376508897518, + 0.9967630750613371, + 0.07799843006256657, + 0.0069557841130450295 + ], + [ + 0.01202867980252129, + -0.07777389879894023, + 0.9968984559762447, + 0.04259808693127709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9997216904340701, + 0.021102193672443592, + -0.010546994731014513, + -0.008088766635239752 + ], + [ + -0.02016771743646022, + 0.9964291650657036, + 0.0819889149816495, + 0.007327904834451246 + ], + [ + 0.012239479116713442, + -0.08175338787277095, + 0.9965774323765696, + 0.04427005216763694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9996879002770862, + 0.022550706851410425, + -0.01075024000161483, + -0.007332324704894621 + ], + [ + -0.021535128847716013, + 0.9960010756731441, + 0.08670695175966134, + 0.008072146277263676 + ], + [ + 0.01266255365646434, + -0.08644838274046379, + 0.9961758563910569, + 0.047613982640356656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9997053647498396, + 0.021677852971655996, + -0.010920365421069252, + -0.00599424228733413 + ], + [ + -0.02058601205150892, + 0.9955698756513391, + 0.09174333111127281, + 0.008092173028629666 + ], + [ + 0.01286078528728122, + -0.09149149351779526, + 0.9957228062144997, + 0.051125891840939165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9997137552925497, + 0.021260077877991855, + -0.010973448295316518, + -0.005325201078553885 + ], + [ + -0.020111314639870558, + 0.9951888329721653, + 0.095889111743492, + 0.00810218640431266 + ], + [ + 0.012959263186014544, + -0.09564097352140184, + 0.9953315335512858, + 0.052881846441230417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9997298529475717, + 0.020390224562976393, + -0.011156158285826112, + -0.003987118660993393 + ], + [ + -0.019161644225955735, + 0.9947099005184995, + 0.10092098493888729, + 0.008122213155678648 + ], + [ + 0.013154942644683393, + -0.10067995109627642, + 0.9948318927996161, + 0.056393755641812926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9997375600433591, + 0.019974379332965034, + -0.011217629375872945, + -0.003318077452213148 + ], + [ + -0.018686672198534985, + 0.9942899892738774, + 0.10506295975222586, + 0.008132226531361643 + ], + [ + 0.013252144003750039, + -0.1048257668706323, + 0.9944023025311678, + 0.05814971024210418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.999802110079042, + 0.016440594639352345, + -0.011200336128905388, + -0.0024571964834914075 + ], + [ + -0.015104763249074782, + 0.993773144614139, + 0.1103937641849187, + 0.008324331594563436 + ], + [ + 0.012945532383234159, + -0.11020273994611267, + 0.9938248182148023, + 0.06140058184568751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998295706723105, + 0.01469202180235432, + -0.011179181749251837, + -0.0020267559991305373 + ], + [ + -0.013313975396976305, + 0.9933128560372855, + 0.11468351272166377, + 0.008420384126164332 + ], + [ + 0.012789357620786502, + -0.11451512793692566, + 0.9933391756118538, + 0.06302601764747917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998748624161445, + 0.011158476577444794, + -0.011213737502131692, + -0.0011658750304087968 + ], + [ + -0.009732771645726272, + 0.9927251273243938, + 0.12000872774452032, + 0.008612489189366123 + ], + [ + 0.01247127356721219, + -0.11988456939588543, + 0.9927095030049702, + 0.06627688925106251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999087843431634, + 0.0077879952334836125, + -0.011034950095966918, + -0.0005141719207606938 + ], + [ + -0.006345707008365244, + 0.9921127669446459, + 0.1251878175702533, + 0.009015365951684774 + ], + [ + 0.011922876999333172, + -0.12510637392108473, + 0.9920716910628873, + 0.06966089649712476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.99992219155405, + 0.0062009941405226105, + -0.010823978446727717, + -0.00029290929547346134 + ], + [ + -0.004749375263181605, + 0.9915905223998221, + 0.12932779794559782, + 0.00932219018240253 + ], + [ + 0.011534915359702497, + -0.12926632801513743, + 0.9915428191304335, + 0.07141946794139535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999409545127415, + 0.00298850468883809, + -0.010447790573743093, + 0.00014961595510100368 + ], + [ + -0.0015577316299391361, + 0.9909313839905645, + 0.13435983661315584, + 0.009935838643838039 + ], + [ + 0.01075457857459275, + -0.13433562841729532, + 0.9908775292524367, + 0.07493661082993651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999463101946228, + 0.0013979156607346768, + -0.010267548878148375, + 0.0003708785803882362 + ], + [ + 3.7569044303741305e-05, + 0.9903630389120405, + 0.1384956668833929, + 0.010242662874555795 + ], + [ + 0.010362206170821122, + -0.138488616819991, + 0.9903098139948728, + 0.0766951822742071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999524064930534, + -0.0016259238855785981, + -0.009619829534350562, + 0.0006168946975162705 + ], + [ + 0.002988700063075881, + 0.9896608866940556, + 0.14339594492128752, + 0.010983896303138405 + ], + [ + 0.009287218134868405, + -0.14341787099052286, + 0.9896186446605892, + 0.08020580233474975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.999953539214928, + -0.003028331221645045, + -0.009151427295867246, + 0.0006416481893570724 + ], + [ + 0.004344351196057605, + 0.9890673333647703, + 0.14740059933184807, + 0.01141830550100326 + ], + [ + 0.008604999954959159, + -0.14743350799840146, + 0.9890345366543378, + 0.0819578509510218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999489292885302, + -0.00587032816458472, + -0.008226667731371404, + 0.0006911551730386762 + ], + [ + 0.0070540353894119395, + 0.9883290229887648, + 0.1521709003153986, + 0.012287123896732971 + ], + [ + 0.007237361359447797, + -0.1522211600445685, + 0.9883199578250148, + 0.08546194818356594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999351522576029, + -0.008719780499939166, + -0.007325073897125335, + 0.00074066215672028 + ], + [ + 0.009761535948842303, + 0.9875598879855577, + 0.156940052433637, + 0.013155942292462681 + ], + [ + 0.005865466348460769, + -0.15700137919771967, + 0.9875809654071557, + 0.08896604541611006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999297584009016, + -0.009968146164925423, + -0.006412045410753774, + 0.00047331873148300456 + ], + [ + 0.010870564753259381, + 0.986896145548698, + 0.16099015101262773, + 0.013392886799608653 + ], + [ + 0.004723249544548827, + -0.16104854536181992, + 0.9869351837636462, + 0.09088058688925382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.999911410787784, + -0.012500300298839155, + -0.004573080889593208, + -6.136811899154623e-05 + ], + [ + 0.013085725244245004, + 0.9860626470656072, + 0.16585903610234984, + 0.013866775813900598 + ], + [ + 0.0024360564886820413, + -0.1659041848610435, + 0.986138868047689, + 0.09470966983554135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9998984570902103, + -0.013766043076788708, + -0.0036839607252328057, + -0.0003287115442288217 + ], + [ + 0.014191849826515845, + 0.985358083448556, + 0.16990597041037286, + 0.014103720321046568 + ], + [ + 0.001291087572042369, + -0.16994099988112601, + 0.9854533929376289, + 0.09662421130868513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9998649901207545, + -0.016323754210110307, + -0.0018805795149912192, + -0.0008633983947033726 + ], + [ + 0.016401169927223222, + 0.9844721073979175, + 0.17477319983487755, + 0.014577609335338512 + ], + [ + -0.0010015766783662728, + -0.17478044743045942, + 0.984606922604227, + 0.10045329425497267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.999846359019741, + -0.017513491243503966, + -0.0007321061611872127, + -0.0010558653293307988 + ], + [ + 0.017362331261569268, + 0.9837453782026744, + 0.17872767082363353, + 0.014687261153787889 + ], + [ + -0.002409939445519943, + -0.17871292199877792, + 0.9838983096349581, + 0.10231583775917413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9998004233996498, + -0.01991334036840558, + 0.0016038220766247627, + -0.0014407991985856514 + ], + [ + 0.019281435756581398, + 0.9828463397454075, + 0.18341564460050952, + 0.014906564790686644 + ], + [ + -0.005228728817433982, + -0.18334811513737362, + 0.9830341444072666, + 0.10604092476757707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9997429237643748, + -0.02233197125175531, + 0.003920388127578464, + -0.0018257330678405036 + ], + [ + 0.02119622739704148, + 0.9819204046390722, + 0.18810379820081904, + 0.015125868427585398 + ], + [ + -0.008050237710340729, + -0.1879723437462339, + 0.98214132977864, + 0.10976601177598001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999709837681602, + -0.023556550661599496, + 0.0050328285836450035, + -0.00201820000246793 + ], + [ + 0.022151997677079083, + 0.9811344113013789, + 0.19205352368340278, + 0.015235520246034775 + ], + [ + -0.009461999869982068, + -0.19188630978062027, + 0.9813715477214715, + 0.11162855528018148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9996393183097874, + -0.025765582742543907, + 0.007574168936639147, + -0.00176865009228885 + ], + [ + 0.023773800631731377, + 0.9801797531826916, + 0.19667856480623544, + 0.015794458502060998 + ], + [ + -0.01249158487407881, + -0.1964275596668018, + 0.9804387661198831, + 0.11487149132486651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995996569000912, + -0.02689214494750943, + 0.008794229093108768, + -0.0016438751371993102 + ], + [ + 0.024583028134373377, + 0.9793660397043827, + 0.20059370628585999, + 0.016073927630074113 + ], + [ + -0.014007164344168483, + -0.2002972111984473, + 0.9796350476239403, + 0.11649295934720905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9995115313134277, + -0.02913568833037114, + 0.01130532781489795, + -0.0013943252270202304 + ], + [ + 0.02619812130972732, + 0.9783659066992886, + 0.20521649799253439, + 0.016632865886100336 + ], + [ + -0.017039871223916037, + -0.20482007780975606, + 0.9786513058871774, + 0.11973589539189408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9994630674387818, + -0.030285495893494746, + 0.012504621719450375, + -0.0012695502719306906 + ], + [ + 0.02700398144174377, + 0.9775154817457518, + 0.20912739642061534, + 0.016912335014113447 + ], + [ + -0.01855698822965071, + -0.20867743453918622, + 0.9778084508235693, + 0.1213573634142366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9993814282998683, + -0.03215216103601427, + 0.01424778263554037, + -0.0004071305550458344 + ], + [ + 0.028370864471042548, + 0.9765067082610044, + 0.21361119533026238, + 0.017805973299973177 + ], + [ + -0.02078111687280392, + -0.21307483957983397, + 0.9768148534494893, + 0.12438994748974776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9992930154985439, + -0.03403270387671792, + 0.015976365126859963, + 0.0004552891618390218 + ], + [ + 0.029734742592830526, + 0.975474955634178, + 0.21809276928279187, + 0.018699611585832904 + ], + [ + -0.02300683069797376, + -0.21746352797041302, + 0.9757972636484981, + 0.1274225315652589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9992462692048274, + -0.035005648114789505, + 0.016777904526414922, + 0.0008864990202814499 + ], + [ + 0.030415551224627243, + 0.9745886385300506, + 0.22192764562317344, + 0.01914643072876277 + ], + [ + -0.024120276199414408, + -0.22125006270780198, + 0.9749187771439516, + 0.12893882360301448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9991644273119895, + -0.03668017531435969, + 0.018028087342032886, + 0.0020892400607841247 + ], + [ + 0.03166071664168096, + 0.9735805221739986, + 0.22613837769193318, + 0.019568518316267772 + ], + [ + -0.025846590027299825, + -0.2253786404748952, + 0.9739283455170862, + 0.13216291741510058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9991303316196216, + -0.03743605970014258, + 0.01836087884041611, + 0.0028607712428443716 + ], + [ + 0.03222557773904181, + 0.9727273834542552, + 0.22970187116700444, + 0.01954378676084291 + ], + [ + -0.026459262594601, + -0.22891041678430776, + 0.9730878318582471, + 0.13387071918943108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9990600606734934, + -0.03889350335936458, + 0.019138718962113267, + 0.004403833606964865 + ], + [ + 0.03335454439196411, + 0.9717506222316539, + 0.23364118335772435, + 0.019494323649993185 + ], + [ + -0.027685186209959894, + -0.23278321156996776, + 0.9721345106906201, + 0.13728632273809213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9990238854784391, + -0.03965638918851687, + 0.01945885505602928, + 0.005175364789025113 + ], + [ + 0.033918649004362464, + 0.9708688648786937, + 0.23719859286866712, + 0.019469592094568323 + ], + [ + -0.028298436233854606, + -0.23630704180300197, + 0.9712662768268199, + 0.13899412451242263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9989515776239183, + -0.04116098051251207, + 0.020037945152477227, + 0.006398483146086104 + ], + [ + 0.03512922271062758, + 0.9698887211365994, + 0.2410016728650639, + 0.019522917405652356 + ], + [ + -0.02935444215842315, + -0.2400450838806343, + 0.9703178213504622, + 0.14242253167783245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9988788518345968, + -0.04270628852644103, + 0.020425774841965286, + 0.007301657496087596 + ], + [ + 0.03642227393473177, + 0.9689216600006225, + 0.24467168766136796, + 0.019679031138670148 + ], + [ + -0.03023999535419359, + -0.243653421280997, + 0.9693908153985389, + 0.14586374245999104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9988415656460258, + -0.04351378645427533, + 0.020544515720939356, + 0.007753244671088341 + ], + [ + 0.03706860208617305, + 0.9680275709083688, + 0.24808978354744923, + 0.019757088005179044 + ], + [ + -0.030682983511600814, + -0.24704083134100518, + 0.9685191697499705, + 0.14758434785107033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9987651468071244, + -0.045064342559875785, + 0.0209137885852763, + 0.008656419021089833 + ], + [ + 0.038360861282675865, + 0.9670308448452286, + 0.2517534298466952, + 0.019913201738196835 + ], + [ + -0.031569381447769364, + -0.2506402803772166, + 0.9675654107125965, + 0.15102555863322892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9987168811756344, + -0.04593553279994754, + 0.021319429664011593, + 0.008828820673792417 + ], + [ + 0.0389889823202481, + 0.9661118894916297, + 0.2551620587794048, + 0.0202556815580478 + ], + [ + -0.032317959595945626, + -0.25400343267227316, + 0.966663232815988, + 0.15306251337312876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9986174881151547, + -0.04761491370742598, + 0.022269540255991534, + 0.009173623979197583 + ], + [ + 0.040244591708362434, + 0.9650885825078223, + 0.25881344777903237, + 0.02094064119774973 + ], + [ + -0.03381545902107577, + -0.2575594065563847, + 0.9656705788339609, + 0.1571364228529285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9985663607866287, + -0.04849439104608167, + 0.022660916627935502, + 0.009346025631900167 + ], + [ + 0.04087207878976949, + 0.9641432473825657, + 0.26221607826753063, + 0.021283121017600694 + ], + [ + -0.03456437878439889, + -0.2609139562454845, + 0.9647430803875083, + 0.15917337759282835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9984612447913946, + -0.05018582611734814, + 0.02359079283402991, + 0.009690828937305333 + ], + [ + 0.0421264145560517, + 0.9630902858618964, + 0.2658617431581736, + 0.021968080657302623 + ], + [ + -0.03606255462762581, + -0.2644588514974878, + 0.9637224745840264, + 0.16324728707262806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9983437066709574, + -0.051691182501031586, + 0.02525598943099518, + 0.009394970364076728 + ], + [ + 0.043001849488167064, + 0.962097175709709, + 0.26929512701123715, + 0.02298878221509968 + ], + [ + -0.038218899658291075, + -0.26776304103263837, + 0.962726477025465, + 0.1676643678705673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9982829094108279, + -0.05249083912607398, + 0.02599893432611894, + 0.009247041077462426 + ], + [ + 0.043439307617281736, + 0.9611508419387399, + 0.2725840890334267, + 0.02349913299399821 + ], + [ + -0.039297065182840235, + -0.27098666175347547, + 0.9617806245811585, + 0.16987290826953694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9981572589068479, + -0.05401632589942108, + 0.027646392674193988, + 0.00895118250423382 + ], + [ + 0.04431370220762575, + 0.9601319159236799, + 0.27601268054453226, + 0.02451983455179527 + ], + [ + -0.04145337487131851, + -0.2742789466237824, + 0.9607563047676173, + 0.17428998906747617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9980924058349901, + -0.05482990125968049, + 0.028376598499035816, + 0.008803253217619518 + ], + [ + 0.04475063747196915, + 0.959161689749038, + 0.27929596016344943, + 0.0250301853306938 + ], + [ + -0.04253151608365479, + -0.2774933059474128, + 0.9597856715402673, + 0.17649852946644579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.997954483249912, + -0.05609398170408251, + 0.030664549205612956, + 0.008361853072129218 + ], + [ + 0.04518052060125869, + 0.958211672396256, + 0.282469664639886, + 0.02504356803076754 + ], + [ + -0.04522797717785576, + -0.28050642791236086, + 0.9587859896662274, + 0.17999207750330523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9978090932570639, + -0.05737325176158817, + 0.032944246778729876, + 0.00792045292663892 + ], + [ + 0.04561027606264206, + 0.957250649288332, + 0.2856412035308574, + 0.025056950730841278 + ], + [ + -0.04792406630291315, + -0.2835127941017276, + 0.9577702122375835, + 0.18348562554016468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.997733598320429, + -0.05807425437165196, + 0.03398599361127799, + 0.00769975285389377 + ], + [ + 0.045825104913171585, + 0.956294757559453, + 0.288791267915088, + 0.02506364208087815 + ], + [ + -0.0492719650741269, + -0.28657933917762457, + 0.9567886683140904, + 0.18523239955859438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9975721920786863, + -0.05937444270521867, + 0.03639226765082982, + 0.007398125357347831 + ], + [ + 0.04622014618425964, + 0.9553793864595795, + 0.29174291082188025, + 0.025229618290239404 + ], + [ + -0.05209049508337002, + -0.28935255914120167, + 0.9558042042387171, + 0.1885364521507511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9974859341348506, + -0.060089126537983234, + 0.03756471848725532, + 0.007317197933547043 + ], + [ + 0.046400687387069164, + 0.9544710375512396, + 0.29467272470635547, + 0.025388903149563786 + ], + [ + -0.053561062472023316, + -0.29218886930847027, + 0.9548596112723093, + 0.19009373072447805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9973067798020228, + -0.06141122437591831, + 0.04009798600392265, + 0.007155343085945466 + ], + [ + 0.046762655127963716, + 0.9536053839335944, + 0.29740549056506294, + 0.025707472868212553 + ], + [ + -0.05650169064995567, + -0.2947294238000564, + 0.9539088665591614, + 0.193208287871932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9972138838207067, + -0.062145687913075454, + 0.04125994897031349, + 0.007074415662144677 + ], + [ + 0.046944080842369056, + 0.9526792974515447, + 0.3003305004176174, + 0.025866757727536938 + ], + [ + -0.057971744747655866, + -0.2975568343712542, + 0.9529423944446332, + 0.19476556644565896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9970389964134663, + -0.06337594914162774, + 0.043551448899268895, + 0.007022060743144393 + ], + [ + 0.04727092895367935, + 0.9518409978934691, + 0.3029260206800018, + 0.026392975593514913 + ], + [ + -0.06065227866027801, + -0.29997033819956687, + 0.9520184332741426, + 0.19794328988272256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9968749142482115, + -0.06450000440122253, + 0.045608713804096215, + 0.007079205752745402 + ], + [ + 0.04756242269824483, + 0.9510398736160923, + 0.30538659882084085, + 0.027126841606822105 + ], + [ + -0.06307314238005879, + -0.3022629785874048, + 0.9511355689310411, + 0.2011841796093958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9967906115168446, + -0.06514281268275111, + 0.046528386471651355, + 0.007107778257545906 + ], + [ + 0.047708787576772514, + 0.9501338145686475, + 0.308171390627335, + 0.0274937746134757 + ], + [ + -0.06428334449785375, + -0.30496253600895157, + 0.9501923506591492, + 0.20280462447273243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9966174834529543, + -0.06628844068494055, + 0.04857400855869472, + 0.007164923267146915 + ], + [ + 0.048002752137377536, + 0.9493185688175618, + 0.3106283803605431, + 0.02822764062678289 + ], + [ + -0.06670327925326107, + -0.3072459886308295, + 0.9492895106378908, + 0.20604551419940567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9965599579034662, + -0.06685373094116019, + 0.048977841547878855, + 0.007475885998649271 + ], + [ + 0.04823746463754344, + 0.9484762386477824, + 0.3131548685968283, + 0.028555208653358193 + ], + [ + -0.06738989025650596, + -0.3097150357664316, + 0.948438294941434, + 0.20795770859952803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9964432896695169, + -0.06782982153285078, + 0.049998857821083716, + 0.008097811461653982 + ], + [ + 0.04870813258494406, + 0.9478072899230806, + 0.31510134717064175, + 0.02921034470650879 + ], + [ + -0.06876255007399625, + -0.3115452719581656, + 0.947740077884139, + 0.21178209739977277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9963841470945702, + -0.06840255783710329, + 0.05039564961351515, + 0.008408774193156337 + ], + [ + 0.04894408759037211, + 0.9469526922462235, + 0.31762410950300335, + 0.029537912733084093 + ], + [ + -0.06944859759975312, + -0.31400905835496473, + 0.9468765513848447, + 0.21369429179989513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9962642453063111, + -0.06938885086187961, + 0.051407595745320604, + 0.009030699656161049 + ], + [ + 0.04941723855725246, + 0.9462738403069313, + 0.3195680767600978, + 0.030193048786234692 + ], + [ + -0.07082012466539492, + -0.3158338273947868, + 0.9461677987627447, + 0.21751868060013985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.120371500651, + "fy": 403.1201362609863, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/source/scene_036/caption.txt b/spatialvid_eval/source/scene_036/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..64fe1b0e1613de0a593ea8cc2104450b0fb18f99 --- /dev/null +++ b/spatialvid_eval/source/scene_036/caption.txt @@ -0,0 +1 @@ +A bustling night market adorned with festive lights and decorated stalls, with a towering illuminated Ferris wheel dominating the skyline and crowds of people strolling and enjoying the lively atmosphere. diff --git a/spatialvid_eval/source/scene_036/extras/temporal_mapping.json b/spatialvid_eval/source/scene_036/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..2e7d510311a750999baa82ba2c2f183fe49b7bfc --- /dev/null +++ b/spatialvid_eval/source/scene_036/extras/temporal_mapping.json @@ -0,0 +1,182 @@ +{ + "original_scene_id": "ccd1fb9c-ff75-51ef-9cab-b360b2ae39d6", + "original_video_path": "videos/group_0034/ccd1fb9c-ff75-51ef-9cab-b360b2ae39d6.mp4", + "original_video_num_frames": 525, + "original_annotation_num_frames": 44, + "source_frame_indices": [ + 0, + 6, + 13, + 19, + 26, + 32, + 39, + 45, + 52, + 58, + 64, + 71, + 77, + 84, + 90, + 97, + 103, + 110, + 116, + 123, + 129, + 135, + 142, + 148, + 155, + 161, + 168, + 174, + 181, + 187, + 194, + 200, + 206, + 213, + 219, + 226, + 232, + 239, + 245, + 252, + 258, + 264, + 271, + 277, + 284, + 290, + 297, + 303, + 310, + 316, + 322, + 329, + 335, + 342, + 348, + 355, + 361, + 368, + 374, + 381, + 387, + 393, + 400, + 406, + 413, + 419, + 426, + 432, + 439, + 445, + 452, + 458, + 464, + 471, + 477, + 484, + 490, + 497, + 503, + 510, + 516 + ], + "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, + 516 + ], + "timing": "variable timestamps; use timestamps_seconds instead of a scalar output FPS" + }, + "timestamps_seconds": [ + 0.0, + 0.1, + 0.21666666666666667, + 0.31666666666666665, + 0.43333333333333335, + 0.5333333333333333, + 0.65, + 0.75, + 0.8666666666666667, + 0.9666666666666667, + 1.0666666666666667, + 1.1833333333333333, + 1.2833333333333334, + 1.4, + 1.5, + 1.6166666666666667, + 1.7166666666666666, + 1.8333333333333333, + 1.9333333333333333, + 2.05, + 2.15, + 2.25, + 2.3666666666666667, + 2.466666666666667, + 2.5833333333333335, + 2.683333333333333, + 2.8, + 2.9, + 3.0166666666666666, + 3.1166666666666667, + 3.2333333333333334, + 3.3333333333333335, + 3.433333333333333, + 3.55, + 3.65, + 3.7666666666666666, + 3.8666666666666667, + 3.9833333333333334, + 4.083333333333333, + 4.2, + 4.3, + 4.4, + 4.516666666666667, + 4.616666666666666, + 4.733333333333333, + 4.833333333333333, + 4.95, + 5.05, + 5.166666666666667, + 5.266666666666667, + 5.366666666666666, + 5.483333333333333, + 5.583333333333333, + 5.7, + 5.8, + 5.916666666666667, + 6.016666666666667, + 6.133333333333334, + 6.233333333333333, + 6.35, + 6.45, + 6.55, + 6.666666666666667, + 6.766666666666667, + 6.883333333333334, + 6.983333333333333, + 7.1, + 7.2, + 7.316666666666666, + 7.416666666666667, + 7.533333333333333, + 7.633333333333334, + 7.733333333333333, + 7.85, + 7.95, + 8.066666666666666, + 8.166666666666666, + 8.283333333333333, + 8.383333333333333, + 8.5, + 8.6 + ] +} diff --git a/spatialvid_eval/source/scene_102/rgb_video/00051.png b/spatialvid_eval/source/scene_102/rgb_video/00051.png new file mode 100644 index 0000000000000000000000000000000000000000..0f171da6da97874b26d09e5e4adb43463f8a3fa4 --- /dev/null +++ b/spatialvid_eval/source/scene_102/rgb_video/00051.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:009e38f774eb86ec5c56ee2278627939258fb51e43365c987c76d52443754a7a +size 980490