diff --git a/blenderobj_eval/target/scene_000006__traj002__slowmo/caption.txt b/blenderobj_eval/target/scene_000006__traj002__slowmo/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..f32ec8c0f815e6fd8863904b8ad1a0f6562ab491 --- /dev/null +++ b/blenderobj_eval/target/scene_000006__traj002__slowmo/caption.txt @@ -0,0 +1 @@ +In a stone-walled room with a wooden floor, various household items—including cups, a box, a plate, and a small figurine—tumble and scatter through the air, eventually settling in a disordered pile on the floor. A weaving figure-eight camera move. The camera traces a figure-eight path over the sphere surrounding the scene, rising above and dipping below its 32° center elevation as it advances in azimuth, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). The viewing height rises and falls smoothly through the shot, so the objects are seen from alternating high and low angles while staying centered in frame. The motion of the scene advances in slow motion at half speed. diff --git a/blenderobj_eval/target/scene_000006__traj002__slowmo/extras/blender_meta.json b/blenderobj_eval/target/scene_000006__traj002__slowmo/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c6f9aeb71d6c980531e6acceaf1073dd622fdc1 --- /dev/null +++ b/blenderobj_eval/target/scene_000006__traj002__slowmo/extras/blender_meta.json @@ -0,0 +1,376 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000006", + "trajectory_index": 2, + "trajectory_id": "T4", + "trajectory_name": "spherical_figure_eight", + "pattern": "slowmo", + "pattern_params": { + "kind": "time_slowmo", + "stride": 0.5, + "cam_start": 0, + "src_frame_range": [ + 0, + 40 + ] + }, + "frame_count": 81, + "resolution": [ + 832, + 480 + ], + "resolution_order": "width_height", + "files": { + "preview": { + "file": "rgb.mp4", + "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)" + }, + "lossless": { + "file": "rgb_lossless.mkv", + "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)" + } + }, + "metric_reference": "rgb_lossless.mkv", + "source_fps": 30, + "playback_fps": 30, + "time_stride": 0.5, + "timestamps": [ + 0.0, + 0.0, + 0.033333333, + 0.033333333, + 0.066666667, + 0.066666667, + 0.1, + 0.1, + 0.133333333, + 0.133333333, + 0.166666667, + 0.166666667, + 0.2, + 0.2, + 0.233333333, + 0.233333333, + 0.266666667, + 0.266666667, + 0.3, + 0.3, + 0.333333333, + 0.333333333, + 0.366666667, + 0.366666667, + 0.4, + 0.4, + 0.433333333, + 0.433333333, + 0.466666667, + 0.466666667, + 0.5, + 0.5, + 0.533333333, + 0.533333333, + 0.566666667, + 0.566666667, + 0.6, + 0.6, + 0.633333333, + 0.633333333, + 0.666666667, + 0.666666667, + 0.7, + 0.7, + 0.733333333, + 0.733333333, + 0.766666667, + 0.766666667, + 0.8, + 0.8, + 0.833333333, + 0.833333333, + 0.866666667, + 0.866666667, + 0.9, + 0.9, + 0.933333333, + 0.933333333, + 0.966666667, + 0.966666667, + 1.0, + 1.0, + 1.033333333, + 1.033333333, + 1.066666667, + 1.066666667, + 1.1, + 1.1, + 1.133333333, + 1.133333333, + 1.166666667, + 1.166666667, + 1.2, + 1.2, + 1.233333333, + 1.233333333, + 1.266666667, + 1.266666667, + 1.3, + 1.3, + 1.333333333 + ], + "timestamp_range": [ + 0.0, + 1.333333333 + ], + "scene_time_span_seconds": 1.333333333, + "playback_timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_duration_seconds": 2.7, + "source_cam_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_frame_index": [ + 0, + 0, + 1, + 1, + 2, + 2, + 3, + 3, + 4, + 4, + 5, + 5, + 6, + 6, + 7, + 7, + 8, + 8, + 9, + 9, + 10, + 10, + 11, + 11, + 12, + 12, + 13, + 13, + 14, + 14, + 15, + 15, + 16, + 16, + 17, + 17, + 18, + 18, + 19, + 19, + 20, + 20, + 21, + 21, + 22, + 22, + 23, + 23, + 24, + 24, + 25, + 25, + 26, + 26, + 27, + 27, + 28, + 28, + 29, + 29, + 30, + 30, + 31, + 31, + 32, + 32, + 33, + 33, + 34, + 34, + 35, + 35, + 36, + 36, + 37, + 37, + 38, + 38, + 39, + 39, + 40 + ], + "written_at": "2026-09-17T14:34:26" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000006__traj002__slowmo/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000006__traj002__slowmo/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..9b3c12506273cc6f6bab5ae8eddb326eaff46f47 --- /dev/null +++ b/blenderobj_eval/target/scene_000006__traj002__slowmo/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "slowmo", + "original_pattern": "slowmo", + "trajectory": { + "dir": "traj002", + "index": 2, + "id": "T4", + "name": "spherical_figure_eight" + }, + "source_fps": 30, + "playback_fps": 30, + "time_stride": 0.5, + "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, + 0, + 1, + 1, + 2, + 2, + 3, + 3, + 4, + 4, + 5, + 5, + 6, + 6, + 7, + 7, + 8, + 8, + 9, + 9, + 10, + 10, + 11, + 11, + 12, + 12, + 13, + 13, + 14, + 14, + 15, + 15, + 16, + 16, + 17, + 17, + 18, + 18, + 19, + 19, + 20, + 20, + 21, + 21, + 22, + 22, + 23, + 23, + 24, + 24, + 25, + 25, + 26, + 26, + 27, + 27, + 28, + 28, + 29, + 29, + 30, + 30, + 31, + 31, + 32, + 32, + 33, + 33, + 34, + 34, + 35, + 35, + 36, + 36, + 37, + 37, + 38, + 38, + 39, + 39, + 40 + ], + "timestamps_seconds": [ + 0.0, + 0.0, + 0.033333333, + 0.033333333, + 0.066666667, + 0.066666667, + 0.1, + 0.1, + 0.133333333, + 0.133333333, + 0.166666667, + 0.166666667, + 0.2, + 0.2, + 0.233333333, + 0.233333333, + 0.266666667, + 0.266666667, + 0.3, + 0.3, + 0.333333333, + 0.333333333, + 0.366666667, + 0.366666667, + 0.4, + 0.4, + 0.433333333, + 0.433333333, + 0.466666667, + 0.466666667, + 0.5, + 0.5, + 0.533333333, + 0.533333333, + 0.566666667, + 0.566666667, + 0.6, + 0.6, + 0.633333333, + 0.633333333, + 0.666666667, + 0.666666667, + 0.7, + 0.7, + 0.733333333, + 0.733333333, + 0.766666667, + 0.766666667, + 0.8, + 0.8, + 0.833333333, + 0.833333333, + 0.866666667, + 0.866666667, + 0.9, + 0.9, + 0.933333333, + 0.933333333, + 0.966666667, + 0.966666667, + 1.0, + 1.0, + 1.033333333, + 1.033333333, + 1.066666667, + 1.066666667, + 1.1, + 1.1, + 1.133333333, + 1.133333333, + 1.166666667, + 1.166666667, + 1.2, + 1.2, + 1.233333333, + 1.233333333, + 1.266666667, + 1.266666667, + 1.3, + 1.3, + 1.333333333 + ], + "playback_timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "scene_time_range_seconds": [ + 0.0, + 1.333333333 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/blenderobj_eval/target/scene_000006__traj002__slowmo/extras/traj_caption.txt b/blenderobj_eval/target/scene_000006__traj002__slowmo/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..c378e2e338d77cb23b8b1bf8d641615119c75209 --- /dev/null +++ b/blenderobj_eval/target/scene_000006__traj002__slowmo/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_000006__traj002__slowmo/transforms.json b/blenderobj_eval/target/scene_000006__traj002__slowmo/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..58c78de0b08d10f68220343aa0c47f54c9d2e823 --- /dev/null +++ b/blenderobj_eval/target/scene_000006__traj002__slowmo/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9510565400123596, + 0.16375407576560974, + -0.2620612382888794, + -0.10011421889066696 + ], + [ + 0.30901697278022766, + -0.503983199596405, + 0.8065416812896729, + -1.932158350944519 + ], + [ + 2.0369292030864017e-08, + -0.8480480909347534, + -0.5299192667007446, + 1.030543565750122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.947725772857666, + 0.17166249454021454, + -0.2689754366874695, + -0.09043433517217636 + ], + [ + 0.31908586621284485, + -0.5098596215248108, + 0.7988913059234619, + -1.9214478731155396 + ], + [ + -1.4949772975114684e-08, + -0.8429561853408813, + -0.537982165813446, + 1.041831612586975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.944267988204956, + 0.1797303408384323, + -0.2757806181907654, + -0.08090703934431076 + ], + [ + 0.3291776776313782, + -0.5155683755874634, + 0.791094958782196, + -1.91053307056427 + ], + [ + 7.036483395950199e-09, + -0.8377864360809326, + -0.5459979772567749, + 1.053053617477417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9406698942184448, + 0.1879659742116928, + -0.28250476717948914, + -0.07149332761764526 + ], + [ + 0.3393230736255646, + -0.5210784077644348, + 0.7831584215164185, + -1.8994218111038208 + ], + [ + 4.841236744823618e-09, + -0.8325539827346802, + -0.5539439916610718, + 1.064178228378296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9369156956672668, + 0.19637899100780487, + -0.2891785204410553, + -0.06215010955929756 + ], + [ + 0.3495553135871887, + -0.5263561010360718, + 0.775087296962738, + -1.8881222009658813 + ], + [ + -7.87029641458048e-09, + -0.8272753953933716, + -0.5617966055870056, + 1.075171947479248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9329863786697388, + 0.20497994124889374, + -0.2958371341228485, + -0.05282808095216751 + ], + [ + 0.35991165041923523, + -0.5313623547554016, + 0.7668883204460144, + -1.8766435384750366 + ], + [ + -3.630988842928673e-09, + -0.821971595287323, + -0.5695285201072693, + 1.0859966278076172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9288583993911743, + 0.21378079056739807, + -0.3025223910808563, + -0.04346871003508568 + ], + [ + 0.3704349100589752, + -0.5360512137413025, + 0.7585691213607788, + -1.8649966716766357 + ], + [ + 2.8451800915263448e-09, + -0.8166681528091431, + -0.5771075487136841, + 1.0966073274612427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9245024919509888, + 0.22279483079910278, + -0.30928564071655273, + -0.03400009870529175 + ], + [ + 0.3811759948730469, + -0.5403655767440796, + 0.7501398921012878, + -1.8531959056854248 + ], + [ + -3.4909986013076377e-09, + -0.8113985061645508, + -0.5844933390617371, + 1.1069473028182983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9198812246322632, + 0.2320365309715271, + -0.3161923289299011, + -0.024330835789442062 + ], + [ + 0.3921970725059509, + -0.544231653213501, + 0.7416154742240906, + -1.8412615060806274 + ], + [ + -3.2372618363751826e-08, + -0.8062078356742859, + -0.5916324853897095, + 1.1169421672821045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9149464964866638, + 0.2415199875831604, + -0.3233279883861542, + -0.014340797439217567 + ], + [ + 0.4035751223564148, + -0.5475507974624634, + 0.7330178618431091, + -1.8292250633239746 + ], + [ + -7.229772336359019e-10, + -0.8011592626571655, + -0.5984511375427246, + 1.126488208770752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9096350073814392, + 0.25125566124916077, + -0.3308092951774597, + -0.0038670655339956284 + ], + [ + 0.41540849208831787, + -0.5501835942268372, + 0.7243852019309998, + -1.8171391487121582 + ], + [ + 2.3795623249611708e-08, + -0.7963470816612244, + -0.6048399209976196, + 1.1354327201843262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9038641452789307, + 0.26123878359794617, + -0.33879774808883667, + 0.007316848263144493 + ], + [ + 0.4278196096420288, + -0.5519251823425293, + 0.7157855033874512, + -1.8050998449325562 + ], + [ + -3.686740157604618e-08, + -0.7919172048568726, + -0.6106284260749817, + 1.1435364484786987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.8975310921669006, + 0.2714196741580963, + -0.34751877188682556, + 0.019526323303580284 + ], + [ + 0.4409511685371399, + -0.5524592995643616, + 0.707354724407196, + -1.7932968139648438 + ], + [ + 4.0106645116111395e-08, + -0.788111686706543, + -0.6155322194099426, + 1.1504015922546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.8905376195907593, + 0.2816151976585388, + -0.3572613000869751, + 0.033165816217660904 + ], + [ + 0.45490962266921997, + -0.5512939691543579, + 0.6993798613548279, + -1.7821317911148071 + ], + [ + -2.828596201709388e-08, + -0.7853456735610962, + -0.6190574765205383, + 1.1553372144699097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.8829139471054077, + 0.29129236936569214, + -0.3682548999786377, + 0.04855690896511078 + ], + [ + 0.4695347845554352, + -0.5477466583251953, + 0.6924670934677124, + -1.772454023361206 + ], + [ + -5.178458550858522e-09, + -0.7842973470687866, + -0.6203850507736206, + 1.1571956872940063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.8751294016838074, + 0.2993125915527344, + -0.3802110552787781, + 0.06529555469751358 + ], + [ + 0.4838888943195343, + -0.5413168668746948, + 0.6876245737075806, + -1.7656744718551636 + ], + [ + 6.256375684188242e-08, + -0.7857404351234436, + -0.6185563802719116, + 1.1546354293823242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.8681051135063171, + 0.3044913113117218, + -0.39201855659484863, + 0.08182604610919952 + ], + [ + 0.49638041853904724, + -0.5325157642364502, + 0.6855897903442383, + -1.7628257274627686 + ], + [ + 8.955965569157343e-08, + -0.789754331111908, + -0.613423228263855, + 1.1474491357803345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.8623946905136108, + 0.3067505657672882, + -0.40271520614624023, + 0.0968012809753418 + ], + [ + 0.5062365531921387, + -0.5225620865821838, + 0.6860418319702148, + -1.7634586095809937 + ], + [ + 1.9533818118588897e-08, + -0.7955079674720764, + -0.6059431433677673, + 1.136976957321167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.8579378724098206, + 0.30676764249801636, + -0.41211193799972534, + 0.10995670408010483 + ], + [ + 0.5137534737586975, + -0.5122838020324707, + 0.6882025003433228, + -1.7664835453033447 + ], + [ + -1.5631247407554838e-09, + -0.8021588921546936, + -0.5971105694770813, + 1.1246113777160645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.8544936180114746, + 0.30518341064453125, + -0.42036139965057373, + 0.12150602787733078 + ], + [ + 0.5194618701934814, + -0.5020143985748291, + 0.6914772391319275, + -1.7710683345794678 + ], + [ + -2.4280662813680465e-08, + -0.8092246055603027, + -0.5874992609024048, + 1.1111555099487305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.851856529712677, + 0.30242806673049927, + -0.4276420772075653, + 0.13169890642166138 + ], + [ + 0.5237752199172974, + -0.49186229705810547, + 0.6955077648162842, + -1.7767107486724854 + ], + [ + 3.7252064544190944e-08, + -0.8164611458778381, + -0.5774004459381104, + 1.0970172882080078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.8498837947845459, + 0.2987757921218872, + -0.434085875749588, + 0.14072027802467346 + ], + [ + 0.5269701480865479, + -0.48185768723487854, + 0.7000826597213745, + -1.7831156253814697 + ], + [ + 9.663965272466157e-08, + -0.823739230632782, + -0.5669689178466797, + 1.0824130773544312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.848481297492981, + 0.2944049537181854, + -0.43977856636047363, + 0.14868998527526855 + ], + [ + 0.5292253494262695, + -0.47200512886047363, + 0.7050756812095642, + -1.790105938911438 + ], + [ + 3.170163864751885e-08, + -0.8309854865074158, + -0.5562940835952759, + 1.0674684047698975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.8475890755653381, + 0.2894365191459656, + -0.44476884603500366, + 0.15567651391029358 + ], + [ + 0.5306532382965088, + -0.46230408549308777, + 0.7104098796844482, + -1.7975739240646362 + ], + [ + 6.765414184428664e-08, + -0.8381536602973938, + -0.5454342365264893, + 1.0522643327713013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.8471719026565552, + 0.2839537262916565, + -0.4490768611431122, + 0.16170760989189148 + ], + [ + 0.5313188433647156, + -0.4527556002140045, + 0.7160395383834839, + -1.8054553270339966 + ], + [ + 2.6708237399475365e-08, + -0.8452116250991821, + -0.5344318151473999, + 1.0368611812591553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.84721440076828, + 0.2780165672302246, + -0.4526969790458679, + 0.16677583754062653 + ], + [ + 0.5312511324882507, + -0.44336774945259094, + 0.7219399213790894, + -1.8137158155441284 + ], + [ + 2.4485498073545386e-08, + -0.8521336913108826, + -0.523324191570282, + 1.0213104486465454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.8477178812026978, + 0.27166783809661865, + -0.4555995464324951, + 0.17083941400051117 + ], + [ + 0.5304473042488098, + -0.43415746092796326, + 0.7281022667884827, + -1.8223432302474976 + ], + [ + 3.646053414740891e-08, + -0.8588968515396118, + -0.5121485590934753, + 1.0056644678115845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.8487008810043335, + 0.2649384140968323, + -0.45772749185562134, + 0.17381849884986877 + ], + [ + 0.5288731455802917, + -0.42515575885772705, + 0.7345309257507324, + -1.8313432931900024 + ], + [ + 8.871932521969939e-09, + -0.8654768466949463, + -0.5009489059448242, + 0.9899851083755493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.8502002954483032, + 0.2578516900539398, + -0.4589901566505432, + 0.17558617889881134 + ], + [ + 0.5264593958854675, + -0.41641485691070557, + 0.7412416934967041, + -1.840738296508789 + ], + [ + 8.621207570058687e-08, + -0.8718435764312744, + -0.48978444933891296, + 0.9743550419807434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.8522757887840271, + 0.25042712688446045, + -0.4592518210411072, + 0.17595262825489044 + ], + [ + 0.5230926871299744, + -0.40802133083343506, + 0.7482597231864929, + -1.8505637645721436 + ], + [ + 1.0579508824548611e-08, + -0.87795490026474, + -0.478743314743042, + 0.9588969945907593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.8550145626068115, + 0.24268831312656403, + -0.45831483602523804, + 0.1746407300233841 + ], + [ + 0.5186039805412292, + -0.40011662244796753, + 0.7556167244911194, + -1.860863447189331 + ], + [ + -3.8110488986831115e-08, + -0.8837472200393677, + -0.46796467900276184, + 0.943807065486908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8585354685783386, + 0.23468059301376343, + -0.4558967649936676, + 0.17125564813613892 + ], + [ + 0.5127541422843933, + -0.392939954996109, + 0.7633355855941772, + -1.871669888496399 + ], + [ + 2.8563675869008875e-08, + -0.8891136646270752, + -0.4576863646507263, + 0.9294173717498779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8629766702651978, + 0.22651131451129913, + -0.4516236186027527, + 0.16527308523654938 + ], + [ + 0.5052437782287598, + -0.38689056038856506, + 0.7713911533355713, + -1.8829478025436401 + ], + [ + -4.5315054819639045e-08, + -0.8938725590705872, + -0.44832098484039307, + 0.9163058400154114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8684301972389221, + 0.2184293121099472, + -0.44510412216186523, + 0.15614575147628784 + ], + [ + 0.49581149220466614, + -0.3825862407684326, + 0.7796144485473633, + -1.8944603204727173 + ], + [ + -4.713741574846608e-08, + -0.897728443145752, + -0.44054919481277466, + 0.9054254293441772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8747780323028564, + 0.2108922302722931, + -0.4362199306488037, + 0.14370785653591156 + ], + [ + 0.48452383279800415, + -0.3807530701160431, + 0.787568211555481, + -1.9055955410003662 + ], + [ + -3.3708289493006305e-08, + -0.9003063440322876, + -0.4352567493915558, + 0.8980160355567932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8815814256668091, + 0.2044087052345276, + -0.42547768354415894, + 0.12866881489753723 + ], + [ + 0.47203195095062256, + -0.38176003098487854, + 0.7946352362632751, + -1.9154891967773438 + ], + [ + -2.578942925879346e-08, + -0.9013746976852417, + -0.43303999304771423, + 0.8949126601219177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.888319194316864, + 0.1991737186908722, + -0.41378605365753174, + 0.11230037361383438 + ], + [ + 0.4592266082763672, + -0.38527774810791016, + 0.8004199266433716, + -1.9235877990722656 + ], + [ + 2.206634874823976e-08, + -0.9010499119758606, + -0.43371546268463135, + 0.8958584666252136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8946959376335144, + 0.19501978158950806, + -0.4018537402153015, + 0.09559518843889236 + ], + [ + 0.4466756582260132, + -0.39062654972076416, + 0.8049173355102539, + -1.9298840761184692 + ], + [ + -1.3537544418795733e-09, + -0.8996545672416687, + -0.4366025924682617, + 0.8999003171920776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9006373882293701, + 0.19166108965873718, + -0.39002346992492676, + 0.07903298735618591 + ], + [ + 0.43457138538360596, + -0.39721232652664185, + 0.8083130121231079, + -1.9346383810043335 + ], + [ + 6.14769390949732e-08, + -0.8974899649620056, + -0.4410347044467926, + 0.9061051607131958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9061673879623413, + 0.1888468861579895, + -0.37841445207595825, + 0.06278020143508911 + ], + [ + 0.4229191839694977, + -0.4046326279640198, + 0.8108093738555908, + -1.9381331205368042 + ], + [ + -2.2758882778362022e-08, + -0.8947677612304688, + -0.44653186202049255, + 0.9138012528419495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9113362431526184, + 0.18639104068279266, + -0.36704856157302856, + 0.04686789959669113 + ], + [ + 0.4116628170013428, + -0.41263115406036377, + 0.8125696182250977, + -1.9405972957611084 + ], + [ + -2.3705524654360488e-08, + -0.891624391078949, + -0.4527759850025177, + 0.9225431084632874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9161940813064575, + 0.18416009843349457, + -0.3559121787548065, + 0.03127710893750191 + ], + [ + 0.4007348418235779, + -0.42104265093803406, + 0.8137165307998657, + -1.9422032833099365 + ], + [ + -5.753129528329737e-08, + -0.8881486654281616, + -0.45955613255500793, + 0.9320350289344788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.920784056186676, + 0.18205764889717102, + -0.34498080611228943, + 0.015973195433616638 + ], + [ + 0.3900727331638336, + -0.4297552704811096, + 0.8143423795700073, + -1.9430795907974243 + ], + [ + -1.3024280320905746e-08, + -0.8844010829925537, + -0.46672752499580383, + 0.9420749545097351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9251418709754944, + 0.180012047290802, + -0.3342277407646179, + 0.0009188144467771053 + ], + [ + 0.3796215355396271, + -0.4386913776397705, + 0.8145166039466858, + -1.9433232545852661 + ], + [ + -6.083723746996839e-09, + -0.8804234862327576, + -0.4741882085800171, + 0.9525201916694641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9292967319488525, + 0.17796865105628967, + -0.3236274719238281, + -0.013921590521931648 + ], + [ + 0.369333952665329, + -0.4477945864200592, + 0.8142926096916199, + -1.9430097341537476 + ], + [ + -6.988106804328709e-08, + -0.8762460350990295, + -0.48186391592025757, + 0.9632660746574402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9332725405693054, + 0.17588414251804352, + -0.31315678358078003, + -0.028580551967024803 + ], + [ + 0.35916903614997864, + -0.4570211172103882, + 0.8137133121490479, + -1.942198634147644 + ], + [ + -1.033925123294921e-08, + -0.8718924522399902, + -0.4896973967552185, + 0.9742329716682434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9370890259742737, + 0.17372286319732666, + -0.30279454588890076, + -0.04308762028813362 + ], + [ + 0.34909048676490784, + -0.4663369953632355, + 0.812813401222229, + -1.9409387111663818 + ], + [ + -6.05187899793691e-09, + -0.8673811554908752, + -0.4976442754268646, + 0.9853586554527283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9407626390457153, + 0.17145483195781708, + -0.29252153635025024, + -0.057469841092824936 + ], + [ + 0.3390657901763916, + -0.4757139980792999, + 0.811622142791748, + -1.939271092414856 + ], + [ + -2.686093303339021e-08, + -0.8627278208732605, + -0.5056684613227844, + 0.9965924024581909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9443074464797974, + 0.16905343532562256, + -0.28231972455978394, + -0.0717524066567421 + ], + [ + 0.32906457781791687, + -0.48512789607048035, + 0.8101650476455688, + -1.9372310638427734 + ], + [ + 1.8763300246860126e-08, + -0.8579462766647339, + -0.5137393474578857, + 1.0078917741775513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9477352499961853, + 0.1664942055940628, + -0.2721719443798065, + -0.08595934510231018 + ], + [ + 0.31905779242515564, + -0.49455755949020386, + 0.8084645867347717, + -1.9348503351211548 + ], + [ + -3.3957881839796755e-08, + -0.8530489802360535, + -0.5218309164047241, + 1.0192198753356934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9510565400123596, + 0.16375407576560974, + -0.2620612382888794, + -0.10011421889066696 + ], + [ + 0.30901697278022766, + -0.503983199596405, + 0.8065416812896729, + -1.932158350944519 + ], + [ + 2.0369292030864017e-08, + -0.8480480909347534, + -0.5299192667007446, + 1.030543565750122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9542802572250366, + 0.16080999374389648, + -0.2519708275794983, + -0.1142408549785614 + ], + [ + 0.29891327023506165, + -0.5133858323097229, + 0.8044164180755615, + -1.9291831254959106 + ], + [ + -2.464853210426554e-08, + -0.8429561853408813, + -0.5379822254180908, + 1.041831612586975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9574146866798401, + 0.15763849020004272, + -0.24188272655010223, + -0.1283641755580902 + ], + [ + 0.2887163758277893, + -0.5227463245391846, + 0.8021091222763062, + -1.9259527921676636 + ], + [ + -1.7238527050267294e-08, + -0.8377865552902222, + -0.5459977984428406, + 1.053053617477417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9604670405387878, + 0.154214546084404, + -0.23177778720855713, + -0.14251106977462769 + ], + [ + 0.2783937454223633, + -0.5320450067520142, + 0.7996405363082886, + -1.9224967956542969 + ], + [ + -6.718281042594754e-09, + -0.8325538635253906, + -0.5539440512657166, + 1.064178228378296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.963444173336029, + 0.15051043033599854, + -0.22163458168506622, + -0.15671159327030182 + ], + [ + 0.26790907979011536, + -0.5412597060203552, + 0.7970336675643921, + -1.9188470840454102 + ], + [ + 2.9905864451507114e-09, + -0.8272753357887268, + -0.5617966651916504, + 1.075171947479248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9663525819778442, + 0.14649471640586853, + -0.21142838895320892, + -0.17100027203559875 + ], + [ + 0.2572210431098938, + -0.5503653883934021, + 0.7943143248558044, + -1.9150400161743164 + ], + [ + 5.822423432277901e-09, + -0.8219715356826782, + -0.5695285201072693, + 1.0859966278076172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9691984057426453, + 0.14213071763515472, + -0.20113001763820648, + -0.1854180246591568 + ], + [ + 0.2462811917066574, + -0.5593317747116089, + 0.7915135025978088, + -1.9111188650131226 + ], + [ + -3.763903677622693e-08, + -0.8166681528091431, + -0.5771075487136841, + 1.0966073274612427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9719878435134888, + 0.13737408816814423, + -0.1907038539648056, + -0.2000146210193634 + ], + [ + 0.23503106832504272, + -0.5681204199790955, + 0.7886695265769958, + -1.9071372747421265 + ], + [ + 7.902385412705826e-10, + -0.8113985061645508, + -0.5844933390617371, + 1.1069473028182983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9747271537780762, + 0.13216988742351532, + -0.18010568618774414, + -0.21485206484794617 + ], + [ + 0.2233986109495163, + -0.5766803026199341, + 0.7858327031135559, + -1.903165578842163 + ], + [ + -1.227705492823361e-09, + -0.8062078356742859, + -0.5916324853897095, + 1.1169421672821045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9774227738380432, + 0.12644843757152557, + -0.16927926242351532, + -0.2300090491771698 + ], + [ + 0.21129286289215088, + -0.5849397778511047, + 0.7830713987350464, + -1.8992998600006104 + ], + [ + -2.407281307625908e-08, + -0.8011593222618103, + -0.5984511375427246, + 1.126488208770752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9800811409950256, + 0.12011975049972534, + -0.15815259516239166, + -0.24558639526367188 + ], + [ + 0.19859756529331207, + -0.5927922129631042, + 0.7804847359657288, + -1.8956785202026367 + ], + [ + -4.821076871053265e-09, + -0.7963470816612244, + -0.6048399806022644, + 1.1354327201843262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9827075004577637, + 0.11306677758693695, + -0.14663507044315338, + -0.26171091198921204 + ], + [ + 0.18516463041305542, + -0.6000691056251526, + 0.7782230377197266, + -1.8925122022628784 + ], + [ + -7.954930048015285e-10, + -0.7919172644615173, + -0.6106283664703369, + 1.1435364484786987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9853025078773499, + 0.10514430701732635, + -0.13462409377098083, + -0.2785262167453766 + ], + [ + 0.1708185374736786, + -0.6064854264259338, + 0.7765284776687622, + -1.8901399374008179 + ], + [ + -7.122274325865874e-09, + -0.7881117463111877, + -0.6155322194099426, + 1.1504015922546387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.987849235534668, + 0.0962110087275505, + -0.12205467373132706, + -0.2961234450340271 + ], + [ + 0.15541525185108185, + -0.6115355491638184, + 0.7758030891418457, + -1.8891242742538452 + ], + [ + 1.6053848028718676e-08, + -0.7853456139564514, + -0.6190575957298279, + 1.1553372144699097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9902780652046204, + 0.08629689365625381, + -0.10909745842218399, + -0.31426355242729187 + ], + [ + 0.13910214602947235, + -0.6143537163734436, + 0.7766724228858948, + -1.8903415203094482 + ], + [ + -1.441265773394207e-09, + -0.7842973470687866, + -0.6203850507736206, + 1.1571956872940063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9924173355102539, + 0.07602911442518234, + -0.09657835215330124, + -0.33179032802581787 + ], + [ + 0.12291380763053894, + -0.6138660311698914, + 0.7797824740409851, + -1.8946954011917114 + ], + [ + 2.334163085038199e-09, + -0.7857404947280884, + -0.6185563206672668, + 1.1546354293823242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9940768480300903, + 0.06666634976863861, + -0.08582986146211624, + -0.34683817625045776 + ], + [ + 0.10867919772863388, + -0.6097899079322815, + 0.7850764989852905, + -1.9021072387695312 + ], + [ + 6.226858140223612e-09, + -0.789754331111908, + -0.6134232878684998, + 1.1474491357803345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9952502846717834, + 0.058987922966480255, + -0.07744185626506805, + -0.35858139395713806 + ], + [ + 0.09734894335269928, + -0.6030651330947876, + 0.7917295098304749, + -1.9114214181900024 + ], + [ + -6.014003517407218e-09, + -0.7955079674720764, + -0.6059431433677673, + 1.136976957321167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9960629940032959, + 0.052932627499103546, + -0.07110973447561264, + -0.3674463629722595 + ], + [ + 0.08864793926477432, + -0.5947598814964294, + 0.7990007400512695, + -1.9216011762619019 + ], + [ + -3.863376285551112e-09, + -0.8021588325500488, + -0.5971106886863708, + 1.1246113777160645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.996631920337677, + 0.04817799851298332, + -0.06636063009500504, + -0.37409508228302 + ], + [ + 0.08200520277023315, + -0.5855205059051514, + 0.8064991235733032, + -1.9320988655090332 + ], + [ + 4.0457739380883595e-09, + -0.8092246651649475, + -0.5874992609024048, + 1.1111555099487305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9970337152481079, + 0.04444000497460365, + -0.06283945590257645, + -0.37902477383613586 + ], + [ + 0.07696565240621567, + -0.5756877660751343, + 0.8140392303466797, + -1.9426549673080444 + ], + [ + -1.0694765073537837e-09, + -0.8164610862731934, + -0.5774005055427551, + 1.0970172882080078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9973157048225403, + 0.04151427373290062, + -0.06031535565853119, + -0.3825584948062897 + ], + [ + 0.07322142273187637, + -0.5654470324516296, + 0.8215280175209045, + -1.9531391859054565 + ], + [ + 3.3627514106626677e-09, + -0.8237391710281372, + -0.5669689178466797, + 1.0824130773544312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9975066781044006, + 0.03925909474492073, + -0.058644749224185944, + -0.3848973512649536 + ], + [ + 0.07057254016399384, + -0.5549070239067078, + 0.8289135694503784, + -1.963478922843933 + ], + [ + 9.860521288374002e-09, + -0.8309855461120605, + -0.5562940835952759, + 1.0674684047698975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9976240396499634, + 0.03757654130458832, + -0.05774284154176712, + -0.3861600160598755 + ], + [ + 0.06889290362596512, + -0.5441382527351379, + 0.8361623287200928, + -1.9736272096633911 + ], + [ + -5.52147527699276e-09, + -0.8381537199020386, + -0.5454341769218445, + 1.0522643327713013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9976778626441956, + 0.0363997258245945, + -0.05756665766239166, + -0.38640668988227844 + ], + [ + 0.0681091770529747, + -0.5331908464431763, + 0.8432488441467285, + -1.9835485219955444 + ], + [ + 1.5800107888708226e-08, + -0.8452115058898926, + -0.5344318747520447, + 1.0368611812591553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.997672438621521, + 0.03568490967154503, + -0.058106034994125366, + -0.38565152883529663 + ], + [ + 0.06818888336420059, + -0.5221061706542969, + 0.8501502871513367, + -1.9932104349136353 + ], + [ + 1.05448876297487e-08, + -0.8521336913108826, + -0.5233242511749268, + 1.0213104486465454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9976072907447815, + 0.03540747985243797, + -0.05937999114394188, + -0.383868008852005 + ], + [ + 0.06913518160581589, + -0.5109230875968933, + 0.8568418622016907, + -2.0025784969329834 + ], + [ + 1.3306964419257383e-09, + -0.8588969111442566, + -0.5121484994888306, + 1.0056644678115845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9974772930145264, + 0.035560596734285355, + -0.06143713369965553, + -0.3809880018234253 + ], + [ + 0.07098645716905594, + -0.4996851682662964, + 0.8632935285568237, + -2.011610984802246 + ], + [ + 9.05822883368046e-09, + -0.8654768466949463, + -0.5009489059448242, + 0.9899851083755493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9972715377807617, + 0.03615622967481613, + -0.06436006724834442, + -0.3768959045410156 + ], + [ + 0.07382066547870636, + -0.4884481728076935, + 0.8694647550582886, + -2.0202505588531494 + ], + [ + 3.6272753689559067e-09, + -0.8718435764312744, + -0.4897845387458801, + 0.9743550419807434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9969717860221863, + 0.03722911328077316, + -0.06827349215745926, + -0.3714171051979065 + ], + [ + 0.07776423543691635, + -0.4772934913635254, + 0.8752963542938232, + -2.0284149646759033 + ], + [ + 8.85149198381896e-09, + -0.8779550194740295, + -0.47874322533607483, + 0.9588969945907593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9965490698814392, + 0.03884365037083626, + -0.07335590571165085, + -0.3643017113208771 + ], + [ + 0.08300553262233734, + -0.46634969115257263, + 0.88069748878479, + -2.0359764099121094 + ], + [ + -3.3546276867468805e-09, + -0.8837472796440125, + -0.4679645895957947, + 0.943807065486908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + } + ] +} diff --git a/blenderobj_eval/target/scene_000039__traj000__backward/caption.txt b/blenderobj_eval/target/scene_000039__traj000__backward/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..61ebc7982bfdc5e7ffe10010fcdba72c322a32cd --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj000__backward/caption.txt @@ -0,0 +1 @@ +Inside a vintage train car with pink upholstered seats and patterned curtains, various items including boxes, a toy train, and a small bird figurine float and scatter through the air before settling on the seats and floor, while framed landscape paintings hang on the walls and a wooden ceiling with hanging lamps completes the cozy, retro ambiance. A steady orbital camera move. The camera tracks along a smooth horizontal arc at a low elevation of 14°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It views the objects from close to their own height, so they slide past one another and the background parallax shifts steadily across the shot, while the framing stays centered on the group of objects. The motion of the scene is reversed, playing backward so the objects rise back up from where they landed. diff --git a/blenderobj_eval/target/scene_000039__traj000__backward/extras/blender_meta.json b/blenderobj_eval/target/scene_000039__traj000__backward/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f90a7fef696abcf8d71051111fb048e2582d5fc --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj000__backward/extras/blender_meta.json @@ -0,0 +1,376 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000039", + "trajectory_index": 0, + "trajectory_id": "T0", + "trajectory_name": "low_elevation_arc", + "pattern": "backward", + "pattern_params": { + "kind": "time_backward", + "stride": -1, + "cam_start": 0, + "src_frame_range": [ + 0, + 80 + ] + }, + "frame_count": 81, + "resolution": [ + 832, + 480 + ], + "resolution_order": "width_height", + "files": { + "preview": { + "file": "rgb.mp4", + "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)" + }, + "lossless": { + "file": "rgb_lossless.mkv", + "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)" + } + }, + "metric_reference": "rgb_lossless.mkv", + "source_fps": 30, + "playback_fps": 30, + "time_stride": -1, + "timestamps": [ + 2.666666667, + 2.633333333, + 2.6, + 2.566666667, + 2.533333333, + 2.5, + 2.466666667, + 2.433333333, + 2.4, + 2.366666667, + 2.333333333, + 2.3, + 2.266666667, + 2.233333333, + 2.2, + 2.166666667, + 2.133333333, + 2.1, + 2.066666667, + 2.033333333, + 2.0, + 1.966666667, + 1.933333333, + 1.9, + 1.866666667, + 1.833333333, + 1.8, + 1.766666667, + 1.733333333, + 1.7, + 1.666666667, + 1.633333333, + 1.6, + 1.566666667, + 1.533333333, + 1.5, + 1.466666667, + 1.433333333, + 1.4, + 1.366666667, + 1.333333333, + 1.3, + 1.266666667, + 1.233333333, + 1.2, + 1.166666667, + 1.133333333, + 1.1, + 1.066666667, + 1.033333333, + 1.0, + 0.966666667, + 0.933333333, + 0.9, + 0.866666667, + 0.833333333, + 0.8, + 0.766666667, + 0.733333333, + 0.7, + 0.666666667, + 0.633333333, + 0.6, + 0.566666667, + 0.533333333, + 0.5, + 0.466666667, + 0.433333333, + 0.4, + 0.366666667, + 0.333333333, + 0.3, + 0.266666667, + 0.233333333, + 0.2, + 0.166666667, + 0.133333333, + 0.1, + 0.066666667, + 0.033333333, + 0.0 + ], + "timestamp_range": [ + 0.0, + 2.666666667 + ], + "scene_time_span_seconds": 2.666666667, + "playback_timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_duration_seconds": 2.7, + "source_cam_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_frame_index": [ + 80, + 79, + 78, + 77, + 76, + 75, + 74, + 73, + 72, + 71, + 70, + 69, + 68, + 67, + 66, + 65, + 64, + 63, + 62, + 61, + 60, + 59, + 58, + 57, + 56, + 55, + 54, + 53, + 52, + 51, + 50, + 49, + 48, + 47, + 46, + 45, + 44, + 43, + 42, + 41, + 40, + 39, + 38, + 37, + 36, + 35, + 34, + 33, + 32, + 31, + 30, + 29, + 28, + 27, + 26, + 25, + 24, + 23, + 22, + 21, + 20, + 19, + 18, + 17, + 16, + 15, + 14, + 13, + 12, + 11, + 10, + 9, + 8, + 7, + 6, + 5, + 4, + 3, + 2, + 1, + 0 + ], + "written_at": "2026-09-17T14:34:26" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000039__traj000__backward/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000039__traj000__backward/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..678842963065d8a73b61c737047b2306a2efde07 --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj000__backward/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "backward", + "original_pattern": "backward", + "trajectory": { + "dir": "traj000", + "index": 0, + "id": "T0", + "name": "low_elevation_arc" + }, + "source_fps": 30, + "playback_fps": 30, + "time_stride": -1, + "source_cam_idx": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_motion_frame": [ + 80, + 79, + 78, + 77, + 76, + 75, + 74, + 73, + 72, + 71, + 70, + 69, + 68, + 67, + 66, + 65, + 64, + 63, + 62, + 61, + 60, + 59, + 58, + 57, + 56, + 55, + 54, + 53, + 52, + 51, + 50, + 49, + 48, + 47, + 46, + 45, + 44, + 43, + 42, + 41, + 40, + 39, + 38, + 37, + 36, + 35, + 34, + 33, + 32, + 31, + 30, + 29, + 28, + 27, + 26, + 25, + 24, + 23, + 22, + 21, + 20, + 19, + 18, + 17, + 16, + 15, + 14, + 13, + 12, + 11, + 10, + 9, + 8, + 7, + 6, + 5, + 4, + 3, + 2, + 1, + 0 + ], + "timestamps_seconds": [ + 2.666666667, + 2.633333333, + 2.6, + 2.566666667, + 2.533333333, + 2.5, + 2.466666667, + 2.433333333, + 2.4, + 2.366666667, + 2.333333333, + 2.3, + 2.266666667, + 2.233333333, + 2.2, + 2.166666667, + 2.133333333, + 2.1, + 2.066666667, + 2.033333333, + 2.0, + 1.966666667, + 1.933333333, + 1.9, + 1.866666667, + 1.833333333, + 1.8, + 1.766666667, + 1.733333333, + 1.7, + 1.666666667, + 1.633333333, + 1.6, + 1.566666667, + 1.533333333, + 1.5, + 1.466666667, + 1.433333333, + 1.4, + 1.366666667, + 1.333333333, + 1.3, + 1.266666667, + 1.233333333, + 1.2, + 1.166666667, + 1.133333333, + 1.1, + 1.066666667, + 1.033333333, + 1.0, + 0.966666667, + 0.933333333, + 0.9, + 0.866666667, + 0.833333333, + 0.8, + 0.766666667, + 0.733333333, + 0.7, + 0.666666667, + 0.633333333, + 0.6, + 0.566666667, + 0.533333333, + 0.5, + 0.466666667, + 0.433333333, + 0.4, + 0.366666667, + 0.333333333, + 0.3, + 0.266666667, + 0.233333333, + 0.2, + 0.166666667, + 0.133333333, + 0.1, + 0.066666667, + 0.033333333, + 0.0 + ], + "playback_timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "scene_time_range_seconds": [ + 0.0, + 2.666666667 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/blenderobj_eval/target/scene_000039__traj000__backward/extras/traj_caption.txt b/blenderobj_eval/target/scene_000039__traj000__backward/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..39ee80a3e0474925cbbfc9ce5e29c5785238ee3a --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj000__backward/extras/traj_caption.txt @@ -0,0 +1 @@ +A steady orbital camera move. The camera tracks along a smooth horizontal arc at a low elevation of 14°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It views the objects from close to their own height, so they slide past one another and the background parallax shifts steadily across the shot, while the framing stays centered on the group of objects. diff --git a/blenderobj_eval/target/scene_000039__traj000__backward/transforms.json b/blenderobj_eval/target/scene_000039__traj000__backward/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8857017865768a05c336be70e2225856c4e0fcb6 --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj000__backward/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.6192521452903748, + 0.1899552047252655, + -0.7618686556816101, + -1.4263839721679688 + ], + [ + 0.7851922512054443, + -0.14981064200401306, + 0.6008577346801758, + 3.469799041748047 + ], + [ + -4.184979118804222e-08, + -0.970295786857605, + -0.24192188680171967, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.6086033582687378, + 0.19195884466171265, + -0.7699050903320312, + -1.415132999420166 + ], + [ + 0.7934746742248535, + -0.14723438024520874, + 0.5905253291130066, + 3.484264612197876 + ], + [ + -5.137375680419609e-08, + -0.9702958464622498, + -0.24192175269126892, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.5978437066078186, + 0.1939275860786438, + -0.7778013944625854, + -1.4040781259536743 + ], + [ + 0.8016127347946167, + -0.14463147521018982, + 0.580085277557373, + 3.498880624771118 + ], + [ + -1.005577985324635e-07, + -0.9702958464622498, + -0.2419217973947525, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.5869753956794739, + 0.19586116075515747, + -0.7855560183525085, + -1.3932214975357056 + ], + [ + 0.8096047639846802, + -0.14200222492218018, + 0.5695397257804871, + 3.5136444568634033 + ], + [ + 2.691173506264022e-08, + -0.9702956676483154, + -0.24192194640636444, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.5759999752044678, + 0.1977589726448059, + -0.7931680083274841, + -1.3825650215148926 + ], + [ + 0.8174497485160828, + -0.13934697210788727, + 0.5588904023170471, + 3.5285532474517822 + ], + [ + -4.7187466378773024e-08, + -0.9702958464622498, + -0.2419218122959137, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.5649200677871704, + 0.19962078332901, + -0.8006353378295898, + -1.3721106052398682 + ], + [ + 0.8251456618309021, + -0.13666662573814392, + 0.5481395125389099, + 3.543604612350464 + ], + [ + -1.1223676210647682e-07, + -0.9702957272529602, + -0.24192193150520325, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.5537372827529907, + 0.20144635438919067, + -0.8079569935798645, + -1.3618602752685547 + ], + [ + 0.832691490650177, + -0.13396114110946655, + 0.5372890830039978, + 3.55879545211792 + ], + [ + -3.702682960238235e-08, + -0.9702958464622498, + -0.24192187190055847, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.5424535274505615, + 0.2032351791858673, + -0.8151317834854126, + -1.3518157005310059 + ], + [ + 0.8400859236717224, + -0.13123127818107605, + 0.5263405442237854, + 3.5741233825683594 + ], + [ + -2.4412486254732357e-08, + -0.9702959060668945, + -0.24192176759243011, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.5310712456703186, + 0.20498701930046082, + -0.8221578598022461, + -1.341978907585144 + ], + [ + 0.8473271131515503, + -0.12847794592380524, + 0.5152960419654846, + 3.589585304260254 + ], + [ + -7.107621513569029e-08, + -0.9702956080436707, + -0.2419220507144928, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.5195921063423157, + 0.206701397895813, + -0.8290347456932068, + -1.332351565361023 + ], + [ + 0.8544144630432129, + -0.12570060789585114, + 0.504158079624176, + 3.6051785945892334 + ], + [ + -1.5588280888323425e-08, + -0.970295786857605, + -0.24192169308662415, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.5080185532569885, + 0.20837847888469696, + -0.8357605934143066, + -1.3229354619979858 + ], + [ + 0.8613462448120117, + -0.12290067225694656, + 0.4929283559322357, + 3.6209003925323486 + ], + [ + 5.447748918641082e-09, + -0.9702958464622498, + -0.24192173779010773, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.4963524639606476, + 0.21001751720905304, + -0.8423343896865845, + -1.3137322664260864 + ], + [ + 0.8681212663650513, + -0.12007841467857361, + 0.48160892724990845, + 3.6367475986480713 + ], + [ + -1.1376769748494553e-07, + -0.9702960252761841, + -0.24192170798778534, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.4845961034297943, + 0.21161817014217377, + -0.8487547039985657, + -1.3047436475753784 + ], + [ + 0.8747380971908569, + -0.1172342523932457, + 0.470201700925827, + 3.6527175903320312 + ], + [ + -2.7580789208059286e-08, + -0.9702959060668945, + -0.24192164838314056, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.4727517068386078, + 0.2131805121898651, + -0.8550204038619995, + -1.295971393585205 + ], + [ + 0.8811956644058228, + -0.11436907947063446, + 0.45870891213417053, + 3.6688075065612793 + ], + [ + -9.074689444332762e-08, + -0.9702957272529602, + -0.24192193150520325, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.46082088351249695, + 0.21470411121845245, + -0.8611308336257935, + -1.287416934967041 + ], + [ + 0.8874931931495667, + -0.1114826500415802, + 0.44713255763053894, + 3.685014247894287 + ], + [ + 1.2146614380981191e-08, + -0.9702957272529602, + -0.24192194640636444, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.4488064646720886, + 0.216188445687294, + -0.8670844435691833, + -1.27908194065094 + ], + [ + 0.8936290740966797, + -0.1085759848356247, + 0.4354751408100128, + 3.7013349533081055 + ], + [ + 2.5417392635063152e-08, + -0.9702958464622498, + -0.2419217824935913, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.436710387468338, + 0.217633455991745, + -0.8728801608085632, + -1.2709678411483765 + ], + [ + 0.8996021747589111, + -0.1056496649980545, + 0.4237383306026459, + 3.717766523361206 + ], + [ + 7.00425175637065e-08, + -0.970295786857605, + -0.2419217824935913, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.4245346486568451, + 0.21903888881206512, + -0.878517210483551, + -1.2630761861801147 + ], + [ + 0.9054117798805237, + -0.10270412266254425, + 0.4119243025779724, + 3.7343060970306396 + ], + [ + -1.804978211339403e-08, + -0.9702958464622498, + -0.24192175269126892, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.4122816324234009, + 0.2204044908285141, + -0.8839942812919617, + -1.2554082870483398 + ], + [ + 0.9110565185546875, + -0.09973973780870438, + 0.4000352919101715, + 3.750950574874878 + ], + [ + 9.147581891966183e-08, + -0.9702959060668945, + -0.24192170798778534, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.3999537527561188, + 0.22173002362251282, + -0.8893103003501892, + -1.247965693473816 + ], + [ + 0.9165353178977966, + -0.09675759822130203, + 0.38807347416877747, + 3.7676970958709717 + ], + [ + -3.316637986472415e-08, + -0.9702957272529602, + -0.24192194640636444, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.38755306601524353, + 0.22301502525806427, + -0.8944646716117859, + -1.2407495975494385 + ], + [ + 0.9218474626541138, + -0.09375746548175812, + 0.3760412037372589, + 3.7845423221588135 + ], + [ + 1.8987691419170005e-09, + -0.9702958464622498, + -0.24192175269126892, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.37508177757263184, + 0.224259614944458, + -0.8994562029838562, + -1.2337615489959717 + ], + [ + 0.9269918203353882, + -0.09074018895626068, + 0.36394044756889343, + 3.801483392715454 + ], + [ + 1.6486089293721307e-07, + -0.9702959060668945, + -0.24192169308662415, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.3625422418117523, + 0.22546330094337463, + -0.9042840003967285, + -1.2270026206970215 + ], + [ + 0.9319674372673035, + -0.08770686388015747, + 0.35177329182624817, + 3.8185174465179443 + ], + [ + -6.538867580729857e-08, + -0.9702958464622498, + -0.2419217824935913, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.3499367833137512, + 0.2266259640455246, + -0.908947229385376, + -1.2204740047454834 + ], + [ + 0.9367733597755432, + -0.0846572294831276, + 0.3395422399044037, + 3.8356409072875977 + ], + [ + 6.411634245750975e-08, + -0.970295786857605, + -0.2419217824935913, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.33726751804351807, + 0.22774739563465118, + -0.9134451150894165, + -1.214177131652832 + ], + [ + 0.9414089322090149, + -0.08159217983484268, + 0.3272494375705719, + 3.852850914001465 + ], + [ + 7.414718083964544e-08, + -0.9702959060668945, + -0.24192169308662415, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.3245370090007782, + 0.22882743179798126, + -0.9177766442298889, + -1.2081129550933838 + ], + [ + 0.9458730816841125, + -0.07851239293813705, + 0.3148970603942871, + 3.8701441287994385 + ], + [ + 1.1139042044305825e-07, + -0.9702958464622498, + -0.24192176759243011, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.31174734234809875, + 0.22986575961112976, + -0.9219411611557007, + -1.2022825479507446 + ], + [ + 0.9501650929450989, + -0.0754183679819107, + 0.30248722434043884, + 3.8875179290771484 + ], + [ + 5.7866731850708675e-08, + -0.9702958464622498, + -0.2419218122959137, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.29890090227127075, + 0.23086221516132355, + -0.9259379506111145, + -1.19668710231781 + ], + [ + 0.9542842507362366, + -0.07231056690216064, + 0.2900224030017853, + 3.904968500137329 + ], + [ + 8.941256623984373e-09, + -0.9702958464622498, + -0.24192176759243011, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.2860002815723419, + 0.23181672394275665, + -0.929766058921814, + -1.1913275718688965 + ], + [ + 0.9582296013832092, + -0.06918971985578537, + 0.27750492095947266, + 3.9224932193756104 + ], + [ + -4.3831118290427185e-08, + -0.970295786857605, + -0.24192185699939728, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.273047536611557, + 0.23272903263568878, + -0.9334249496459961, + -1.1862049102783203 + ], + [ + 0.9620004892349243, + -0.06605620682239532, + 0.26493680477142334, + 3.9400885105133057 + ], + [ + 3.544565174706804e-08, + -0.9702956676483154, + -0.24192197620868683, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.2600449025630951, + 0.23359903693199158, + -0.9369142651557922, + -1.1813201904296875 + ], + [ + 0.9655966758728027, + -0.0629103034734726, + 0.25232064723968506, + 3.9577512741088867 + ], + [ + 1.4524516700475942e-07, + -0.9702958464622498, + -0.2419217973947525, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.24699506163597107, + 0.2344263643026352, + -0.9402327537536621, + -1.1766741275787354 + ], + [ + 0.9690167307853699, + -0.0597534216940403, + 0.23965825140476227, + 3.975478410720825 + ], + [ + 1.069444195422875e-07, + -0.9702957272529602, + -0.24192188680171967, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.2339002788066864, + 0.23521114885807037, + -0.9433803558349609, + -1.1722675561904907 + ], + [ + 0.9722606539726257, + -0.05658553168177605, + 0.22695252299308777, + 3.9932665824890137 + ], + [ + 1.2969120888328689e-08, + -0.970295786857605, + -0.24192184209823608, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.22076280415058136, + 0.23595310747623444, + -0.9463562369346619, + -1.16810142993927 + ], + [ + 0.9753276109695435, + -0.05340728908777237, + 0.2142053097486496, + 4.011112689971924 + ], + [ + -1.4380944435288256e-08, + -0.9702958464622498, + -0.2419218122959137, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.20758526027202606, + 0.23665213584899902, + -0.9491598010063171, + -1.1641764640808105 + ], + [ + 0.9782170057296753, + -0.050219252705574036, + 0.20141921937465668, + 4.029013156890869 + ], + [ + 8.229441306184526e-08, + -0.9702958464622498, + -0.2419218122959137, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.19436991214752197, + 0.23730801045894623, + -0.9517906904220581, + -1.16049325466156 + ], + [ + 0.9809284210205078, + -0.04702221229672432, + 0.1885964423418045, + 4.0469651222229 + ], + [ + -4.303927880755509e-09, + -0.9702959060668945, + -0.24192172288894653, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.18111920356750488, + 0.23792089521884918, + -0.9542482495307922, + -1.1570526361465454 + ], + [ + 0.9834612607955933, + -0.043816499412059784, + 0.1757393628358841, + 4.064964771270752 + ], + [ + 9.42291933370143e-08, + -0.9702958464622498, + -0.2419218271970749, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.167835533618927, + 0.23849031329154968, + -0.9565321207046509, + -1.1538550853729248 + ], + [ + 0.9858150482177734, + -0.04060303792357445, + 0.16285015642642975, + 4.083009719848633 + ], + [ + 2.615125183069722e-08, + -0.970295786857605, + -0.24192191660404205, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.15452128648757935, + 0.2390163391828537, + -0.9586421251296997, + -1.1509013175964355 + ], + [ + 0.987989604473114, + -0.03738171234726906, + 0.14993159472942352, + 4.101095676422119 + ], + [ + 2.3462186504730198e-07, + -0.9702959060668945, + -0.24192173779010773, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.14117899537086487, + 0.23949888348579407, + -0.9605774879455566, + -1.1481918096542358 + ], + [ + 0.9899842143058777, + -0.034154195338487625, + 0.13698554039001465, + 4.11922025680542 + ], + [ + -3.2550246942264494e-08, + -0.9702959060668945, + -0.2419217824935913, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.1278110146522522, + 0.23993775248527527, + -0.9623380899429321, + -1.1457270383834839 + ], + [ + 0.9917986989021301, + -0.030919987708330154, + 0.1240147203207016, + 4.1373796463012695 + ], + [ + 1.3762428352492861e-07, + -0.9702959656715393, + -0.24192164838314056, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.11441979557275772, + 0.24033305048942566, + -0.9639233946800232, + -1.1435073614120483 + ], + [ + 0.9934325814247131, + -0.027680588886141777, + 0.11102113127708435, + 4.1555705070495605 + ], + [ + -1.9985794352805897e-08, + -0.9702958464622498, + -0.2419217824935913, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.10100752860307693, + 0.24068476259708405, + -0.9653332829475403, + -1.141533374786377 + ], + [ + 0.9948856830596924, + -0.02443588338792324, + 0.0980072170495987, + 4.1737895011901855 + ], + [ + 3.577918761266119e-08, + -0.9702957272529602, + -0.24192199110984802, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.08757686614990234, + 0.2409924566745758, + -0.966567873954773, + -1.1398053169250488 + ], + [ + 0.9961580038070679, + -0.02118641696870327, + 0.08497575670480728, + 4.192033767700195 + ], + [ + 1.4523865843329986e-07, + -0.9702959656715393, + -0.24192169308662415, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.07413065433502197, + 0.24125628173351288, + -0.9676260948181152, + -1.1383236646652222 + ], + [ + 0.997248649597168, + -0.017933808267116547, + 0.0719287320971489, + 4.210299491882324 + ], + [ + -4.8836639621185896e-08, + -0.970295786857605, + -0.2419218271970749, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.06067061424255371, + 0.24147628247737885, + -0.9685085415840149, + -1.137088418006897 + ], + [ + 0.9981580972671509, + -0.014677152037620544, + 0.058868736028671265, + 4.228583812713623 + ], + [ + 2.1110159309500887e-07, + -0.9702959656715393, + -0.24192167818546295, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.04719977825880051, + 0.24165228009223938, + -0.9692143797874451, + -1.136099934577942 + ], + [ + 0.9988855719566345, + -0.011418580077588558, + 0.045797839760780334, + 4.246882915496826 + ], + [ + 5.526892721263721e-09, + -0.9702958464622498, + -0.2419218122959137, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.03372018039226532, + 0.24178440868854523, + -0.969744086265564, + -1.135358452796936 + ], + [ + 0.9994314908981323, + -0.008157425560057163, + 0.032718725502491, + 4.265193939208984 + ], + [ + 1.1220792117683231e-07, + -0.9702958464622498, + -0.24192184209823608, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.02023470401763916, + 0.24187231063842773, + -0.9700970649719238, + -1.134864091873169 + ], + [ + 0.9997952580451965, + -0.004895282443612814, + 0.019633622840046883, + 4.283513069152832 + ], + [ + -5.78822962893355e-08, + -0.9702957272529602, + -0.24192185699939728, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.0067452071234583855, + 0.24191631376743317, + -0.9702737331390381, + -1.1346168518066406 + ], + [ + 0.9999772906303406, + -0.0016316778492182493, + 0.006544921081513166, + 4.301836967468262 + ], + [ + 9.749944496206808e-08, + -0.970295786857605, + -0.24192176759243011, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + -0.0067453947849571705, + 0.2419164627790451, + -0.9702736735343933, + -1.1346168518066406 + ], + [ + 0.9999772906303406, + 0.0016318140551447868, + -0.0065450058318674564, + 4.320162773132324 + ], + [ + -7.93264121057291e-08, + -0.9702957272529602, + -0.24192193150520325, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + -0.020234815776348114, + 0.24187242984771729, + -0.9700971841812134, + -1.134864091873169 + ], + [ + 0.9997953772544861, + 0.00489544402807951, + -0.019633591175079346, + 4.338487148284912 + ], + [ + 9.037864856509259e-08, + -0.9702958464622498, + -0.2419218122959137, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + -0.033720627427101135, + 0.24178436398506165, + -0.9697441458702087, + -1.135358452796936 + ], + [ + 0.9994314908981323, + 0.008157973177731037, + -0.03271876275539398, + 4.35680627822876 + ], + [ + 5.910507994144609e-08, + -0.9702959060668945, + -0.24192173779010773, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + -0.04720016196370125, + 0.241652250289917, + -0.9692144393920898, + -1.136099934577942 + ], + [ + 0.9988855719566345, + 0.011418910697102547, + -0.04579797759652138, + 4.37511682510376 + ], + [ + 6.581806388794575e-08, + -0.9702958464622498, + -0.24192175269126892, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + -0.06067109853029251, + 0.24147634208202362, + -0.9685084223747253, + -1.137088418006897 + ], + [ + 0.9981579780578613, + 0.014677795581519604, + -0.058868736028671265, + 4.393416404724121 + ], + [ + -1.078992184488925e-08, + -0.9702959060668945, + -0.2419218271970749, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + -0.07413094490766525, + 0.2412562221288681, + -0.96762615442276, + -1.1383236646652222 + ], + [ + 0.997248649597168, + 0.017933987081050873, + -0.07192880660295486, + 4.411700248718262 + ], + [ + -1.5078256865308504e-08, + -0.9702959060668945, + -0.24192172288894653, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + -0.08757754415273666, + 0.24099238216876984, + -0.9665678143501282, + -1.1398053169250488 + ], + [ + 0.9961579442024231, + 0.02118709497153759, + -0.08497590571641922, + 4.429965972900391 + ], + [ + 1.2575537056136454e-08, + -0.9702959656715393, + -0.24192169308662415, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + -0.10100781917572021, + 0.2406846433877945, + -0.9653332829475403, + -1.141533374786377 + ], + [ + 0.9948856830596924, + 0.02443585731089115, + -0.09800746291875839, + 4.4482102394104 + ], + [ + -1.7698397414278588e-07, + -0.970295786857605, + -0.24192187190055847, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + -0.11441994458436966, + 0.24033312499523163, + -0.9639232754707336, + -1.1435073614120483 + ], + [ + 0.9934325218200684, + 0.02768070064485073, + -0.11102116107940674, + 4.466429710388184 + ], + [ + -1.8881383567759258e-08, + -0.9702957272529602, + -0.24192193150520325, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + -0.12781134247779846, + 0.23993784189224243, + -0.9623379707336426, + -1.1457270383834839 + ], + [ + 0.9917986392974854, + 0.03092053160071373, + -0.12401468306779861, + 4.484620571136475 + ], + [ + 9.002424405935017e-08, + -0.970295786857605, + -0.24192187190055847, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + -0.14117945730686188, + 0.23949888348579407, + -0.9605774283409119, + -1.1481918096542358 + ], + [ + 0.9899842143058777, + 0.034154441207647324, + -0.1369856745004654, + 4.502779960632324 + ], + [ + -9.996537642109615e-08, + -0.9702959060668945, + -0.24192176759243011, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + -0.15452176332473755, + 0.2390163540840149, + -0.9586420655250549, + -1.1509013175964355 + ], + [ + 0.987989604473114, + 0.03738223761320114, + -0.1499316543340683, + 4.520904064178467 + ], + [ + -1.0060265509537203e-07, + -0.9702959060668945, + -0.2419217973947525, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + -0.1678357571363449, + 0.23849022388458252, + -0.9565320611000061, + -1.1538550853729248 + ], + [ + 0.9858149886131287, + 0.04060309752821922, + -0.1628503054380417, + 4.538990497589111 + ], + [ + -6.655419326762058e-08, + -0.9702957272529602, + -0.24192185699939728, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + -0.18111957609653473, + 0.23792079091072083, + -0.9542482495307922, + -1.1570526361465454 + ], + [ + 0.9834612607955933, + 0.04381681978702545, + -0.17573943734169006, + 4.557034969329834 + ], + [ + -6.788292239434668e-08, + -0.9702958464622498, + -0.24192176759243011, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + -0.19437028467655182, + 0.23730801045894623, + -0.9517906904220581, + -1.16049325466156 + ], + [ + 0.9809284210205078, + 0.04702248051762581, + -0.18859651684761047, + 4.575035095214844 + ], + [ + -6.180295031299465e-08, + -0.9702959060668945, + -0.24192170798778534, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + -0.20758576691150665, + 0.23665212094783783, + -0.9491598606109619, + -1.1641764640808105 + ], + [ + 0.9782171249389648, + 0.050219640135765076, + -0.2014193832874298, + 4.592987060546875 + ], + [ + -6.671234586974606e-08, + -0.9702959656715393, + -0.24192169308662415, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.22076316177845, + 0.23595325648784637, + -0.9463562369346619, + -1.16810142993927 + ], + [ + 0.9753276705741882, + 0.05340756103396416, + -0.21420539915561676, + 4.61088752746582 + ], + [ + -4.186853175269789e-08, + -0.9702958464622498, + -0.24192190170288086, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.23390017449855804, + 0.23521113395690918, + -0.9433801770210266, + -1.1722675561904907 + ], + [ + 0.9722604751586914, + 0.056585490703582764, + -0.2269524484872818, + 4.6287336349487305 + ], + [ + -8.32212165846613e-09, + -0.9702956080436707, + -0.24192200601100922, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.2469952553510666, + 0.23442642390727997, + -0.9402328133583069, + -1.1766741275787354 + ], + [ + 0.9690167307853699, + 0.059753671288490295, + -0.239658385515213, + 4.64652156829834 + ], + [ + 6.989491652120705e-08, + -0.9702957272529602, + -0.24192194640636444, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.2600450813770294, + 0.233598992228508, + -0.9369142651557922, + -1.1813201904296875 + ], + [ + 0.965596616268158, + 0.06291071325540543, + -0.2523205280303955, + 4.664248943328857 + ], + [ + 1.5583246693040564e-08, + -0.9702958464622498, + -0.2419218271970749, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.27304762601852417, + 0.2327290177345276, + -0.9334251880645752, + -1.1862049102783203 + ], + [ + 0.9620006680488586, + 0.06605635583400726, + -0.26493680477142334, + 4.681911468505859 + ], + [ + 6.36268850939814e-08, + -0.9702958464622498, + -0.2419217824935913, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.2860002815723419, + 0.23181675374507904, + -0.9297659993171692, + -1.1913275718688965 + ], + [ + 0.9582294821739197, + 0.0691896304488182, + -0.27750489115715027, + 4.699506759643555 + ], + [ + -1.0477280198983863e-07, + -0.9702957272529602, + -0.24192194640636444, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.29890134930610657, + 0.23086227476596832, + -0.9259378910064697, + -1.19668710231781 + ], + [ + 0.9542841911315918, + 0.07231086492538452, + -0.2900225818157196, + 4.717031478881836 + ], + [ + -3.942705717463468e-08, + -0.9702958464622498, + -0.2419217973947525, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.3117476999759674, + 0.2298658788204193, + -0.9219411015510559, + -1.2022825479507446 + ], + [ + 0.9501650929450989, + 0.07541865110397339, + -0.3024873435497284, + 4.734482288360596 + ], + [ + -9.08898130091984e-08, + -0.9702958464622498, + -0.24192190170288086, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.32453733682632446, + 0.22882749140262604, + -0.9177765846252441, + -1.2081129550933838 + ], + [ + 0.9458730816841125, + 0.07851283252239227, + -0.3148970603942871, + 4.751855850219727 + ], + [ + 1.5716700829671026e-08, + -0.9702958464622498, + -0.24192188680171967, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.33726784586906433, + 0.22774738073349, + -0.9134450554847717, + -1.214177131652832 + ], + [ + 0.9414088726043701, + 0.08159247040748596, + -0.3272494673728943, + 4.769149303436279 + ], + [ + -8.25472596943655e-08, + -0.9702958464622498, + -0.24192173779010773, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.34993693232536316, + 0.2266259640455246, + -0.9089471697807312, + -1.2204740047454834 + ], + [ + 0.9367733001708984, + 0.08465734869241714, + -0.33954229950904846, + 4.7863593101501465 + ], + [ + -7.255611933487671e-08, + -0.970295786857605, + -0.2419218271970749, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.36254262924194336, + 0.22546331584453583, + -0.9042840003967285, + -1.2270026206970215 + ], + [ + 0.9319673776626587, + 0.0877070426940918, + -0.3517734408378601, + 4.803482532501221 + ], + [ + -6.51809486384991e-08, + -0.9702959060668945, + -0.24192175269126892, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.3750821352005005, + 0.22425971925258636, + -0.8994562029838562, + -1.2337615489959717 + ], + [ + 0.926991879940033, + 0.09074068069458008, + -0.36394041776657104, + 4.820516586303711 + ], + [ + -7.132626933525898e-08, + -0.9702959060668945, + -0.2419218271970749, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.38755372166633606, + 0.2230151742696762, + -0.8944646716117859, + -1.2407495975494385 + ], + [ + 0.9218475222587585, + 0.09375786781311035, + -0.3760414719581604, + 4.837457656860352 + ], + [ + -9.002091161391945e-08, + -0.9702959656715393, + -0.24192175269126892, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.3999541401863098, + 0.221730038523674, + -0.889310359954834, + -1.247965693473816 + ], + [ + 0.9165353775024414, + 0.09675780683755875, + -0.3880736529827118, + 4.854302883148193 + ], + [ + 1.3317919211885965e-08, + -0.9702958464622498, + -0.24192185699939728, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + } + ] +} diff --git a/camxtime_eval/source/eval_scene_005/caption.txt b/camxtime_eval/source/eval_scene_005/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..69648209bf95e3468cc0f4617abf83b717f78ae9 --- /dev/null +++ b/camxtime_eval/source/eval_scene_005/caption.txt @@ -0,0 +1 @@ +A person in a blue sweater and dark pants stands beside a white car with blue wheels, positioned on a paved area before a large, cylindrical, light-gray building with horizontal windows. The person looks down, then raises their hands in a gesturing motion before lowering them again, remaining stationary. Small green bushes grow in a planter bed between the pavement and the building's base. The scene is lit by bright, even daylight under a pale sky. The camera sweeps along an arc around the scene. Scene time flows forward at normal speed. diff --git a/camxtime_eval/source/eval_scene_005/transforms.json b/camxtime_eval/source/eval_scene_005/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..85110c1086e70c97cc5b6181beb999e0dae9dc9e --- /dev/null +++ b/camxtime_eval/source/eval_scene_005/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": [ + [ + 0.999999873340122, + 0.00048827379942022094, + 0.00012210010663739253, + -6.112719711381942e-05 + ], + [ + -0.0004882887005808211, + 0.9999998733401219, + 0.00012204050199268722, + -0.00018307830032426864 + ], + [ + -0.00012204050199282875, + -0.00012210010663715325, + 0.9999999850988396, + -2.1666281099896878e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 885.4857177734375, + "fy": 891.4285888671875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999991879052251, + 0.0012220892978472883, + 0.0003615060685772313, + 6.75861956551671e-05 + ], + [ + -0.0012192730637049913, + 0.999969684053401, + -0.007690536219097558, + 0.004745033103972673 + ], + [ + -0.00037089363118662745, + 0.007690089199041654, + 0.9999703620438085, + 0.0020506875589489937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 879.5428466796875, + "fy": 885.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999988974832734, + 0.0014617278728314691, + -0.0002615030837719747, + 0.0009323665872216225 + ], + [ + -0.0014675376785038125, + 0.9997156587534647, + -0.023800167568492746, + 0.011796724051237106 + ], + [ + 0.00022663935934624918, + 0.023800525094038384, + 0.9997167016909586, + 0.001937138382345438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 885.4857177734375, + "fy": 885.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999995158559494, + 0.0009781685451902681, + 0.0001071175258286323, + 0.00044223159784451127 + ], + [ + -0.0009745116718630081, + 0.9995487461613349, + -0.030022564419198174, + 0.01508685015141964 + ], + [ + -0.00013643631679476206, + 0.030022445496672955, + 0.9995492154724204, + 0.0018728082068264484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 879.5428466796875, + "fy": 885.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999984529349858, + 0.0010072399733886137, + 0.0014420801888406145, + -0.00015699546202085912 + ], + [ + -0.0009411132823901687, + 0.9989800605724065, + -0.04514369152540304, + 0.02182646468281746 + ], + [ + -0.0014860798850490655, + 0.04514226452435746, + 0.9989794630122226, + 0.0037359355483204126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 879.5428466796875, + "fy": 885.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999994024908437, + 0.0005139653878508398, + 0.0009648095850293276, + -0.0009929378284141421 + ], + [ + -0.00046192451413270907, + 0.9985845550039841, + -0.05318527176989251, + 0.02541949413716793 + ], + [ + -0.0009907793389632002, + 0.05318479432200718, + 0.9985841957537817, + 0.0024397247470915318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 885.4857177734375, + "fy": 885.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999997841816513, + 0.0006013836748724715, + -0.00026452660799618764, + -0.0005303728394210339 + ], + [ + -0.0006179331972786342, + 0.9976992198506963, + -0.06779295588683908, + 0.032457876950502396 + ], + [ + 0.0002231484134855876, + 0.06779310471564809, + 0.9976993761438352, + 0.0048970929346978664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 879.5428466796875, + "fy": 885.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999994568727285, + 0.000402413519200188, + 0.0009614143793900622, + -0.000897147401701659 + ], + [ + -0.0003290858144816584, + 0.9971767711410114, + -0.07508913902365824, + 0.035733044147491455 + ], + [ + -0.0009889169712570232, + 0.0750887818528644, + 0.9971763619756926, + 0.006670117843896151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 879.5428466796875, + "fy": 885.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999989198907465, + 0.0011407872254164174, + 0.0009267264142498933, + -0.0018057756824418902 + ], + [ + -0.0010520999812899388, + 0.9958837444075376, + -0.09063366212645588, + 0.04347825050354004 + ], + [ + -0.0010263054954112439, + 0.09063258922335547, + 0.9958838689665079, + 0.0098420986905694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 879.5428466796875, + "fy": 885.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999992118897405, + 0.0011250846887200941, + 0.0005571394266809166, + -0.0020195955876260996 + ], + [ + -0.0010673904871166895, + 0.9955228861960462, + -0.09451478052369318, + 0.046171195805072784 + ], + [ + -0.0006609821824882715, + 0.09451411135030122, + 0.9955233025189403, + 0.009657220914959908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 879.5428466796875, + "fy": 885.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999998988951594, + 0.0007889017297447902, + 0.0011831017924450315, + -0.0020602827426046133 + ], + [ + -0.000672938879320602, + 0.9954769924226575, + -0.09500055110579844, + 0.0459924191236496 + ], + [ + -0.001252696713167166, + 0.094999658900449, + 0.9954765168298767, + 0.011503925547003746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 879.5428466796875, + "fy": 885.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999997621708719, + 0.0005106551508425746, + 0.00046356177216320764, + -0.0017733477288857102 + ], + [ + -0.00046356175620763734, + 0.9953373156410668, + -0.09645420261934438, + 0.04598593711853027 + ], + [ + -0.0005106551653266643, + 0.0964539647902162, + 0.9953373156410594, + 0.011447709985077381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 879.5428466796875, + "fy": 885.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999993905089708, + 0.001090057193572043, + -0.00017537674549786424, + -0.001262328471057117 + ], + [ + -0.00110195763059504, + 0.9952424088285754, + -0.0974234743707856, + 0.04615193232893944 + ], + [ + 6.83452155811493e-05, + 0.09742360824979483, + 0.9952430034340973, + 0.014697741717100143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 879.5428466796875, + "fy": 885.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999992270964306, + 0.000302997654516851, + 0.0012058187934156281, + -0.0014369644923135638 + ], + [ + -0.0001834813690553598, + 0.9951953452613429, + -0.09790909612872088, + 0.04654053971171379 + ], + [ + -0.0012296914769186807, + 0.09790879920914797, + 0.9951946316657331, + 0.015681231394410133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 879.5428466796875, + "fy": 885.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999996655309852, + 0.0007487315098154284, + 0.0003291489693325516, + -0.0009048734209500253 + ], + [ + -0.0007125167023365568, + 0.9950992709682567, + -0.0988783759898656, + 0.046594876796007156 + ], + [ + -0.00040156925516579036, + 0.09887810839397444, + 0.9950994716220898, + 0.019964154809713364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 879.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999999851950147, + 0.00012757766818286635, + 0.00011547254765870077, + -0.0004192574415355921 + ], + [ + -0.00011547254765870023, + 0.9950511885816347, + -0.09936356861731034, + 0.04653660207986832 + ], + [ + -0.00012757766818286256, + 0.09936355381232476, + 0.9950511885816348, + 0.020472686737775803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 879.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999998731930149, + 0.0004818375343350713, + -0.00014644638797722367, + -0.001047172350808978 + ], + [ + -0.0004941467692803624, + 0.9949049526337376, + -0.10081612491972745, + 0.04678255319595337 + ], + [ + 9.712324364133332e-05, + 0.10081618450154803, + 0.994905064571301, + 0.022653764113783836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 879.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999998142241914, + 0.00046826200525905073, + -0.00039023361650294085, + -0.0003205467073712498 + ], + [ + -0.0005057158872816964, + 0.9947565773076957, + -0.10226972256987377, + 0.046972762793302536 + ], + [ + 0.0003402984313350109, + 0.10226990091797343, + 0.9947566293135245, + 0.025322120636701584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 879.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.999999866250113, + 0.0003462324819296168, + -0.00038421715764897467, + 8.588504897488747e-06 + ], + [ + -0.00038421716180388026, + 0.9946061494118887, + -0.10372299614467216, + 0.04785851016640663 + ], + [ + 0.0003462324773188818, + 0.10372312989455862, + 0.9946061494118905, + 0.028309935703873634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 879.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999997250896517, + 0.0007240004250925221, + -0.00016013745688291166, + -0.000516447820700705 + ], + [ + -0.0007367869901568812, + 0.9945043529397133, + -0.10469264123563449, + 0.047793883830308914 + ], + [ + 8.345988118008917e-05, + 0.10469273044173892, + 0.9945046129742694, + 0.02872130461037159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 879.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999999034245546, + 0.00035212309606786886, + -0.0002629832833690473, + -0.0002634530246723443 + ], + [ + -0.0003781570650487719, + 0.9942988951342068, + -0.10662815825161068, + 0.04840809106826782 + ], + [ + 0.000223937750881019, + 0.10662824740293593, + 0.994298932267184, + 0.03170928731560707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 879.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.999999970283405, + 0.00024343833964076325, + -1.3075289821072678e-05, + -0.00023190789215732366 + ], + [ + -0.0002434383397313322, + 0.9942468487064582, + -0.1071127656960223, + 0.04845269396901131 + ], + [ + -1.3075288134844635e-05, + 0.10711276569602246, + 0.9942468784230533, + 0.03345850855112076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 867.6571655273438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999999035511983, + -0.00022307069025658888, + 0.0003783345889868009, + -0.00021359299717005342 + ], + [ + 0.000262825920395764, + 0.9940893763551072, + -0.10856446352490454, + 0.04904286190867424 + ], + [ + -0.00035188084580362744, + 0.10856455249012895, + 0.9940893391051377, + 0.036668822169303894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 867.6571655273438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 1.0, + 0.0, + 0.0, + -0.000762939453125 + ], + [ + 0.0, + 0.9940363890507871, + -0.1090488754773392, + 0.04893224313855171 + ], + [ + 0.0, + 0.1090488754773392, + 0.9940363890507871, + 0.03754232078790665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 867.6571655273438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999994504330282, + -0.0006558976851385842, + -0.0008178825521988229, + 2.74646718025906e-05 + ], + [ + 0.000561073710034413, + 0.9938219980961498, + -0.1109843290580657, + 0.04947725683450699 + ], + [ + 0.0008856240367500005, + 0.11098380917234603, + 0.9938218199313507, + 0.04090007022023201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 879.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999987374231798, + -0.001386425118289347, + -0.0007765162189098595, + 0.0005660289316438138 + ], + [ + 0.001290776768882812, + 0.9937126960682015, + -0.11195272023581421, + 0.05010851472616196 + ], + [ + 0.0009268480888295161, + 0.1119515765778085, + 0.9937132309949197, + 0.04372729733586311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 867.6571655273438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999989232174328, + -0.00020547202001711102, + -0.0014530468759286386, + 0.0007856519659981132 + ], + [ + 3.793870287197198e-05, + 0.9934382126151656, + -0.11437008471029202, + 0.050290755927562714 + ], + [ + 0.0014670121436035624, + 0.11436990643186491, + 0.9934371506935586, + 0.045603249222040176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 867.6571655273438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999996658433172, + -0.0004074838075778934, + -0.0007087102372918048, + 0.000649878173135221 + ], + [ + 0.0003226591447799663, + 0.9932702199636132, + -0.11581954077145734, + 0.05051058530807495 + ], + [ + 0.0007511353607506833, + 0.1158192733977448, + 0.9932700195341083, + 0.04742918536067009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 867.6571655273438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999997252841206, + -0.0007227253090848165, + 0.0001646202026016606, + 0.00036281932261772454 + ], + [ + 0.0007370435661220366, + 0.9930998017570051, + -0.11726994720294039, + 0.05146719515323639 + ], + [ + -7.87303317302989e-05, + 0.1172700363192846, + 0.9931000616167582, + 0.05131158232688904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 867.6571655273438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999998737845689, + -0.000493757267297837, + -9.29225866649632e-05, + 0.0007305459002964199 + ], + [ + 0.00047938017550194664, + 0.9930427440549388, + -0.11775346565806012, + 0.05138497054576874 + ], + [ + 0.00015041772986460695, + 0.11775340625050944, + 0.9930428554150665, + 0.051821839064359665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 867.6571655273438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999999629115941, + 0.00023592418119184415, + -0.00013607568268119376, + 0.0002818771463353187 + ], + [ + -0.0002505665064913404, + 0.9927535515372985, + -0.120167895573261, + 0.05233035236597061 + ], + [ + 0.00010673910489093407, + 0.1201679252124338, + 0.9927535738323494, + 0.05527251586318016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 867.6571655273438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999999257338608, + 0.0003574318020024599, + -0.00014413458753543195, + 0.0005633849068544805 + ], + [ + -0.00037230783948851055, + 0.9925770354159108, + -0.12161698134649675, + 0.0530112162232399 + ], + [ + 9.959490480002518e-05, + 0.12161702597690945, + 0.9925770947757089, + 0.05716422572731972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 867.6571655273438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999999257751337, + -9.898331555591077e-05, + 0.0003723600819879506, + 0.0005633095279335976 + ], + [ + 0.00014422941910768733, + 0.9923385517165492, + -0.12354828195882182, + 0.05344716086983681 + ], + [ + -0.0003572780458975178, + 0.12354832649374563, + 0.9923384923366584, + 0.060779672116041183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 867.6571655273438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999998144829381, + -0.0005093118545864551, + -0.00033411902827637334, + 0.0006217447808012366 + ], + [ + 0.0004633615899698173, + 0.9920961950916292, + -0.1254787829903891, + 0.05387184023857117 + ], + [ + 0.0003953860483367762, + 0.12547860489400978, + 0.9920962470364085, + 0.06242915242910385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 867.6571655273438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999999703209724, + -1.5670467047646154e-05, + -0.00024313060378265884, + 0.0004729372449219227 + ], + [ + -1.5670465241912155e-05, + 0.9917260257415705, + -0.12837246442000705, + 0.05439795181155205 + ], + [ + 0.00024313060389904369, + 0.12837246442000735, + 0.9917259960625427, + 0.06661607325077057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 867.6571655273438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999988353594655, + 0.0006416784389968781, + -0.001384748530857938, + 0.0008705785148777068 + ], + [ + -0.0008166410686836508, + 0.9914743061491279, + -0.1302997825918039, + 0.054885413497686386 + ], + [ + 0.0012893320277282405, + 0.13030076168191557, + 0.9914736754589278, + 0.06951193511486053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 873.6000366210938, + "fy": 867.6571655273438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999987392785873, + -0.0009392891955025054, + -0.0012803034965502575, + 0.0015020788414403796 + ], + [ + 0.0007617506124464764, + 0.991219062982355, + -0.13222779177006222, + 0.055589914321899414 + ], + [ + 0.0013932613683384216, + 0.13222664979568055, + 0.9912185288353773, + 0.07441004365682602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.6571655273438, + "fy": 867.6571655273438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999989224898989, + -0.0010479249349739316, + -0.0010280429812166369, + 0.001143213827162981 + ], + [ + 0.0009005322754200638, + 0.9909595773513993, + -0.1341577619713372, + 0.056283947080373764 + ], + [ + 0.0011593363021553799, + 0.13415669162910818, + 0.9909594532726714, + 0.07561936974525452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.6571655273438, + "fy": 867.6571655273438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.999998146362253, + -0.0016545417956940615, + -0.0009847657102357613, + 0.0014672892866656184 + ], + [ + 0.0015039745834235145, + 0.990563681063534, + -0.13704499924591806, + 0.05649473890662193 + ], + [ + 0.0012022198260594518, + 0.13704326415153603, + 0.990564333306112, + 0.07978417724370956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.6571655273438, + "fy": 867.6571655273438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999981913084675, + -0.001316458297044628, + -0.0013727043914980948, + 0.001121627283282578 + ], + [ + 0.0011129166871975617, + 0.990295611328481, + -0.1389725282204991, + 0.05751952901482582 + ], + [ + 0.001542334672389004, + 0.13897074915644012, + 0.9902952852976006, + 0.08203442394733429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.6571655273438, + "fy": 867.6571655273438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9999994051387999, + -0.0010080855439274985, + -0.00041651600496764215, + 0.0008751152199693024 + ], + [ + 0.000938804014704578, + 0.9898863783289514, + -0.1418593551578917, + 0.05783151090145111 + ], + [ + 0.0005553098848789967, + 0.14185887974436776, + 0.9898867358787086, + 0.08524037152528763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.6571655273438, + "fy": 867.6571655273438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.999998146807505, + -0.0018655107328612913, + -0.00047565876558141776, + 0.0010826654033735394 + ], + [ + 0.0017777374690377498, + 0.9896080597744602, + -0.1437801365937556, + 0.058280427008867264 + ], + [ + 0.0007389391361096886, + 0.14377902454507557, + 0.9896095422285598, + 0.087906114757061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.6571655273438, + "fy": 861.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9999966947715753, + -0.0022855484947066716, + -0.0011775882147988111, + 0.0008414984913542867 + ], + [ + 0.002089320526316565, + 0.9893007546163598, + -0.14587546625542858, + 0.058296844363212585 + ], + [ + 0.0014983943618425398, + 0.14587252374446244, + 0.9893022599947692, + 0.09004038572311401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.6571655273438, + "fy": 861.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999976811273475, + -0.0015750279115741203, + -0.0014686820639557428, + 0.0012557010632008314 + ], + [ + 0.0013376848919316627, + 0.9887540756801445, + -0.14954460346342754, + 0.05971389636397362 + ], + [ + 0.0016877023010946717, + 0.14954229205472824, + 0.9887538897763999, + 0.09495897591114044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.6571655273438, + "fy": 861.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999984724021109, + -0.001638311128072158, + -0.0006092044746703693, + 0.0013518375344574451 + ], + [ + 0.0015269509776869934, + 0.9884283682934482, + -0.1516806816093039, + 0.059699296951293945 + ], + [ + 0.0008506551334495811, + 0.1516795196768465, + 0.9884293599931383, + 0.09709791094064713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.6571655273438, + "fy": 861.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999968539920147, + -0.002280304931613993, + -0.001045091140983137, + 0.0013820460299029946 + ], + [ + 0.002091340950149672, + 0.9879773151637363, + -0.15458476967310184, + 0.06033572554588318 + ], + [ + 0.0013850267522079135, + 0.15458209770628217, + 0.9879789758742952, + 0.10088089108467102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 861.7142944335938, + "fy": 861.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.999995878825417, + -0.00284465755478831, + -0.0003876281440444177, + 0.0010598780354484916 + ], + [ + 0.0027497387263339438, + 0.9878244566042886, + -0.1555483264820903, + 0.06097232922911644 + ], + [ + 0.000825390282817164, + 0.15554661956416158, + 0.9878282076722866, + 0.10253464430570602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 861.7142944335938, + "fy": 861.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999974834626603, + -0.002222093239621877, + -0.00030882030448656445, + 0.00046720614773221314 + ], + [ + 0.002143991274068392, + 0.9870992397340006, + -0.16009526606984706, + 0.06204533949494362 + ], + [ + 0.0006605828962023654, + 0.16009420107609387, + 0.9871015198104217, + 0.10850255191326141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 861.7142944335938, + "fy": 861.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9999969102031616, + -0.0024690219928111454, + -0.0002889888038395978, + 0.00032585408189333975 + ], + [ + 0.002389378329138534, + 0.9867372909217228, + -0.16230776190823307, + 0.062127746641635895 + ], + [ + 0.0006858974631627883, + 0.16230656990663814, + 0.9867401415316049, + 0.10968896746635437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 861.7142944335938, + "fy": 861.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9999982031923369, + -0.0018658761929538, + -0.00033484045589094336, + -0.00021638859470840544 + ], + [ + 0.001784299957239492, + 0.9860968196806043, + -0.16616220535807577, + 0.06289111077785492 + ], + [ + 0.0006402232118008295, + 0.1661613093407407, + 0.9860983771370933, + 0.11458474397659302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 861.7142944335938, + "fy": 861.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999996284500376, + -0.00263100468790709, + 0.0007133020222294864, + -0.0005994953098706901 + ], + [ + 0.0027134693204234005, + 0.9857677334742502, + -0.16809108460976455, + 0.063302181661129 + ], + [ + -0.00026090168613210194, + 0.1680923955905566, + 0.9857712100051097, + 0.11680184304714203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 861.7142944335938, + "fy": 861.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999954023900067, + -0.002847281006864752, + 0.0010431633215635344, + -0.00012713031901512295 + ], + [ + 0.0029842411921426463, + 0.9851025255760666, + -0.1719421658819068, + 0.06386987119913101 + ], + [ + -0.0005380551594657584, + 0.1719444884098409, + 0.985106493432118, + 0.11970565468072891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 861.7142944335938, + "fy": 861.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9999995161385922, + -0.0008078810908351647, + 0.0005612937952823302, + -0.000251806020969525 + ], + [ + 0.0008935688445198677, + 0.984598600191059, + -0.1748279097756611, + 0.06470390409231186 + ], + [ + -0.000411408922672918, + 0.17482832673783064, + 0.9845988456791674, + 0.12158787250518799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 861.7142944335938, + "fy": 861.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9999977790557699, + -0.0018739799515521223, + 0.0009644079366755319, + 6.151296929601813e-06 + ], + [ + 0.0020161368943201786, + 0.9839070849908592, + -0.1786694805970336, + 0.06553846597671509 + ], + [ + -0.0006140647771234343, + 0.17867102816050395, + 0.9839086779882159, + 0.12554848194122314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 855.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999996955596286, + -0.000430397353019367, + 0.0006508753860143007, + 0.000341319217113778 + ], + [ + 0.0005419613711732303, + 0.9832033256232302, + -0.18251281259487173, + 0.06691478192806244 + ], + [ + -0.0005613898126625972, + 0.18251310977992086, + 0.9832032595551845, + 0.1291322112083435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 861.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9999978559290996, + -0.0020695509952452246, + 7.138544798976209e-05, + 0.0007657998939976096 + ], + [ + 0.0020466023215866243, + 0.9824813626744978, + -0.1863496268206573, + 0.06732999533414841 + ], + [ + 0.00031552518343416997, + 0.1863493733714686, + 0.9824834917126691, + 0.13503482937812805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 855.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9999992518277607, + -0.0012232342132445563, + -6.479033232202005e-06, + 0.0003144780348520726 + ], + [ + 0.0012001406108979487, + 0.9821173105703602, + -0.18826616249490014, + 0.06745267659425735 + ], + [ + 0.00023665678185312106, + 0.18826601386363287, + 0.9821180438305088, + 0.135736882686615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 855.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9999971842718658, + -0.002089126758604014, + 0.0011256099353275423, + -0.0004543359100352973 + ], + [ + 0.002267809309575242, + 0.9809979284342383, + -0.19400495212408347, + 0.06867572665214539 + ], + [ + -0.0006989200779971692, + 0.1940069585275719, + 0.9809999039518836, + 0.14100444316864014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 855.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9999975026244369, + -0.0019721933484528713, + 0.0010512841124049241, + -0.0008504309225827456 + ], + [ + 0.0021399374383205467, + 0.9806184269702766, + -0.19591559752633536, + 0.06916522979736328 + ], + [ + -0.0006445251343056384, + 0.19591735793374032, + 0.9806201983681623, + 0.1422846019268036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 855.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9999979775632084, + -0.0018912239437811273, + 0.0006842086576534934, + -0.0004322440945543349 + ], + [ + 0.001990344728740989, + 0.9794555504760986, + -0.2016503487956914, + 0.06974215805530548 + ], + [ + -0.00028878599950828035, + 0.20165130278170215, + 0.9794573337767647, + 0.14796766638755798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 855.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9999962005086671, + -0.0024358391964704688, + 0.0012906028202125126, + -0.0008664882043376565 + ], + [ + 0.0026475501070876597, + 0.9790602431942298, + -0.20355350813701478, + 0.07040668278932571 + ], + [ + -0.0007677542973254359, + 0.2035561516728591, + 0.9790629722696464, + 0.14829741418361664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 855.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9999986802395278, + -0.0015353410368134876, + 0.0005312693330909555, + -0.0008172953384928405 + ], + [ + 0.0016127172720475386, + 0.9776514104263107, + -0.21022635142732551, + 0.071507029235363 + ], + [ + -0.00019662706844666186, + 0.21022693076612625, + 0.9776525962316321, + 0.1552259474992752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 855.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9999971293682948, + -0.00178424726345901, + 0.0015992863635832246, + -0.0010609191376715899 + ], + [ + 0.002084045277574806, + 0.9770333017736146, + -0.2130764744889234, + 0.07158977538347244 + ], + [ + -0.0011823749197790016, + 0.2130791958100335, + 0.9770342155229251, + 0.15754884481430054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 855.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9999927839564277, + -0.0026339677578621178, + 0.0027375625882364134, + -0.0013272331561893225 + ], + [ + 0.003169087169645103, + 0.975769472251266, + -0.21877818426204648, + 0.07288842648267746 + ], + [ + -0.0020949753185083866, + 0.21878528112361054, + 0.9757707783296641, + 0.16147558391094208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 855.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9999934906546879, + -0.0026639979388233545, + 0.0024334673277540387, + -0.001493616378866136 + ], + [ + 0.0031370631452342906, + 0.9751282404964692, + -0.22161920815011174, + 0.07366970926523209 + ], + [ + -0.0017825495999029008, + 0.22162539949482737, + 0.9751302501797812, + 0.16497007012367249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 855.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.999994468866641, + -0.001108544557267561, + 0.003135819683793855, + -0.0019821987953037024 + ], + [ + 0.0017973790319746569, + 0.9734098962854264, + -0.22906318613476837, + 0.07386564463376999 + ], + [ + -0.0027985111649115085, + 0.22906755541228596, + 0.97340650470022, + 0.16788730025291443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 855.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.999996246078215, + -0.00105730839207062, + 0.002527830778003713, + -0.0017571485368534923 + ], + [ + 0.001616892783821013, + 0.9725074293220074, + -0.232866239655357, + 0.07465002685785294 + ], + [ + -0.002212122782259903, + 0.23286945272505077, + 0.9725054881594918, + 0.17051737010478973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 855.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9999975761848302, + -0.0012524472366130185, + 0.001810801033973584, + -0.001943535404279828 + ], + [ + 0.0016497059566622494, + 0.9708916122174225, + -0.2395135816527141, + 0.07538661360740662 + ], + [ + -0.0014581134118073576, + 0.23951598840531324, + 0.9708913251252711, + 0.1755085438489914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 855.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9999975292125212, + -0.0011194936377407136, + 0.0019204954688464891, + -0.002427168656140566 + ], + [ + 0.0015531290153541087, + 0.9699474025005536, + -0.24330972889033828, + 0.07588193565607071 + ], + [ + -0.0015903958980282872, + 0.243312110500943, + 0.9699467446847087, + 0.17912334203720093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 849.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9999965916727688, + -0.0018596420514254103, + 0.0018325867746447032, + -0.0022199826780706644 + ], + [ + 0.0022586517019800773, + 0.968260088222575, + -0.24993459153886669, + 0.07651450484991074 + ], + [ + -0.0013096317555615162, + 0.24993787885522933, + 0.9682609883590338, + 0.18415085971355438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 849.82861328125, + "fy": 849.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9999988476898883, + -0.0008207382600163971, + 0.0012771090808923575, + -0.0017574497032910585 + ], + [ + 0.0011199018574578137, + 0.9667828395390632, + -0.25559672727289756, + 0.07893539220094681 + ], + [ + -0.001024909130418424, + 0.25559786298303583, + 0.9667826446517229, + 0.18854235112667084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 849.82861328125, + "fy": 849.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9999980888344797, + -0.0019177511891957538, + 0.00038020752846412064, + -0.00021417983225546777 + ], + [ + 0.0019502162161209459, + 0.9647620125155064, + -0.26311681030246004, + 0.08041278272867203 + ], + [ + 0.00013778279552034567, + 0.2631170489295717, + 0.9647639087250806, + 0.1949954777956009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 849.82861328125, + "fy": 849.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9999977842893513, + -0.002103540713623486, + -8.082607225396165e-05, + -0.00047007002285681665 + ], + [ + 0.002005663211058952, + 0.9637231787864139, + -0.266896256970556, + 0.08060160279273987 + ], + [ + 0.00063932110213271, + 0.26689550349579805, + 0.9637252624489271, + 0.19560138881206512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 849.82861328125, + "fy": 849.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9999987253719059, + -0.0009280289843105676, + 0.0012992369942967756, + -0.0011886133579537272 + ], + [ + 0.0012469535776484086, + 0.9621543724254727, + -0.2725021261005505, + 0.0815945416688919 + ], + [ + -0.000997176683572009, + 0.27250339884990404, + 0.9621543032455409, + 0.1956336796283722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 849.82861328125, + "fy": 849.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9999995756833681, + 7.91108858184532e-06, + 0.0009211788639925137, + -0.0025608185678720474 + ], + [ + 0.00024860204020942016, + 0.9605454783837005, + -0.2781228544252599, + 0.08299769461154938 + ], + [ + -0.0008870344471286523, + 0.2781229654200519, + 0.9605450688415655, + 0.19787341356277466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 855.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.999992346269417, + 0.0009273105673585287, + 0.0038009864113315085, + -0.0038405642844736576 + ], + [ + 0.0002043167062216227, + 0.9578033035135342, + -0.287424407511341, + 0.08358913660049438 + ], + [ + -0.003907129031785393, + 0.28742298424738727, + 0.9577957832800562, + 0.20043298602104187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 849.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9999967603766072, + -0.00011085762639601289, + 0.002543019244477242, + -0.003330386010929942 + ], + [ + 0.000851082974079596, + 0.9561141063059888, + -0.2929933299248829, + 0.08472057431936264 + ], + [ + -0.0023989360271469665, + 0.2929945450572195, + 0.9561111032054017, + 0.20671522617340088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 849.82861328125, + "fy": 849.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9999931626150199, + 0.0013951774537345415, + 0.0034246464171505345, + -0.003916000947356224 + ], + [ + -0.00029287391220427205, + 0.9530684742802151, + -0.30275468214059736, + 0.0858173817396164 + ], + [ + -0.003686319042277986, + 0.30275160910068727, + 0.953062366395223, + 0.21379703283309937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 849.82861328125, + "fy": 849.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9999944405779027, + 0.0019133636919559107, + 0.0027309069316619554, + -0.0037110794801265 + ], + [ + -0.0009843376291101178, + 0.9518779750783565, + -0.30647569502353594, + 0.08624516427516937 + ], + [ + -0.0031858896275628163, + 0.30647130306133036, + 0.9518745665827885, + 0.21658654510974884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 849.82861328125, + "fy": 849.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9999766776035515, + 0.00410897763168905, + 0.0054553232521458266, + -0.005236366763710976 + ], + [ + -0.002163790299373642, + 0.9482285028037972, + -0.3175815241509004, + 0.090196393430233 + ], + [ + -0.006477828378666784, + 0.31756231321315637, + 0.9482152788086706, + 0.21666553616523743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 855.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9999781973574634, + 0.003963481723213478, + 0.0052816306522850695, + -0.005510119721293449 + ], + [ + -0.0020566189148387014, + 0.9469876685218586, + -0.3212633281066699, + 0.08966231346130371 + ], + [ + -0.006274960426690479, + 0.3212454614156661, + 0.946975173059716, + 0.21607746183872223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 855.7714233398438, + "fy": 855.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/camxtime_eval/source/eval_scene_010/caption.txt b/camxtime_eval/source/eval_scene_010/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..69da24b32935e1f8fc26dbe9d8d691acafbc5b9d --- /dev/null +++ b/camxtime_eval/source/eval_scene_010/caption.txt @@ -0,0 +1 @@ +A person with dark hair in a bun sits on a gray ottoman in a modern, minimalist living room with light wood floors and walls. They wear a brown dress with a cream collar and black boots. Initially still, they raise their right arm, then extend it forward holding a black remote, before lowering it and gesturing with their left hand. The room features white sofas, a wall-mounted TV, recessed lighting, and a bookshelf with books. The camera sweeps along an arc around the scene. Scene time flows forward at normal speed. diff --git a/camxtime_eval/source/eval_scene_010/extras/temporal_mapping.json b/camxtime_eval/source/eval_scene_010/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..9a616cf90b55b200ce2f33199760c86e43eb8c85 --- /dev/null +++ b/camxtime_eval/source/eval_scene_010/extras/temporal_mapping.json @@ -0,0 +1,277 @@ +{ + "pattern": "forward", + "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, + 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 + ], + "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, + 2.0, + 2.0333333015441895, + 2.066666603088379, + 2.133333444595337, + 2.1666667461395264, + 2.2333333492279053, + 2.2666666507720947, + 2.3333332538604736, + 2.366666555404663, + 2.433333396911621, + 2.4666666984558105, + 2.5333333015441895, + 2.566666603088379, + 2.633333444595337, + 2.6666667461395264, + 2.7333333492279053, + 2.7666666507720947, + 2.8333332538604736, + 2.866666555404663, + 2.933333396911621, + 2.9666666984558105, + 3.0333333015441895, + 3.066666603088379, + 3.133333444595337, + 3.1666667461395264, + 3.2333333492279053, + 3.2666666507720947, + 3.3333332538604736, + 3.366666555404663, + 3.433333396911621, + 3.4666666984558105, + 3.5333333015441895, + 3.566666603088379, + 3.633333444595337, + 3.6666667461395264, + 3.7333333492279053, + 3.7666666507720947, + 3.8333332538604736, + 3.866666555404663, + 3.933333396911621, + 3.9666666984558105 + ], + "preprocessed_metadata": { + "__camera_convention__": "opencv", + "__text_key__": "19a2e042765224e9", + "__scene_out__": "EvalScene010", + "__T__": "81", + "__caption_base__": "A person with dark hair in a bun sits on a gray ottoman in a modern, minimalist living room with light wood floors and walls. They wear a brown dress with a cream collar and black boots. Initially still, they raise their right arm, then extend it forward holding a black remote, before lowering it and gesturing with their left hand. The room features white sofas, a wall-mounted TV, recessed lighting, and a bookshelf with books.", + "__split__": "eval", + "__source_convention__": "opengl", + "__caption__": "A person with dark hair in a bun sits on a gray ottoman in a modern, minimalist living room with light wood floors and walls. They wear a brown dress with a cream collar and black boots. Initially still, they raise their right arm, then extend it forward holding a black remote, before lowering it and gesturing with their left hand. The room features white sofas, a wall-mounted TV, recessed lighting, and a bookshelf with books. The camera sweeps along an arc around the scene. Scene time flows forward at normal speed.", + "__trajectory__": "scene_10", + "__pattern_params__": "null", + "__fps__": "30.0", + "__W__": "832", + "__pattern__": "source", + "__H__": "480", + "__scene__": "scene_10", + "__wm__": "{\"ckpt\": \"reconstructor.ckpt\", \"input_size\": \"560x336\", \"raw_size\": \"512x512\", \"intrinsic_plane\": \"832x480\", \"timestamp_mode\": \"arange\"}" + }, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.004582320375003057, + "max_input_determinant_error": 0.0033895741907308263, + "max_rotation_element_change": 0.002212054910562422, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_008__bullettime_late/caption.txt b/camxtime_eval/target/eval_scene_008__bullettime_late/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..943208e6c7cf63e521d74fb69df7187c11e2199f --- /dev/null +++ b/camxtime_eval/target/eval_scene_008__bullettime_late/caption.txt @@ -0,0 +1 @@ +A person in a brown shirt and black pants stands in a minimalist office with light blue textured walls, one hand on their hip and the other gesturing. A large curved desk holds scattered papers, a plate of food, and a phone, with a black office chair nearby. Two long windows show an outdoor view of trees and buildings under a bright, even light. A white shelving unit with books and binders stands against the wall, and two hanging cylindrical lamps illuminate the space. The atmosphere is calm and still, with no other movement or people visible. The camera sweeps along an arc around the scene while scene time is frozen at a late moment. diff --git a/camxtime_eval/target/eval_scene_008__bullettime_late/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_008__bullettime_late/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..403dd9206d06c70be83dac27e26fa9a02a5bad4d --- /dev/null +++ b/camxtime_eval/target/eval_scene_008__bullettime_late/extras/temporal_mapping.json @@ -0,0 +1,263 @@ +{ + "pattern": "bullettime_late", + "source_cam_idx": [ + 0, + 1, + 3, + 4, + 6, + 7, + 9, + 10, + 12, + 13, + 15, + 16, + 18, + 19, + 21, + 22, + 24, + 25, + 27, + 28, + 30, + 31, + 33, + 34, + 36, + 37, + 39, + 40, + 42, + 43, + 45, + 46, + 48, + 49, + 51, + 52, + 54, + 55, + 57, + 58, + 60, + 61, + 62, + 64, + 65, + 67, + 68, + 70, + 71, + 73, + 74, + 76, + 77, + 79, + 80, + 82, + 83, + 85, + 86, + 88, + 89, + 91, + 92, + 94, + 95, + 97, + 98, + 100, + 101, + 103, + 104, + 106, + 107, + 109, + 110, + 112, + 113, + 115, + 116, + 118, + 119 + ], + "source_motion_frame": [ + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90 + ], + "timestamps_seconds": [ + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0 + ], + "preprocessed_latent": null, + "pattern_parameters": { + "fixed_motion_frame": 90 + }, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.0038660670087496962, + "max_input_determinant_error": 0.0024355653153120826, + "max_rotation_element_change": 0.0022083407148026923, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_008__bullettime_late/transforms.json b/camxtime_eval/target/eval_scene_008__bullettime_late/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..17b179a808632eb86882b538909b8aefc9a29cd5 --- /dev/null +++ b/camxtime_eval/target/eval_scene_008__bullettime_late/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999993890531685, + 0.0010987386401422902, + 0.00012110611746331895, + 1.772038785929908e-06 + ], + [ + -0.0010985244364598605, + 0.999997856913083, + -0.0017548257186470132, + 0.0016485081287100911 + ], + [ + -0.0001230339527457741, + 0.0017546916085118788, + 0.9999984529588063, + -0.00031754255178384483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999990593758663, + 0.000484399506374463, + 0.0012832008809193299, + -0.0004840046167373657 + ], + [ + -0.0004921443086425406, + 0.9999816251852107, + 0.0060421093935600495, + -0.004577221814543009 + ], + [ + -0.0012802505075331964, + -0.006042735230216433, + 0.9999809229728209, + 0.005094293039292097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999992549943429, + 0.0011898070028621176, + 0.00367211341534602, + -0.0035352844279259443 + ], + [ + -0.0012514931596333048, + 0.9998573765914166, + 0.016842216024116886, + -0.012112471275031567 + ], + [ + -0.003651550699444888, + -0.016846686173474547, + 0.999851416632723, + 0.005466863978654146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999871119801533, + 0.0008023724937498512, + 0.00501318980018718, + -0.0043454221449792385 + ], + [ + -0.0009062220172620643, + 0.9997843378646646, + 0.02074744616016941, + -0.014941862784326077 + ], + [ + -0.0049954614648552035, + -0.020751721829645325, + 0.9997721797518963, + 0.006436765659600496 + ], + [ + 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": [ + [ + 0.9999802608425551, + 0.0007594884243473604, + 0.0062370748422922425, + -0.004903317894786596 + ], + [ + -0.0009486728037049515, + 0.9995378036557786, + 0.0303855077774421, + -0.02219313383102417 + ], + [ + -0.006211114647676468, + -0.030390824936397078, + 0.9995187941277134, + 0.00501031382009387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999704263702694, + 0.0008452397937292647, + 0.007644079706045702, + -0.006575804203748703 + ], + [ + -0.0011115148781706639, + 0.9993902864201806, + 0.034897277023627965, + -0.025822848081588745 + ], + [ + -0.007609922439610686, + -0.03490474149280119, + 0.9993616703185001, + 0.0018988574156537652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999563538668841, + 0.00015275969741431494, + 0.009341682167637585, + -0.008161425590515137 + ], + [ + -0.0005788675341462576, + 0.9989583355558942, + 0.04562793810567392, + -0.032812803983688354 + ], + [ + -0.009324981159457006, + -0.04563135421913487, + 0.998914823315033, + 0.00392754003405571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999510830845876, + 0.0001136260378454166, + 0.009890324923068483, + -0.008722945116460323 + ], + [ + -0.0006178075399743145, + 0.9986990169667387, + 0.05098913436716619, + -0.036279208958148956 + ], + [ + -0.009871664084838822, + -0.050992750453303606, + 0.9986502338904263, + 0.0028249225579202175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999224411181912, + 0.0001062017615615595, + 0.012453933893500154, + -0.008776778355240822 + ], + [ + -0.0008684542083563231, + 0.9981241430463728, + 0.06121634467387634, + -0.043044768273830414 + ], + [ + -0.012424070811365854, + -0.061222412473935714, + 0.9980468218852989, + 0.004049250390380621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999365343867884, + 0.0006011611757578821, + 0.011250146833718541, + -0.008699765428900719 + ], + [ + -0.001351551223890822, + 0.9977646471724781, + 0.06681229050159108, + -0.04800320416688919 + ], + [ + -0.011184833831070506, + -0.06682325536832656, + 0.9977021359274272, + 0.0029155549127608538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999403307971053, + 0.0007982374617865551, + 0.010894845677175571, + -0.00920133851468563 + ], + [ + -0.0016404063956899707, + 0.9969901240704429, + 0.07751129964630712, + -0.055013954639434814 + ], + [ + -0.010800181120325715, + -0.07752454658337125, + 0.9969319438982838, + 0.0041334861889481544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999264987553539, + 0.0006025384398691709, + 0.01210925407641416, + -0.010046450421214104 + ], + [ + -0.001592181199569998, + 0.9966406239570355, + 0.0818836469483242, + -0.05815216526389122 + ], + [ + -0.012019236493489174, + -0.08189690852503868, + 0.9965683289810859, + 0.004717002622783184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999171315524196, + 0.0007515071275658643, + 0.012851663900771401, + -0.009944342076778412 + ], + [ + -0.0019318251204665665, + 0.9957499497432376, + 0.09207771520863897, + -0.0661591961979866 + ], + [ + -0.012727846624040829, + -0.09209491203848628, + 0.9956688852710716, + 0.005664866883307695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999144254463405, + 0.0003404736657705894, + 0.013077685651424111, + -0.010609356686472893 + ], + [ + -0.00161293300971647, + 0.9952427037864015, + 0.09741334101158425, + -0.07016254961490631 + ], + [ + -0.012982304549683393, + -0.09742609833928473, + 0.9951580854974569, + 0.004922766704112291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.99991626467659, + 3.212822846375473e-05, + 0.012940734252437355, + -0.010175412520766258 + ], + [ + -0.0014306022423635847, + 0.9941419444944437, + 0.10807288084450484, + -0.07751811295747757 + ], + [ + -0.012861454522697413, + -0.10808234437031533, + 0.994058745659922, + 0.005306491628289223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999196051016048, + -0.00034981585122303825, + 0.012675210543466918, + -0.010454699397087097 + ], + [ + -0.0010775425159833022, + 0.9936592442930761, + 0.1124284000288157, + -0.08094357699155807 + ], + [ + -0.012634169366334868, + -0.11243301943727824, + 0.9935789822176386, + 0.005576079711318016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999129437205021, + 0.00017318206037211271, + 0.013193748071458462, + -0.010724470019340515 + ], + [ + -0.0017764841812959668, + 0.9925769158737476, + 0.12160555159413233, + -0.08853112906217575 + ], + [ + -0.013074749869605684, + -0.12161840355198504, + 0.9924908134755269, + 0.004133598413318396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999015948854317, + -0.00015716922029027815, + 0.014027681326772064, + -0.010892229154706001 + ], + [ + -0.0016178224371867602, + 0.991973746809613, + 0.12643365173504406, + -0.09246818721294403 + ], + [ + -0.013934963083230669, + -0.1264439043146522, + 0.991875877247519, + 0.00443422794342041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.999902224772103, + 0.00025572823224924814, + 0.013981255268054993, + -0.011401924304664135 + ], + [ + -0.0021708229457240765, + 0.9905501902647976, + 0.13713354109812773, + -0.10057098418474197 + ], + [ + -0.01381406614786553, + -0.13715048366464014, + 0.9904538941349156, + 0.0034863909240812063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999115778495183, + -0.00010006373615006256, + 0.013297611429701428, + -0.0104781873524189 + ], + [ + -0.001800095916899766, + 0.9897491050699907, + 0.1428057025046374, + -0.10365711897611618 + ], + [ + -0.013175588684251607, + -0.14281701229336005, + 0.98966140920136, + 0.006464597303420305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999097803944664, + -0.000906609912037004, + 0.013401833081992082, + -0.010396414436399937 + ], + [ + -0.0011497759055794326, + 0.9882811673465444, + 0.15264013981753968, + -0.11140910536050797 + ], + [ + -0.01338316430658816, + -0.1526417777891046, + 0.9881909626112374, + 0.008146033622324467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999028539988896, + -0.0003782933065176183, + 0.013933393665944949, + -0.011712654493749142 + ], + [ + -0.0018342347610414511, + 0.9873673165636637, + 0.1584374253915766, + -0.11559446156024933 + ], + [ + -0.01381731333209675, + -0.1584475909442748, + 0.9872707038984996, + 0.007031172048300505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999098247243376, + -0.0014947052732320765, + 0.013345721257785593, + -0.010823176242411137 + ], + [ + -0.0007567201479095285, + 0.9859362832484231, + 0.16711993522288646, + -0.12261751294136047 + ], + [ + -0.013407825862611172, + -0.1671149641128234, + 0.9858462450987008, + 0.010096912272274494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.999922547214235, + -0.000710774134165019, + 0.0124255532160843, + -0.011366869322955608 + ], + [ + -0.0014483857682715277, + 0.9849388208763153, + 0.17289714083651156, + -0.12637342512607574 + ], + [ + -0.012361300548963785, + -0.1729017464657446, + 0.9848615051456902, + 0.008818269707262516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999271610186135, + -0.0013536617271261498, + 0.011993342202401978, + -0.011092071421444416 + ], + [ + -0.0008698900640353271, + 0.9830235311800833, + 0.18347746574856807, + -0.13405276834964752 + ], + [ + -0.012038104025630216, + -0.18347453432607225, + 0.9829507512105067, + 0.011122964322566986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999180813834965, + -0.0013310926598115989, + 0.012730228382836125, + -0.011943289078772068 + ], + [ + -0.0010894298522352108, + 0.9821180496310059, + 0.18826298024727797, + -0.13667970895767212 + ], + [ + -0.012753182541829626, + -0.18826142669522386, + 0.9820361457470567, + 0.013304898515343666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999340008290505, + -0.0021129881915359656, + 0.01129288567685924, + -0.010932405479252338 + ], + [ + -0.0001629980328943326, + 0.9802338597710777, + 0.19784224419960453, + -0.14501874148845673 + ], + [ + -0.011487707240761837, + -0.19783102749365977, + 0.980168820736078, + 0.012207943014800549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999423968963853, + -0.0018226763322118126, + 0.01057736924284533, + -0.010713083669543266 + ], + [ + -0.0003685037250812669, + 0.9790649260029144, + 0.20354786875797146, + -0.1488051563501358 + ], + [ + -0.01072693311790928, + -0.2035400415689645, + 0.9790078571615183, + 0.013597488403320312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999522362819518, + -0.0020065431140986654, + 0.009565507799064846, + -0.009329021908342838 + ], + [ + -6.814580270146593e-05, + 0.9772438737854625, + 0.21211884995193533, + -0.1567312777042389 + ], + [ + -0.009773459514024868, + -0.2121093702162008, + 0.9771970602471203, + 0.014624837785959244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999583221797578, + -0.0021902462072649793, + 0.008863223171926497, + -0.008658520877361298 + ], + [ + 0.0002159097713453074, + 0.9761992482517657, + 0.21687549676175225, + -0.15926238894462585 + ], + [ + -0.009127282531753485, + -0.21686454420729476, + 0.9761590352905349, + 0.017203515395522118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999752966160022, + -0.0017734773953062197, + 0.0068015392130169605, + -0.007839086465537548 + ], + [ + 0.00017522970185216991, + 0.9736354874684245, + 0.22810941856195852, + -0.16728046536445618 + ], + [ + -0.007026766844677556, + -0.22810259165570967, + 0.973611746143019, + 0.018181513994932175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999820957409482, + -0.0010647632958794718, + 0.005888503771368996, + -0.007485846523195505 + ], + [ + -0.00034159927195458455, + 0.9722801904732193, + 0.23381855042596073, + -0.1732877641916275 + ], + [ + -0.00597423697881792, + -0.2338163755866648, + 0.9722624187944514, + 0.01874200627207756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999915446743433, + -0.0013416198510744909, + 0.0038872401516402994, + -0.005494396667927504 + ], + [ + 0.00035149129780635797, + 0.9697099404605123, + 0.2442590997812306, + -0.1788453459739685 + ], + [ + -0.004097198273075379, + -0.24425566815991193, + 0.9697022128148757, + 0.021656811237335205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999903836383531, + -0.0015033586082228443, + 0.004119774716519392, + -0.005341553594917059 + ], + [ + 0.00043448573431777263, + 0.9687481187015001, + 0.24804615242823777, + -0.18248343467712402 + ], + [ + -0.004363926324591717, + -0.2480419771433878, + 0.968739456057114, + 0.023561596870422363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999989627684913, + -0.0009977127662351433, + 0.0010387642546885922, + -0.0034055288415402174 + ], + [ + 0.0006941560312626856, + 0.9657799949792664, + 0.2593617540140657, + -0.19010332226753235 + ], + [ + -0.0012619862697307675, + -0.2593607639314095, + 0.9657796858101596, + 0.026284901425242424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999990669851098, + -0.001300036999317185, + -0.0004194433341307641, + -0.0017501830589026213 + ], + [ + 0.001364591497608078, + 0.9647629659895607, + 0.263117003147025, + -0.19495506584644318 + ], + [ + 6.260155585996075e-05, + -0.2631173300237512, + 0.9647638398707834, + 0.02736089564859867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999943232113757, + -0.0015506526115621306, + -0.0029914915178527613, + -3.537416341714561e-05 + ], + [ + 0.0023119946969555696, + 0.9616141143221532, + 0.27439560823187836, + -0.20160119235515594 + ], + [ + 0.002451168199936302, + -0.27440096685853593, + 0.9616122405427023, + 0.030233081430196762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999914203352009, + -0.001156888341489804, + -0.003977545141560504, + 0.0011670594103634357 + ], + [ + 0.0022174865933890383, + 0.9605445074704274, + 0.2781174786337632, + -0.20520739257335663 + ], + [ + 0.0034988582703456956, + -0.27812391263204783, + 0.9605388317049163, + 0.03210052475333214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999829017559593, + -0.0007527177076549138, + -0.0057991043949607605, + 0.002467528684064746 + ], + [ + 0.0024003232394100658, + 0.9571229314124374, + 0.28967211224556766, + -0.21321743726730347 + ], + [ + 0.005332414469770551, + -0.2896810790861479, + 0.9571083730567855, + 0.03393154591321945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999760164959318, + -0.00044707863371724985, + -0.006911335154939655, + 0.0036631477996706963 + ], + [ + 0.0024551558385723557, + 0.9559906932341269, + 0.29338671861476934, + -0.21609333157539368 + ], + [ + 0.006476005152635004, + -0.2933966505780681, + 0.9559688628751641, + 0.03480644151568413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9999391274158579, + 0.0007355615054232776, + -0.011009105871248634, + 0.006407759618014097 + ], + [ + 0.0026526504895425366, + 0.9524846159205866, + 0.30457514652379747, + -0.2244219183921814 + ], + [ + 0.010710037730696753, + -0.3045858095576418, + 0.9524246845330728, + 0.035696741193532944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9999272964056812, + 0.0011569004055046708, + -0.01200264488669724, + 0.00718738092109561 + ], + [ + 0.002599906897166031, + 0.9512896837723241, + 0.30828749250087634, + -0.2277686446905136 + ], + [ + 0.011774650183783921, + -0.3082962846513135, + 0.951217513759732, + 0.03848923742771149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9999183348035536, + 0.0006904690018989019, + -0.012761151054932439, + 0.007622032891958952 + ], + [ + 0.003349832229615672, + 0.949465429731054, + 0.31385374996908955, + -0.2303333580493927 + ], + [ + 0.012332978055717645, + -0.31387086675603315, + 0.9493855784948992, + 0.04075656458735466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9998837446974118, + 0.0009122173091283874, + -0.015220543665118423, + 0.009461352601647377 + ], + [ + 0.0040256332879229275, + 0.9469984799922496, + 0.32121281600988394, + -0.2367621511220932 + ], + [ + 0.014706847606200892, + -0.3212367456440021, + 0.9468847141450424, + 0.04385707899928093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9998661087853307, + 0.001073221630376129, + -0.016328279083022555, + 0.01057339832186699 + ], + [ + 0.004333026007023558, + 0.9448628573321971, + 0.3274376363823482, + -0.24044187366962433 + ], + [ + 0.015779397583666945, + -0.3274645462174011, + 0.9447316981992977, + 0.04604107141494751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9998122285384923, + 0.0025496431267475967, + -0.019209554519044846, + 0.0131740877404809 + ], + [ + 0.0041038966764173086, + 0.9409610606375803, + 0.33848994135109745, + -0.24852819740772247 + ], + [ + 0.018938471347054817, + -0.3385052166270503, + 0.9407739115320485, + 0.04790407046675682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9997586939931534, + 0.004390131235358595, + -0.02152395253759289, + 0.013810981065034866 + ], + [ + 0.0032824632971571385, + 0.9389701451089937, + 0.3439829821789138, + -0.25256896018981934 + ], + [ + 0.02172047927203786, + -0.3439706286032752, + 0.9387291555280793, + 0.04890986159443855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.999701774034477, + 0.004501628006322562, + -0.024002048612848364, + 0.01598975993692875 + ], + [ + 0.004265661771558887, + 0.9355629275671338, + 0.35313427006121184, + -0.258376806974411 + ], + [ + 0.02404510598794466, + -0.35313134087376996, + 0.935264715987256, + 0.051244642585515976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9996476668196013, + 0.005966171748995106, + -0.02586401006783121, + 0.017272602766752243 + ], + [ + 0.0036556076094344365, + 0.9341806840588248, + 0.35678156631809405, + -0.26210054755210876 + ], + [ + 0.026290278719199884, + -0.3567504090061395, + 0.9338297312244986, + 0.0530318059027195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.999524735405707, + 0.006428131308858768, + -0.030149335648193977, + 0.020958788692951202 + ], + [ + 0.005082174569283632, + 0.9302740809193913, + 0.3668300776534388, + -0.2704676687717438 + ], + [ + 0.03040517741764905, + -0.36680896049232, + 0.9297992857002763, + 0.05484757199883461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9994658751434076, + 0.006047116979476076, + -0.03211536703915068, + 0.022420117631554604 + ], + [ + 0.006283293177124327, + 0.9288363541198568, + 0.37043696831199574, + -0.2745666801929474 + ], + [ + 0.03206999611277087, + -0.3704408989860171, + 0.9283022437265561, + 0.05561680719256401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9992914771277857, + 0.008249540531924013, + -0.036721775839158456, + 0.025759797543287277 + ], + [ + 0.006304238097210751, + 0.925210274075307, + 0.37940243189456374, + -0.28043362498283386 + ], + [ + 0.03710526002850428, + -0.37936511941203443, + 0.9245027343668104, + 0.058003515005111694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9991954714983629, + 0.008682017786640584, + -0.039153956432469765, + 0.02727017179131508 + ], + [ + 0.007062701964055224, + 0.9229354744682061, + 0.3848898910196427, + -0.28444191813468933 + ], + [ + 0.03947819623703981, + -0.3848567688573216, + 0.9221316280697511, + 0.059503450989723206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9990720449290267, + 0.010254346341740573, + -0.04183177527234828, + 0.029610395431518555 + ], + [ + 0.006971859309686284, + 0.919932297306802, + 0.39201525678166493, + -0.29072922468185425 + ], + [ + 0.04250226134099893, + -0.3919431294881087, + 0.919007149606557, + 0.0608070082962513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.998928288820921, + 0.010794462886667803, + -0.04500836993598376, + 0.03170977905392647 + ], + [ + 0.00789614270418234, + 0.9184246580553797, + 0.3955171278291922, + -0.29221275448799133 + ], + [ + 0.0456061917254796, + -0.3954486402136773, + 0.9173551374628323, + 0.0628778487443924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9987298983966862, + 0.012420608780253735, + -0.04882948418806853, + 0.034268829971551895 + ], + [ + 0.008473571696601775, + 0.9139285039446873, + 0.40578675219889604, + -0.2986248731613159 + ], + [ + 0.049666775929664606, + -0.4056851219295001, + 0.912662474967498, + 0.06984220445156097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9986021205493716, + 0.013601899042484602, + -0.05107634654844528, + 0.036313265562057495 + ], + [ + 0.008610939985652278, + 0.9115478306200944, + 0.41110388492978833, + -0.3029464781284332 + ], + [ + 0.0521503264310236, + -0.4109690266117861, + 0.9101564715030593, + 0.0707138255238533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9983578330808827, + 0.014627058078312074, + -0.05538669784359427, + 0.03944842889904976 + ], + [ + 0.009883082937610053, + 0.9083759702007618, + 0.41803758375709843, + -0.30635979771614075 + ], + [ + 0.056426605406423726, + -0.4178984875945335, + 0.9067397048042557, + 0.07364612817764282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9982232316403624, + 0.016318448987436215, + -0.057306963242833596, + 0.040818631649017334 + ], + [ + 0.009387287332021177, + 0.9066869306089278, + 0.42169976132256365, + -0.3105066120624542 + ], + [ + 0.05884096064831944, + -0.4214884554594651, + 0.9049227719890677, + 0.0749528631567955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9978491677538385, + 0.019239873106854027, + -0.06266470853522453, + 0.043245043605566025 + ], + [ + 0.009627674210742595, + 0.9025754099637278, + 0.4304241364260377, + -0.3165246844291687 + ], + [ + 0.06484093076340189, + -0.4301016817121746, + 0.9004488864372565, + 0.07780756056308746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9977071191412051, + 0.021285573117922493, + -0.06424506823094848, + 0.045507170259952545 + ], + [ + 0.00896734741619865, + 0.8993106361912607, + 0.4372184423301313, + -0.32070469856262207 + ], + [ + 0.06708271830564758, + -0.43679206037920476, + 0.8970577489183258, + 0.07949505746364594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9972834732325724, + 0.02336567284792635, + -0.06985498800759299, + 0.04912606254220009 + ], + [ + 0.009977157675677074, + 0.896764382396523, + 0.4423958620847367, + -0.32641172409057617 + ], + [ + 0.07298034216069407, + -0.4418910361133684, + 0.8940951749454651, + 0.08229398727416992 + ], + [ + 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": [ + [ + 0.9970617732991887, + 0.02405825903611375, + -0.07272565157926704, + 0.051426999270915985 + ], + [ + 0.01092263575373349, + 0.8950472780818989, + 0.44583748835912757, + -0.328910231590271 + ], + [ + 0.07581897027570977, + -0.44532187254876154, + 0.8921546466706296, + 0.0825757384300232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9966993374677734, + 0.0268641519927483, + -0.07660775436606639, + 0.05554040148854256 + ], + [ + 0.010788128649220265, + 0.8914614069903399, + 0.45296818445344755, + -0.3352236747741699 + ], + [ + 0.08046146264858019, + -0.4522995436483608, + 0.8882291797976105, + 0.08543911576271057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.996444511983872, + 0.02892734783291122, + -0.07912991270421726, + 0.057000838220119476 + ], + [ + 0.010416013973320598, + 0.8897074840323745, + 0.45641220350653555, + -0.33774852752685547 + ], + [ + 0.08360527010978863, + -0.45561365366298695, + 0.8862428320757993, + 0.09013057500123978 + ], + [ + 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": [ + [ + 0.995822024319276, + 0.031166207316163673, + -0.08583218162312829, + 0.06127909943461418 + ], + [ + 0.012531866882337322, + 0.8844159115837387, + 0.4665312933233386, + -0.3428696393966675 + ], + [ + 0.09045135816063307, + -0.46565777439985906, + 0.8803302726521831, + 0.09098926186561584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9954438826010978, + 0.03339518730960647, + -0.08930978701467365, + 0.06439258903265 + ], + [ + 0.01274371099590706, + 0.881658731447349, + 0.47171546412292054, + -0.34758833050727844 + ], + [ + 0.09449377980641308, + -0.4707044112043205, + 0.8772162121453807, + 0.09197743237018585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9948511635458744, + 0.03629216297503948, + -0.09462579615524006, + 0.06765016168355942 + ], + [ + 0.01348421559982717, + 0.8779826642688671, + 0.47850247352861136, + -0.35069864988327026 + ], + [ + 0.10044569837020012, + -0.4773146971861806, + 0.8729727037708497, + 0.09641392529010773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9946428271877177, + 0.037432794627892584, + -0.09635575857399843, + 0.06982257217168808 + ], + [ + 0.01350555314981604, + 0.8770841554355926, + 0.4801468362052918, + -0.35462313890457153 + ], + [ + 0.10248534704113635, + -0.4788759444471806, + 0.8718799134466165, + 0.09804492443799973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9939081843888394, + 0.0409846552065714, + -0.10230727756361886, + 0.07289666682481766 + ], + [ + 0.014769709136648181, + 0.8703777087777624, + 0.49216308247855217, + -0.35697752237319946 + ], + [ + 0.10921710807790012, + -0.49067596446164913, + 0.8644701968273577, + 0.1048421785235405 + ], + [ + 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": [ + [ + 0.9933975845654337, + 0.04314168183512243, + -0.10630161931032636, + 0.07596695423126221 + ], + [ + 0.015317507367734434, + 0.868423606392875, + 0.4955863333745507, + -0.36152541637420654 + ], + [ + 0.11369526352315633, + -0.4939425423549075, + 0.8620290899409198, + 0.10589337348937988 + ], + [ + 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": [ + [ + 0.9926703148197352, + 0.04670654041605649, + -0.11146364949189062, + 0.08004521578550339 + ], + [ + 0.01549265770926457, + 0.8655117501661578, + 0.50064896672361, + -0.3674614727497101 + ], + [ + 0.11985667955016643, + -0.49870623558030425, + 0.8584442130741698, + 0.1099073588848114 + ], + [ + 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": [ + [ + 0.9922270393145451, + 0.04957218603884025, + -0.11414070625514187, + 0.08130837231874466 + ], + [ + 0.01534418002131421, + 0.8614917386694567, + 0.5075396933676715, + -0.3712618052959442 + ], + [ + 0.12349112758642027, + -0.5053460028293562, + 0.8540347527073046, + 0.11220899224281311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9911872411788412, + 0.05300008215322046, + -0.12140364169179184, + 0.08722034841775894 + ], + [ + 0.016593516946647704, + 0.8595784320472466, + 0.5107343481248723, + -0.37617364525794983 + ], + [ + 0.1314249143793458, + -0.5082478828789637, + 0.8511237168763615, + 0.11330997198820114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.990824178431752, + 0.0546595030132312, + -0.12361143217918837, + 0.08917851001024246 + ], + [ + 0.017357842176318337, + 0.8555409207293784, + 0.5174441402436685, + -0.377140611410141 + ], + [ + 0.13403787804208753, + -0.5148417928722122, + 0.8467418588696916, + 0.11787599325180054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9898382653519144, + 0.057225513675256946, + -0.13017468659349776, + 0.09411516040563583 + ], + [ + 0.019649766068956402, + 0.8516195465920788, + 0.5237919764140501, + -0.38233062624931335 + ], + [ + 0.14083357248379266, + -0.5210272434785964, + 0.841841146781593, + 0.12267986685037613 + ], + [ + 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": [ + [ + 0.989047855780027, + 0.06091371870577061, + -0.13443904883018803, + 0.09630946815013885 + ], + [ + 0.01944829821197141, + 0.8491351451113353, + 0.5278174580604639, + -0.38548702001571655 + ], + [ + 0.14630824540534157, + -0.524651335850949, + 0.8386506263732384, + 0.12351614981889725 + ], + [ + 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": [ + [ + 0.9878052705308368, + 0.064357371601906, + -0.14177050550800285, + 0.10091647505760193 + ], + [ + 0.020988807825483784, + 0.8472129916717045, + 0.5308385975875768, + -0.38830336928367615 + ], + [ + 0.15427319098782324, + -0.5273407583936357, + 0.8355306739308023, + 0.12817585468292236 + ], + [ + 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": [ + [ + 0.987291707447013, + 0.06813358153177429, + -0.14357193135851623, + 0.10258699953556061 + ], + [ + 0.020025436251442902, + 0.8428915468645048, + 0.5377107234631848, + -0.39034757018089294 + ], + [ + 0.15765172472669248, + -0.5337524288394532, + 0.8308154298029642, + 0.13210685551166534 + ], + [ + 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": [ + [ + 0.9860191960679184, + 0.07096415107604036, + -0.15076549422077232, + 0.10883601009845734 + ], + [ + 0.021951659142601554, + 0.8415776927252433, + 0.539689829224291, + -0.3955974280834198 + ], + [ + 0.16517950734417308, + -0.5354540842773677, + 0.8282539791538721, + 0.13397465646266937 + ], + [ + 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": [ + [ + 0.9854830016978668, + 0.07390854001928106, + -0.15284234058918442, + 0.10973867028951645 + ], + [ + 0.021225088056812537, + 0.8395702554811518, + 0.5428363305346224, + -0.39543378353118896 + ], + [ + 0.1684421235960366, + -0.5382000685837296, + 0.825813500237751, + 0.1390591859817505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/camxtime_eval/target/eval_scene_013__fastmo/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_013__fastmo/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..4c9dbd67544ce2d703e61bee266ab06d823858e0 --- /dev/null +++ b/camxtime_eval/target/eval_scene_013__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/EvalScene013_traj01_fastmo.safetensors", + "pattern_parameters": null, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.00539116704023912, + "max_input_determinant_error": 0.005364939860276863, + "max_rotation_element_change": 0.002120524749247288, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_014__fastmo/caption.txt b/camxtime_eval/target/eval_scene_014__fastmo/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..811069808ee5bd72e42524d24c9524af2720b146 --- /dev/null +++ b/camxtime_eval/target/eval_scene_014__fastmo/caption.txt @@ -0,0 +1 @@ +A person in a dark suit and light sneakers stands on a polished wooden floor inside a modern, minimalist room with white walls and pillars. They are holding a phone to their ear, engaged in a conversation, and slowly turn their body toward a large window, their posture shifting as they listen. A white cylindrical trash can sits nearby, and the view outside the window is blurred. The lighting is even and bright, suggesting daytime, and the atmosphere is quiet and focused. 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_014__fastmo/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_014__fastmo/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..441b7463e027c479dd09ac242191b5bf0d91b30c --- /dev/null +++ b/camxtime_eval/target/eval_scene_014__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/EvalScene014_traj01_fastmo.safetensors", + "pattern_parameters": null, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.0036689406989338647, + "max_input_determinant_error": 0.0036353219035099027, + "max_rotation_element_change": 0.0015734490697154602, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_014__fastmo/transforms.json b/camxtime_eval/target/eval_scene_014__fastmo/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..fdc7db308bdd060c23ddecf894b50054838eeff0 --- /dev/null +++ b/camxtime_eval/target/eval_scene_014__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": [ + [ + 0.9999993257168829, + 0.0011597564626776942, + 5.94199294378731e-05, + -0.00024109825608320534 + ], + [ + -0.0011595735679014844, + 0.9999948553882267, + -0.002990750110001805, + 0.0026248726062476635 + ], + [ + -6.288816551388824e-05, + 0.002990679191609858, + 0.9999955259315176, + -2.265312105009798e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 647.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999985378898819, + 0.0017093324458901746, + -4.899680891418402e-05, + -0.0007845034706406295 + ], + [ + -0.0017084628472238583, + 0.9998974238061288, + 0.014220514075312054, + -0.012733500450849533 + ], + [ + 7.329936911418223e-05, + -0.014220409574126918, + 0.9998988821769663, + -0.0026878858916461468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 653.7142944335938, + "fy": 653.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999916131161528, + 0.004081789489911403, + 0.0003356961649325557, + -0.0008357132901437581 + ], + [ + -0.004092745580561791, + 0.998983171089088, + 0.044898477862875555, + -0.032518304884433746 + ], + [ + -0.00015208868431296378, + -0.044899475223552275, + 0.9989914984591622, + -0.005839256104081869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 653.7142944335938, + "fy": 653.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999971620433039, + 0.0006178151375784489, + -0.0023009149905278015, + 0.0016083759255707264 + ], + [ + -0.0004797751604702615, + 0.9982271129440242, + 0.05951807119887191, + -0.039485201239585876 + ], + [ + 0.00233360689347041, + -0.05951679836730389, + 0.9982245764310615, + 0.002296800259500742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 647.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999895230946615, + 0.0031980907388178465, + -0.0032750445094131405, + 0.0010395081480965018 + ], + [ + -0.0028932893759331725, + 0.9960111460514587, + 0.08918198146400494, + -0.0624617300927639 + ], + [ + 0.0035471929041797448, + -0.08917157146134182, + 0.9960099639389229, + 0.00873644556850195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999845288276614, + 0.0034019897423592078, + -0.004400973882320665, + 0.0016476331511512399 + ], + [ + -0.0029271614511380776, + 0.9946013207584833, + 0.10372870611031244, + -0.07380513101816177 + ], + [ + 0.0047300984301553144, + -0.10371421894452805, + 0.9945958912832727, + 0.012582636438310146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999870790928296, + 0.0031356856367160783, + -0.004001140209856508, + 0.0010977195343002677 + ], + [ + -0.002574820279402854, + 0.9910859941831668, + 0.13319880793194963, + -0.09467650204896927 + ], + [ + 0.004383143611611869, + -0.13318678466556483, + 0.9910812622800055, + 0.014082995243370533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999784283459853, + 0.004096852654849382, + -0.005134066713452174, + 0.001293404377065599 + ], + [ + -0.003310617103805655, + 0.9894632029497181, + 0.1447467091953276, + -0.10396213084459305 + ], + [ + 0.0056729760342974535, + -0.14472658984032372, + 0.9894554217023144, + 0.01798986829817295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.99998333478371, + 0.002758730724536512, + -0.005071445517782311, + 0.00022889165848027915 + ], + [ + -0.001847716769032551, + 0.9851694018521191, + 0.17157457736237713, + -0.1260887086391449 + ], + [ + 0.005469561005398307, + -0.17156234744000884, + 0.9851580811439762, + 0.015950195491313934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999858350123086, + 0.0024558175003124958, + -0.004722153654945975, + 0.0003117360465694219 + ], + [ + -0.0015377777345120817, + 0.98266211041528, + 0.18539906146964927, + -0.13688474893569946 + ], + [ + 0.0050955877359731335, + -0.1853891736714761, + 0.9826519675200538, + 0.01725466363132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999757867485, + 0.0017501562152969293, + -0.006735196354970101, + 0.0017895415658131242 + ], + [ + -0.0003019364856158323, + 0.97785784218132, + 0.20927003922886617, + -0.1533050537109375 + ], + [ + 0.006952319834170636, + -0.20926293851925745, + 0.977834693499473, + 0.025642748922109604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999588796696418, + 0.002211616873702945, + -0.00879475529160059, + 0.00269514974206686 + ], + [ + -0.00020753410759368697, + 0.9751330468189537, + 0.221620165894666, + -0.16166730225086212 + ], + [ + 0.009066195421971391, + -0.22160922758853954, + 0.9750934080118594, + 0.029004912823438644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999492083192676, + 0.004060967271322299, + -0.009224387594388145, + 0.003555363044142723 + ], + [ + -0.0016557487960731406, + 0.968988072850557, + 0.2471019489386678, + -0.18218599259853363 + ], + [ + 0.009941794485632607, + -0.24707412494671502, + 0.9689455802593974, + 0.03257109969854355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999721559224232, + 0.003103770885247597, + -0.00678630872807817, + 0.0013353358954191208 + ], + [ + -0.0012518065441296114, + 0.9662824665727097, + 0.25748131538916874, + -0.19192048907279968 + ], + [ + 0.0073566541468914545, + -0.2574656509137719, + 0.9662594466494547, + 0.030684711411595345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999624984407428, + 0.0034777249827502243, + -0.007931402214694442, + 0.0023303371854126453 + ], + [ + -0.0011011310395561893, + 0.9594521049498975, + 0.2818695546128474, + -0.2104191780090332 + ], + [ + 0.008590065342046826, + -0.2818502505518763, + 0.9594199534308547, + 0.035625558346509933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999315460170196, + 0.00531190345710637, + -0.010425303912829626, + 0.002763177268207073 + ], + [ + -0.0020243401685163262, + 0.9561115703910684, + 0.29299584811257395, + -0.21676456928253174 + ], + [ + 0.011524119354406679, + -0.29295468701829447, + 0.9560568738454417, + 0.042456768453121185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999667733346617, + 0.0035383281886254845, + -0.007343872295696832, + -0.0006559098255820572 + ], + [ + -0.001022937561777046, + 0.9482316491821178, + 0.317577853585707, + -0.2397545725107193 + ], + [ + 0.008087386809757029, + -0.3175597892098265, + 0.9482037620952573, + 0.04681690037250519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999170552333654, + 0.002896320490606692, + -0.012549660595032059, + 0.0028680763207376003 + ], + [ + 0.001397388313967491, + 0.9442385781809635, + 0.3292590997690002, + -0.24467973411083221 + ], + [ + 0.012803513554286034, + -0.32924932619886704, + 0.944156211248042, + 0.05769282206892967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999354298224784, + 0.0013692732593163373, + -0.011281013982615822, + 0.0011923590209335089 + ], + [ + 0.0026816514411487917, + 0.9362447086254203, + 0.35133837580949007, + -0.2610672414302826 + ], + [ + 0.011042867892120984, + -0.3513459415755981, + 0.9361805832247714, + 0.06603845953941345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999268467147628, + 0.0029380943468186793, + -0.011733235729340366, + 0.0012283007381483912 + ], + [ + 0.0015123752256986018, + 0.9320665171782647, + 0.36228403259922676, + -0.2689129114151001 + ], + [ + 0.012000580829600326, + -0.36227527538708715, + 0.931993889949372, + 0.07388807833194733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999340186319196, + 0.0014958081069553668, + -0.01138951011797015, + 0.002804138232022524 + ], + [ + 0.002982182134422304, + 0.9236901435089192, + 0.3831287321177947, + -0.28707221150398254 + ], + [ + 0.01109346529887333, + -0.3831374183534926, + 0.9236247363973543, + 0.0776183232665062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999052612300026, + 0.000423663556781871, + -0.013758236578528258, + 0.004800558555871248 + ], + [ + 0.005030807556546497, + 0.9191282350109876, + 0.39392636187606866, + -0.29267340898513794 + ], + [ + 0.012812475946869056, + -0.3939582568176188, + 0.9190390265627095, + 0.08567319810390472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998842324574767, + 0.0026469060940663668, + -0.014983843667511309, + 0.003030785359442234 + ], + [ + 0.003807052718107434, + 0.9099118045249701, + 0.41478429856458426, + -0.31202977895736694 + ], + [ + 0.014731871317818895, + -0.41479332428842414, + 0.9097963893604073, + 0.0923975333571434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9998886627503292, + 0.0010049464701731038, + -0.014887987975209734, + 0.0031978352926671505 + ], + [ + 0.005397845085516632, + 0.9058026196404553, + 0.42366552552800657, + -0.31768369674682617 + ], + [ + 0.01391133968353397, + -0.42369871882633875, + 0.9056963455226749, + 0.0952877476811409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9998445897033013, + 0.00296416452605557, + -0.017378439794730926, + 0.0038399461191147566 + ], + [ + 0.005101600745024971, + 0.8949389723025365, + 0.4461593992329618, + -0.33036839962005615 + ], + [ + 0.016875132914290616, + -0.4461787193297566, + 0.8947847675873699, + 0.10752509534358978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998363328980624, + -7.512627270513244e-05, + -0.018091483438306296, + 0.005702037364244461 + ], + [ + 0.008299849037556364, + 0.8904536269771681, + 0.4549982974794085, + -0.3412536382675171 + ], + [ + 0.016075444718860344, + -0.4550739858080769, + 0.8903085125493532, + 0.11362988501787186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998260433140791, + 0.0009825507279406323, + -0.018625726965141233, + 0.004923230968415737 + ], + [ + 0.007963526539087879, + 0.8805261625930315, + 0.4739306481271838, + -0.3515150547027588 + ], + [ + 0.016866100793431996, + -0.47399653119327595, + 0.8803651646111216, + 0.12167894840240479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.999847322825199, + 0.000990278200712096, + -0.017445640956057547, + 0.0035374730359762907 + ], + [ + 0.007582233440161634, + 0.8749148019324567, + 0.4842175121735567, + -0.35876503586769104 + ], + [ + 0.015742959548362336, + -0.4842758601340508, + 0.8747737138918178, + 0.12611156702041626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9998048018051089, + 0.0021404635263792397, + -0.019641199131891253, + 0.004711478482931852 + ], + [ + 0.008069729699664133, + 0.8631727919665659, + 0.5048441449311042, + -0.37335702776908875 + ], + [ + 0.018034349170976943, + -0.504904099433284, + 0.8629870292336055, + 0.1432608664035797 + ], + [ + 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": [ + [ + 0.9998515690175572, + 0.0009561305200046684, + -0.017202492480925743, + 0.0028291165363043547 + ], + [ + 0.007979062786685115, + 0.8592343359473028, + 0.5115199805347233, + -0.38115671277046204 + ], + [ + 0.015270052068468118, + -0.5115813148890664, + 0.8590991699252188, + 0.14234043657779694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9998794997647337, + 0.0012069589078624466, + -0.01547673093456127, + 0.0005031487089581788 + ], + [ + 0.007160845079836109, + 0.8487065603435398, + 0.5288155602169623, + -0.3952549695968628 + ], + [ + 0.013773461727854094, + -0.5288626642901086, + 0.8485956481575896, + 0.14903369545936584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9998881794573514, + 0.004887899550581807, + -0.014132834798657755, + -0.002301784697920084 + ], + [ + 0.0034971576194499725, + 0.8424379020837589, + 0.5387820997595396, + -0.40088266134262085 + ], + [ + 0.014539548481553755, + -0.5387712776036755, + 0.8423266064652447, + 0.15661194920539856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9998877160268846, + 0.0021525631976612052, + -0.014829760963051332, + -0.0003841238794848323 + ], + [ + 0.006445617148407654, + 0.8316229667938078, + 0.5553032460922955, + -0.41297081112861633 + ], + [ + 0.013528095140015831, + -0.5553364813991104, + 0.8315157142647023, + 0.16141676902770996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9998850210635624, + 0.0011870842417195015, + -0.015117390109491154, + 0.0005366755067370832 + ], + [ + 0.007561417507496828, + 0.825114971378162, + 0.5649142492209706, + -0.4233871102333069 + ], + [ + 0.013144185710678321, + -0.564963604879658, + 0.8250111244967456, + 0.1652349978685379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999313217959428, + 4.9989245392883685e-05, + -0.01171960718172667, + -0.0014413170283660293 + ], + [ + 0.0067569389367123, + 0.8145991483429598, + 0.5799849750598118, + -0.4346827566623688 + ], + [ + 0.009575775040391038, + -0.580024331403434, + 0.8145428653621454, + 0.17708447575569153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998985608553127, + 0.003490279808219309, + -0.013808908223858283, + -0.0011221516178920865 + ], + [ + 0.005340699239843991, + 0.8068981930929688, + 0.5906663888481655, + -0.4377704858779907 + ], + [ + 0.013203974064808454, + -0.5906802213805395, + 0.8067977014956932, + 0.186049222946167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 629.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9998715695937405, + 0.002879478762438492, + -0.015765561208117545, + 0.001056248671375215 + ], + [ + 0.007263629863316024, + 0.7954656292527793, + 0.6059551735555104, + -0.44930681586265564 + ], + [ + 0.014285797120181267, + -0.6059918656875987, + 0.7953425518109186, + 0.19938358664512634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9998583243656426, + 0.0020104915364932787, + -0.016711945443634146, + 0.0010764218168333173 + ], + [ + 0.008663259593090977, + 0.7897818303570555, + 0.6133266734547602, + -0.4546166956424713 + ], + [ + 0.01443187894738701, + -0.6133845599309137, + 0.7896525201051455, + 0.20414745807647705 + ], + [ + 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": [ + [ + 0.9999143973637338, + 0.0027818155762317723, + -0.012785125999442048, + -0.0025940730702131987 + ], + [ + 0.005850103250586529, + 0.778978256518141, + 0.6270236456178633, + -0.46654850244522095 + ], + [ + 0.011703599304455517, + -0.6270447650479652, + 0.7788953000174441, + 0.21499031782150269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999250100248677, + 0.004191871432988211, + -0.011506630291203176, + -0.004103201441466808 + ], + [ + 0.004083854677074588, + 0.7716723242942146, + 0.636007190249718, + -0.47330382466316223 + ], + [ + 0.011545408513589804, + -0.6360064874922687, + 0.7715973376120481, + 0.21795104444026947 + ], + [ + 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": [ + [ + 0.9998816422348448, + 0.004749725892985716, + -0.014633578704228654, + -0.0015886708861216903 + ], + [ + 0.005890977257185604, + 0.7604680252950317, + 0.6493486574182085, + -0.47542569041252136 + ], + [ + 0.014212596831918884, + -0.6493580080416472, + 0.7603500374718718, + 0.23130042850971222 + ], + [ + 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": [ + [ + 0.9999223673707552, + 0.002400272722490583, + -0.012226934305976257, + -0.0035673140082508326 + ], + [ + 0.006196312709868387, + 0.7555523259784241, + 0.6550589961350014, + -0.48367470502853394 + ], + [ + 0.010810408894510659, + -0.6550839040912636, + 0.7554787976244485, + 0.23461943864822388 + ], + [ + 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": [ + [ + 0.9998955281311924, + 0.0035219831576749857, + -0.014018860791107073, + -0.0023451310116797686 + ], + [ + 0.006622806473494438, + 0.750439441893422, + 0.6609060315090971, + -0.4886280298233032 + ], + [ + 0.012848005979840819, + -0.6609298296228777, + 0.7503377166696447, + 0.23656804859638214 + ], + [ + 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": [ + [ + 0.9999338482281419, + 0.002397514661727525, + -0.011249492926611667, + -0.0038614473305642605 + ], + [ + 0.005813815763178035, + 0.7385497264877232, + 0.6741739397597486, + -0.49951931834220886 + ], + [ + 0.009924651829203247, + -0.6741947444383977, + 0.738486931406178, + 0.24048921465873718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.914306640625, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999008368477923, + 0.004641250194245318, + -0.013295686056763435, + -0.002987885382026434 + ], + [ + 0.005667367529085326, + 0.7316775046528392, + 0.6816273983125132, + -0.5029475092887878 + ], + [ + 0.012891757691481273, + -0.6816351575305002, + 0.7315786455344325, + 0.2509608268737793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999363485872503, + 0.004012376900686603, + -0.010545122360797157, + -0.005600804928690195 + ], + [ + 0.004369550453164994, + 0.7239765225991283, + 0.6898107724253891, + -0.5125115513801575 + ], + [ + 0.010402201826276655, + -0.6898129424393843, + 0.723912908187362, + 0.2538544535636902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999275964263568, + 0.0047534738669708, + -0.011054699959974277, + -0.003927410580217838 + ], + [ + 0.004300121702841098, + 0.71685963163311, + 0.6972042580823661, + -0.5175013542175293 + ], + [ + 0.011238810361857011, + -0.6972013145577378, + 0.7167872879178399, + 0.25697770714759827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999319983723661, + 0.005026495495562255, + -0.010522973632986357, + -0.0036729301791638136 + ], + [ + 0.0039015333208343977, + 0.7061551333077696, + 0.7080464008388392, + -0.5283592343330383 + ], + [ + 0.010989843893061107, + -0.7080393082634047, + 0.7060875025696789, + 0.2671022415161133 + ], + [ + 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": [ + [ + 0.999926731208668, + 0.0040702484923611, + -0.011400232083541212, + -0.002503702649846673 + ], + [ + 0.00528059328628148, + 0.7007728355846617, + 0.7133649474435778, + -0.5288093090057373 + ], + [ + 0.010892545565341888, + -0.7133728800451027, + 0.7006999974791376, + 0.2682233154773712 + ], + [ + 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": [ + [ + 0.9999474583347983, + 0.003878891198716136, + -0.009488665493433994, + -0.0034917874727398157 + ], + [ + 0.004194250985330023, + 0.6897991110441597, + 0.7239886702575936, + -0.5401304364204407 + ], + [ + 0.009353546303398541, + -0.7239904285318662, + 0.6897465988069788, + 0.27921730279922485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999938437558648, + 0.004390903134367397, + -0.010190243492413908, + -0.00327707314863801 + ], + [ + 0.00439090309963574, + 0.6868215463936278, + 0.7268128255468775, + -0.5392287969589233 + ], + [ + 0.010190243507379525, + -0.7268128255466678, + 0.6867599839522763, + 0.28156277537345886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999583349797214, + 0.005494685603987753, + -0.007289494817670867, + -0.005542110186070204 + ], + [ + 0.0016863171064983968, + 0.6736128579167735, + 0.7390824541171392, + -0.5485128164291382 + ], + [ + 0.008971323157698153, + -0.7390639526315097, + 0.6735755260410596, + 0.2929343283176422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9999454072135948, + 0.005929737846927621, + -0.008603534245029744, + -0.0038203515578061342 + ], + [ + 0.0024471018026571787, + 0.6675859818336688, + 0.7445286888709819, + -0.550577700138092 + ], + [ + 0.010158458800729442, + -0.7445090966994575, + 0.6675350257825808, + 0.29921674728393555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9999379673170866, + 0.004937239774150821, + -0.009984246650878381, + -0.0016962357331067324 + ], + [ + 0.004288945099812678, + 0.6565938060940152, + 0.7542321782772893, + -0.5573036074638367 + ], + [ + 0.01027941961901666, + -0.7542282131174799, + 0.6565319002683032, + 0.31280410289764404 + ], + [ + 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": [ + [ + 0.9999598434236507, + 0.0027782465750030784, + -0.008520145897572046, + -0.0029687052592635155 + ], + [ + 0.004658377230772923, + 0.6510498250956934, + 0.7590207011435481, + -0.5603389739990234 + ], + [ + 0.007655786159712577, + -0.7590299115244648, + 0.6510107390430983, + 0.3114491105079651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9999322605241519, + 0.002639307536815955, + -0.011336155379395611, + 0.0003418509440962225 + ], + [ + 0.006986228022144525, + 0.642900232099475, + 0.7659180662345444, + -0.5622159838676453 + ], + [ + 0.009309510249325489, + -0.7659453803125695, + 0.6428382435704567, + 0.32250723242759705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9999330514609623, + 0.004038848112943544, + -0.010843445111624252, + -0.001537388889119029 + ], + [ + 0.005824889890584003, + 0.6340175522212639, + 0.7732967180410893, + -0.5620117783546448 + ], + [ + 0.009998162517723331, + -0.7733081088293836, + 0.6339515798268756, + 0.33154329657554626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9999563640468164, + 0.006296297082608808, + -0.006901206077079668, + -0.004978768993169069 + ], + [ + 0.0014258949437114777, + 0.627215350865391, + 0.7788445740084565, + -0.5694538354873657 + ], + [ + 0.009232379210165042, + -0.778820428777939, + 0.6271790038675307, + 0.33458784222602844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9999490514939396, + 0.00684080421522179, + -0.007422790180214148, + -0.005000017583370209 + ], + [ + 0.0015683963315187852, + 0.6211252770899216, + 0.7837097232348953, + -0.5686281323432922 + ], + [ + 0.009971687385681436, + -0.7836814362721997, + 0.6210829025927413, + 0.3427674472332001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9999767516914123, + 0.005442660551060464, + -0.004107739380448663, + -0.007470499724149704 + ], + [ + -5.4454727877307205e-05, + 0.6087684563967258, + 0.7933479460684516, + -0.5789716839790344 + ], + [ + 0.006818585731247374, + -0.7933292783847535, + 0.608754599938392, + 0.34960511326789856 + ], + [ + 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": [ + [ + 0.9999662401485993, + 0.006219432452478974, + -0.0053700300783482815, + -0.006559493951499462 + ], + [ + 0.0005321977388205456, + 0.6031357751740793, + 0.79763836007976, + -0.5803046822547913 + ], + [ + 0.008199715156034808, + -0.7976142898451175, + 0.603112103432047, + 0.3545076549053192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9999699233783578, + 0.0020012649363061476, + -0.007493148693119918, + -0.0023659172002226114 + ], + [ + 0.004841403070391086, + 0.5937156395910064, + 0.8046603632100645, + -0.5854799151420593 + ], + [ + 0.006059138139413763, + -0.8046724390978591, + 0.5936880937001436, + 0.35926470160484314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.999966890379053, + 0.0026686470437922707, + -0.007687422754199336, + -0.003468912560492754 + ], + [ + 0.0046223555518051995, + 0.5912108498469643, + 0.8065037909721087, + -0.5873105525970459 + ], + [ + 0.006697161697228061, + -0.8065126219385447, + 0.5911789396443476, + 0.36249202489852905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9999670439511612, + 0.0043628246062743055, + -0.006846661451552428, + -0.003270859131589532 + ], + [ + 0.0030440237864996973, + 0.5803249606095107, + 0.8143793182619244, + -0.5927156805992126 + ], + [ + 0.007526282665732834, + -0.8143733209376548, + 0.5802925548498884, + 0.3700687289237976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9999793049451214, + 0.0051627846549752035, + -0.003838663319240191, + -0.004982800222933292 + ], + [ + 0.00017991022335280728, + 0.5739955218530546, + 0.8188584178751239, + -0.5928909778594971 + ], + [ + 0.006430965229548413, + -0.8188421621700028, + 0.5739827141464894, + 0.3723098337650299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9999769048443418, + 0.0027282731518358193, + -0.006224652885062233, + -0.004270357079803944 + ], + [ + 0.00357667551325671, + 0.5675395094380038, + 0.8233383949623285, + -0.5942286252975464 + ], + [ + 0.005779028482661389, + -0.8233416433974899, + 0.5675166438769148, + 0.38330167531967163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9999716191299126, + 0.005989291119568593, + -0.0045704842834830475, + -0.006521464325487614 + ], + [ + 0.00039278625178427486, + 0.5643791479747183, + 0.8255156104219301, + -0.5980801582336426 + ], + [ + 0.007523739340309318, + -0.8254939767940259, + 0.5643607778922302, + 0.38650763034820557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9999632650561872, + 0.007352297823274649, + -0.00440593405394926, + -0.006692876107990742 + ], + [ + -0.0003776126340243253, + 0.5513173998479621, + 0.834295500427505, + -0.6001095175743103 + ], + [ + 0.008563057098285835, + -0.8342631888928096, + 0.5512999235548028, + 0.3944939076900482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.99994550357753, + 0.00868751765593063, + -0.0057893792462367245, + -0.006198241375386715 + ], + [ + 7.989399520129454e-05, + 0.5481635236767431, + 0.8363711765282481, + -0.6055178046226501 + ], + [ + 0.010439515890518754, + -0.8363260598279085, + 0.5481329566452806, + 0.39671391248703003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9999695528474241, + 0.006301733969212233, + -0.004602339307719375, + -0.006273321341723204 + ], + [ + 0.0004947853549074373, + 0.5373952808860993, + 0.8433303429076906, + -0.6028887629508972 + ], + [ + 0.007787718894173792, + -0.8433069430701561, + 0.5373758007243102, + 0.4080299437046051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9999734105468805, + 0.004919207276497545, + -0.005383270289604007, + -0.005601413082331419 + ], + [ + 0.00192275689870432, + 0.5342280259380965, + 0.845338227757501, + -0.6061320304870605 + ], + [ + 0.007034287820992589, + -0.8453261013964108, + 0.5342043626673187, + 0.40704697370529175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9999647459866368, + 0.008325543531058157, + -0.0010918373475387545, + -0.008484765887260437 + ], + [ + -0.003375685810502003, + 0.5176510837914765, + 0.8555851566003339, + -0.6143895387649536 + ], + [ + 0.007688402252080738, + -0.8555513080899486, + 0.5176609389324134, + 0.4166107177734375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 624.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9999802373335199, + 0.005983129384399643, + -0.001930571202261473, + -0.006702032405883074 + ], + [ + -0.0014454517896139558, + 0.5176550519255513, + 0.8555881941010398, + -0.6160712838172913 + ], + [ + 0.006118464801023994, + -0.8555684948493163, + 0.5176534700064845, + 0.4156280755996704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 626.971435546875, + "fy": 626.971435546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9999776976527079, + 0.005945403891616863, + -0.0030424282661174243, + -0.007331117521971464 + ], + [ + -0.00040535814199839826, + 0.5087363871702923, + 0.8609222520377174, + -0.6145527362823486 + ], + [ + 0.006666324471973955, + -0.8609018181775919, + 0.5087274511725809, + 0.4322599470615387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 621.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9999726533027764, + 0.006642650260524243, + -0.003250822068681742, + -0.006833281368017197 + ], + [ + -0.0005536423064739709, + 0.505577526646176, + 0.8627810023583806, + -0.6127031445503235 + ], + [ + 0.007374695031142184, + -0.8627556083549105, + 0.5055673784228428, + 0.43432286381721497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 621.028564453125, + "fy": 615.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9999661387715721, + 0.007420594674850987, + -0.0035575391697841526, + -0.006114151328802109 + ], + [ + -0.0006129263454406162, + 0.4982604435463252, + 0.8670271937594077, + -0.613762378692627 + ], + [ + 0.008206438421632137, + -0.8669956546440648, + 0.49824812011360475, + 0.4405132830142975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 615.0857543945312, + "fy": 615.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9999760979084951, + 0.005105246773501916, + -0.004662624484297813, + -0.004612880293279886 + ], + [ + 0.0014988926713253774, + 0.4982627332614822, + 0.8670247989322781, + -0.6154636740684509 + ], + [ + 0.006749587577013307, + -0.8670110639998659, + 0.4982431715230637, + 0.43956026434898376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 615.0857543945312, + "fy": 612.1143188476562, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9999372240189303, + 0.008608689181845217, + -0.007172063293495553, + -0.002418993040919304 + ], + [ + 0.0020632255541635012, + 0.4876778825876842, + 0.8730212058908453, + -0.6108376383781433 + ], + [ + 0.011013224851430747, + -0.8729811987124141, + 0.48762950646265096, + 0.44538941979408264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 615.0857543945312, + "fy": 612.1143188476562, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9999583584082145, + 0.006136043653994274, + -0.0067550290765973926, + -0.0029843151569366455 + ], + [ + 0.002951235345426764, + 0.4829985603822934, + 0.875616172120278, + -0.6186467409133911 + ], + [ + 0.008635488375610461, + -0.8755996457496479, + 0.482960338644496, + 0.4493756592273712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 615.0857543945312, + "fy": 615.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9999352850158791, + 0.009906783021186598, + -0.005592980456212539, + -0.0051462408155202866 + ], + [ + 0.00025158075882035166, + 0.4722478010414895, + 0.8814657969079684, + -0.6104315519332886 + ], + [ + 0.011373763112278973, + -0.8814101599491857, + 0.47221474717655393, + 0.4613630771636963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 612.1143188476562, + "fy": 609.1428833007812, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9999589619371891, + 0.00784846044161185, + -0.00452505361251733, + -0.004951790440827608 + ], + [ + 0.00034709393990116675, + 0.46592530131786497, + 0.884823989908532, + -0.6099463701248169 + ], + [ + 0.009052843050477904, + -0.8847892490647442, + 0.465903456493027, + 0.46773338317871094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 606.1714477539062, + "fy": 606.1714477539062, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/camxtime_eval/target/eval_scene_017__backward/caption.txt b/camxtime_eval/target/eval_scene_017__backward/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..c9904262dd7a5561441db7aaaca34a0e6581d6dc --- /dev/null +++ b/camxtime_eval/target/eval_scene_017__backward/caption.txt @@ -0,0 +1 @@ +A person in a black hoodie and pants stands on a green lawn, gesturing with their right hand while looking toward the right side of the frame. Behind them, a black sedan is parked on a paved driveway next to a light-colored brick wall. Two small, spherical garden lights are embedded in the pavement near the lawn's edge. The scene is set under a uniformly bright, overcast sky, with the green leaves of a tree visible in the upper right corner. The camera sweeps along an arc around the scene. Scene time is reversed, playing backward. diff --git a/camxtime_eval/target/eval_scene_017__backward/transforms.json b/camxtime_eval/target/eval_scene_017__backward/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..5ed0822c4c6e3063af85f4ce260711b4d7e2d955 --- /dev/null +++ b/camxtime_eval/target/eval_scene_017__backward/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999701976778, + -1.4901161082737567e-08, + 0.00024414062409050535, + -0.0006103738560341299 + ], + [ + -1.4901161082824341e-08, + 0.9999999925494195, + 0.00012207030977178922, + -0.00012208148837089539 + ], + [ + -0.0002441406240905053, + -0.00012207030977113164, + 0.9999999627470973, + -9.138882160186768e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999668007824641, + 0.0012228908736627029, + -0.008056169734755557, + 0.003974453546106815 + ], + [ + -0.001218465376811485, + 0.999999104093306, + 0.0005542154024479084, + -6.636870966758579e-05 + ], + [ + 0.008056840262137264, + -0.0005443808390383462, + 0.9999673949557014, + -0.0008834992768242955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997077119633391, + 0.004884980637034605, + -0.023677575999272067, + 0.01083576213568449 + ], + [ + -0.0048792006780393965, + 0.999988051064057, + 0.00030187721333433857, + 7.902395736891776e-06 + ], + [ + 0.02367876774177517, + -0.00018626133336627427, + 0.9997196013207637, + -0.0012391399359330535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995022769910277, + 0.005854124377117922, + -0.030998830905842687, + 0.014137866906821728 + ], + [ + -0.005861705170714247, + 0.9999828082495462, + -0.00015368097980008675, + 0.00022335140965878963 + ], + [ + 0.03099739831410719, + 0.00033531049664730706, + 0.9995194089484345, + -0.002950587309896946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9988633226704213, + 0.010002676217478062, + -0.04660481833774119, + 0.020654508844017982 + ], + [ + -0.010005496904152256, + 0.9999499288391296, + 0.00017276087548983337, + -0.0001448166003683582 + ], + [ + 0.046604212851485416, + 0.00029373986347754885, + 0.9989133901702316, + -0.002671891823410988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9984637339037037, + 0.011706419304109145, + -0.05415839571249748, + 0.023992503061890602 + ], + [ + -0.011713025270284547, + 0.9999313810655398, + 0.00019544662049110308, + -9.660862269811332e-05 + ], + [ + 0.05415696740118258, + 0.00043921229510428435, + 0.9985323379713184, + -0.0028246366418898106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9974921089455259, + 0.014640603358461308, + -0.06924698783851616, + 0.030693208798766136 + ], + [ + -0.014619496678206301, + 0.9998928000598757, + 0.0008116066149082271, + 0.0001616068766452372 + ], + [ + 0.06925144697609781, + 0.00020278491474178212, + 0.9975992161033389, + -0.0013875272125005722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9968534039151041, + 0.0165471002913856, + -0.07752086541582094, + 0.03419359028339386 + ], + [ + -0.01660363689287457, + 0.9998621465247823, + -8.47866944124134e-05, + 0.0005954601219855249 + ], + [ + 0.07750877592118562, + 0.0013716482059175242, + 0.9969907262539599, + -0.0018104837508872151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9954155499210114, + 0.01999370863910928, + -0.09353146310362924, + 0.03993471711874008 + ], + [ + -0.01995383747163237, + 0.9997999752485213, + 0.0013615664549894622, + -0.0005537904216907918 + ], + [ + 0.09353997725896047, + 0.0005109871917062809, + 0.9956153933856603, + 0.00035013677552342415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9946261477213417, + 0.021445284091577307, + -0.10128635672802218, + 0.04380324110388756 + ], + [ + -0.021408290159794424, + 0.9997697614175994, + 0.0014523317215041653, + -0.00039022599230520427 + ], + [ + 0.10129418236719556, + 0.0007238406086886956, + 0.9948562532714635, + 0.0012394099030643702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9929177571622917, + 0.02431721234227246, + -0.11628843749791494, + 0.05054948106408119 + ], + [ + -0.02433842960271836, + 0.9997030103568745, + 0.0012377107403896601, + -0.0005597444251179695 + ], + [ + 0.11628399871125489, + 0.001601332977289414, + 0.9932147136326656, + 0.0007570830639451742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9918982503459135, + 0.02528755369756569, + -0.12449257242385256, + 0.0535862110555172 + ], + [ + -0.025287553697565694, + 0.9996789693590543, + 0.0015804585447923532, + -0.0005045675206929445 + ], + [ + 0.12449257242385256, + 0.001580458544792471, + 0.9922192809868591, + 0.002418294781818986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9898644123734175, + 0.029386766697100494, + -0.13894194132700977, + 0.05970074608922005 + ], + [ + -0.029395203997120912, + 0.99956588314991, + 0.0019917893233463717, + -0.0010294500971212983 + ], + [ + 0.13894015653725042, + 0.002112625340937433, + 0.9902985255545784, + 0.0032009975984692574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9888674522936399, + 0.030316566111910637, + -0.14567795857118354, + 0.062492161989212036 + ], + [ + -0.03037845727612886, + 0.9995368469551075, + 0.0018002534722522088, + -0.0009936594869941473 + ], + [ + 0.1456650648845073, + 0.002645259575939646, + 0.9893304258305051, + 0.004637834616005421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9860293085612419, + 0.03326704604503482, + -0.1632161337174634, + 0.07028837502002716 + ], + [ + -0.03319725141063034, + 0.9994438369801553, + 0.003155823373312483, + -0.0014346304815262556 + ], + [ + 0.16323034386111776, + 0.002306592686561137, + 0.9865852900145832, + 0.005879734642803669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9846895648762479, + 0.03419211111338627, + -0.17093086427393916, + 0.07322999089956284 + ], + [ + -0.0341816766080596, + 0.9994111182911167, + 0.0030049326715476977, + -0.0013629721943289042 + ], + [ + 0.17093295120627855, + 0.002883777680119376, + 0.985278442887189, + 0.006389457732439041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9817415200424128, + 0.038534584837835825, + -0.1862757998135769, + 0.07988888025283813 + ], + [ + -0.03851187593546142, + 0.9992511365072022, + 0.00374187132291745, + -0.0017047722358256578 + ], + [ + 0.18628049612544995, + 0.0035002800518354154, + 0.9824903688091883, + 0.00850594136863947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9800411426438775, + 0.03923837554737868, + -0.1948838336283592, + 0.08310176432132721 + ], + [ + -0.03920276862461532, + 0.999223104019061, + 0.004041203617470354, + -0.0018332755425944924 + ], + [ + 0.19489099942646906, + 0.003679440027488307, + 0.9808180055767922, + 0.010172427631914616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9765394645775022, + 0.04259717902376364, + -0.21108328797397424, + 0.08997207880020142 + ], + [ + -0.042520180286868686, + 0.9990835643520463, + 0.004905681398397012, + -0.0021692048758268356 + ], + [ + 0.21109881191294874, + 0.004184707974020065, + 0.9774557687323315, + 0.011322522535920143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9750435916308962, + 0.04456727878029217, + -0.21749425758314286, + 0.09267246723175049 + ], + [ + -0.044580596012353736, + 0.9989940274931138, + 0.004848040044449901, + -0.0021828741300851107 + ], + [ + 0.2174915282918075, + 0.004968973255009776, + 0.976049560435373, + 0.012906821444630623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9709152690838342, + 0.047566340799098564, + -0.23465076919296485, + 0.09976869076490402 + ], + [ + -0.047752715677973415, + 0.9988472138977682, + 0.004890954308291588, + -0.00234118290245533 + ], + [ + 0.23461291184682204, + 0.0064565092465777236, + 0.9720674334032106, + 0.013293692842125893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9689806960063803, + 0.049034299328567954, + -0.24222313732661171, + 0.10293064266443253 + ], + [ + -0.04912301115650831, + 0.9987766032957411, + 0.0056768374944995105, + -0.0028320434503257275 + ], + [ + 0.24220516208765608, + 0.006397983930724325, + 0.9702039606493651, + 0.01501895859837532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9654558393047962, + 0.05137844027546296, + -0.2554511268856146, + 0.10905058681964874 + ], + [ + -0.051487393565836585, + 0.998653991247613, + 0.006265306776914014, + -0.0029758885502815247 + ], + [ + 0.255429189123065, + 0.0071036356939890265, + 0.9668016692703114, + 0.015446865931153297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9633284384931662, + 0.05341579067091705, + -0.26295450727705477, + 0.11213675141334534 + ], + [ + -0.053712424573080016, + 0.9985380229357215, + 0.006065657268761588, + -0.0027561760507524014 + ], + [ + 0.2628940756974165, + 0.008280703993119415, + 0.9647891660381452, + 0.01564916782081127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9584402102351498, + 0.05571684959436368, + -0.2797999215076388, + 0.11936341226100922 + ], + [ + -0.05599833988781102, + 0.9984063632113517, + 0.0069942711479868865, + -0.0032038139179348946 + ], + [ + 0.279743720812838, + 0.00896474039564918, + 0.9600328557374627, + 0.018024474382400513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9560141695383287, + 0.05785574427447759, + -0.28755802978944117, + 0.12352914363145828 + ], + [ + -0.058049079292396825, + 0.9982827758149897, + 0.007861545930877683, + -0.003364963922649622 + ], + [ + 0.2875190637770719, + 0.009176729568017107, + 0.9577309515720952, + 0.018250346183776855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9512188681969845, + 0.06067469674684776, + -0.30249172874762337, + 0.12968748807907104 + ], + [ + -0.06080380381973533, + 0.9981091664505746, + 0.008999404890931128, + -0.0041827973909676075 + ], + [ + 0.3024658034011429, + 0.009832243997065278, + 0.9531095240059684, + 0.020827878266572952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9493471753770387, + 0.06213602574422566, + -0.3080244388167132, + 0.13201960921287537 + ], + [ + -0.062385865941051305, + 0.9980111028165343, + 0.00904667815887643, + -0.003971793223172426 + ], + [ + 0.3079739345048919, + 0.010627932989911921, + 0.9513354312259892, + 0.02032392844557762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9441282500018523, + 0.06359078995141668, + -0.3233853103989024, + 0.1391829401254654 + ], + [ + -0.06378883167110548, + 0.997913333753115, + 0.009998163420347836, + -0.004599145147949457 + ], + [ + 0.3233463042969178, + 0.01118882259665852, + 0.9462145516458862, + 0.02155425399541855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9406856091019874, + 0.06692121031004877, + -0.33261409537038833, + 0.14269818365573883 + ], + [ + -0.06708387870044819, + 0.9976866080505723, + 0.011008421096944816, + -0.005100262816995382 + ], + [ + 0.3325813254633025, + 0.01195758032305575, + 0.9429987689418743, + 0.02410825528204441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9352405569862825, + 0.06871000096267378, + -0.3472809184733558, + 0.14903849363327026 + ], + [ + -0.06881585649030814, + 0.9975566719825983, + 0.01204425500010134, + -0.005058894865214825 + ], + [ + 0.3472599580479927, + 0.01263415809270521, + 0.9376837950960843, + 0.027919838204979897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9324035100182038, + 0.07011986017266648, + -0.35455168835460116, + 0.15240058302879333 + ], + [ + -0.07011986014606136, + 0.9974556065732246, + 0.01286538490439076, + -0.005564896389842033 + ], + [ + 0.35455168835986295, + 0.012865384759385763, + 0.93494790344498, + 0.027837391942739487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9261392338394824, + 0.07284305747514636, + -0.3700810837112452, + 0.15836046636104584 + ], + [ + -0.07300151808849964, + 0.9972391246358773, + 0.013598038544008083, + -0.00565019715577364 + ], + [ + 0.3700498586677094, + 0.014422803927890821, + 0.9288999326229206, + 0.030300719663500786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9224374191406451, + 0.0736497340656229, + -0.379057943382287, + 0.1617397964000702 + ], + [ + -0.07385800708145118, + 0.9971703043524912, + 0.014013525877374793, + -0.005911743734031916 + ], + [ + 0.37901741722393467, + 0.015069863623222683, + 0.9252668245707696, + 0.03296475112438202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9169138467359293, + 0.0772038725469962, + -0.3915463698307875, + 0.16829684376716614 + ], + [ + -0.07764479370602746, + 0.996872214960254, + 0.014733399152481199, + -0.006234319880604744 + ], + [ + 0.3914591724232158, + 0.016892279419458252, + 0.9200404160805904, + 0.033514395356178284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9123749546734832, + 0.07871867096999338, + -0.4017154626415042, + 0.1716461330652237 + ], + [ + -0.07901382036980127, + 0.9967473014884416, + 0.015862949476027604, + -0.0065643806010484695 + ], + [ + 0.40165751365451724, + 0.017268115595748982, + 0.9156271369442057, + 0.0367499403655529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9056797823697028, + 0.08219907922164828, + -0.4159175918158315, + 0.177617609500885 + ], + [ + -0.08275086908871182, + 0.9964297659955133, + 0.016733651818670297, + -0.006872177589684725 + ], + [ + 0.415808159457977, + 0.0192622120546603, + 0.909248338857394, + 0.036796338856220245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9022516063100153, + 0.08348546478133653, + -0.4230510797542547, + 0.18005262315273285 + ], + [ + -0.08414960431836345, + 0.9963056340156673, + 0.017144320391948947, + -0.006909653078764677 + ], + [ + 0.42291947579185757, + 0.020131090355047506, + 0.9059436274940383, + 0.039453767240047455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8962899869461962, + 0.08515966983953954, + -0.4352149927711685, + 0.18650375306606293 + ], + [ + -0.08578942768055015, + 0.996146272354874, + 0.01824220852125278, + -0.007334392052143812 + ], + [ + 0.435091293176767, + 0.020986536310449888, + 0.9001417287824506, + 0.040689073503017426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8919776203365742, + 0.08716517932751992, + -0.44359683985743564, + 0.1885569840669632 + ], + [ + -0.08770361893298007, + 0.9959586753737893, + 0.019349216359992472, + -0.00785849615931511 + ], + [ + 0.4434906989382767, + 0.02164598023856665, + 0.8960175508854442, + 0.043946523219347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8844938346686642, + 0.09063405076211603, + -0.4576637688036622, + 0.1956607699394226 + ], + [ + -0.09141193075488624, + 0.9956021312496663, + 0.020500126018763637, + -0.008548514917492867 + ], + [ + 0.4575090330788953, + 0.023703693669373724, + 0.8888889804456135, + 0.047068558633327484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8799609572879067, + 0.09170920571613139, + -0.466109574280413, + 0.19777162373065948 + ], + [ + -0.09233617694540648, + 0.9954947050336023, + 0.021548147882536995, + -0.009277979843318462 + ], + [ + 0.46598577668857893, + 0.02407724728820565, + 0.8844645510629379, + 0.0500648096203804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8761133097930325, + 0.0928776435616661, + -0.47307421376558917, + 0.20194889605045319 + ], + [ + -0.09374471860608995, + 0.9953574547392148, + 0.021805160594166845, + -0.008744368329644203 + ], + [ + 0.47290315724994186, + 0.025244417630528395, + 0.8807527026592271, + 0.04961337149143219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8683656169611327, + 0.09582080406318752, + -0.48657941673317295, + 0.207124724984169 + ], + [ + -0.09682921681204143, + 0.9950318784819506, + 0.02314440701869705, + -0.009393109008669853 + ], + [ + 0.48637974675275863, + 0.027017296559142708, + 0.8733297244657122, + 0.05386233329772949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.863396147246549, + 0.09680491066493337, + -0.4951524029942404, + 0.21029457449913025 + ], + [ + -0.09789877763377618, + 0.9949116394691471, + 0.023804600114808436, + -0.009449537843465805 + ], + [ + 0.49493729123761615, + 0.027922014969693033, + 0.8684799587914527, + 0.05719920992851257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8560660459241735, + 0.09992917770659003, + -0.5071144687924373, + 0.21820175647735596 + ], + [ + -0.10098518666502165, + 0.9945608656500904, + 0.025508363169229217, + -0.010055683553218842 + ], + [ + 0.5069052348220343, + 0.029374205695258077, + 0.8615011543519783, + 0.059257153421640396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8497367661256968, + 0.10182532790652532, + -0.517280418043224, + 0.2190089374780655 + ], + [ + -0.10290952394993223, + 0.9943327824459264, + 0.026682346855937986, + -0.01062715332955122 + ], + [ + 0.5170658160956321, + 0.030560110439441034, + 0.8553999190292731, + 0.06084906682372093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8431733267688375, + 0.10445470976039342, + -0.5273973403748283, + 0.22582975029945374 + ], + [ + -0.10549355944669471, + 0.9940196203411614, + 0.028215302445288887, + -0.011555137112736702 + ], + [ + 0.5271905252760494, + 0.03184663225027743, + 0.8491501292901498, + 0.06640995293855667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8388105490066957, + 0.10596465976575221, + -0.5340115670618137, + 0.22805477678775787 + ], + [ + -0.10730758911932665, + 0.9938130496451, + 0.028647926146643847, + -0.011329028755426407 + ], + [ + 0.5337433317545838, + 0.03327331116426727, + 0.8449916819541372, + 0.06584157794713974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8277068383315027, + 0.10814308237366312, + -0.550641865021169, + 0.23430027067661285 + ], + [ + -0.10956767677662707, + 0.9935136719334952, + 0.03042216111648297, + -0.012162449769675732 + ], + [ + 0.5503601675130936, + 0.035151919093383256, + 0.8341870465303403, + 0.06906266510486603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1259.8857421875, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8239747066554695, + 0.10950149876311772, + -0.5559452352171612, + 0.2369212955236435 + ], + [ + -0.11067216273494306, + 0.9933536286848329, + 0.03162658334764239, + -0.012961745262145996 + ], + [ + 0.5557133750303336, + 0.03546815680728163, + 0.830617032491563, + 0.0714348629117012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8148157095908755, + 0.11249265926290876, + -0.5687009416344206, + 0.24202664196491241 + ], + [ + -0.11432657839846226, + 0.9929081818266262, + 0.03260024437704391, + -0.012789998203516006 + ], + [ + 0.5683351061439176, + 0.03845444153413001, + 0.821898085562121, + 0.07645110785961151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8099917477963167, + 0.1146354136645734, + -0.5751278905042089, + 0.24460116028785706 + ], + [ + -0.11648762119201556, + 0.9926170939347606, + 0.03379258702050297, + -0.012881617993116379 + ], + [ + 0.5747556025050083, + 0.03962356322272047, + 0.8173652614508655, + 0.07757057249546051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7999285418188136, + 0.11659598427978278, + -0.5886592430544655, + 0.2519151270389557 + ], + [ + -0.11821641935279009, + 0.992338371878346, + 0.0359086882695528, + -0.014024031348526478 + ], + [ + 0.5883359636967915, + 0.04086480328673265, + 0.80758334657997, + 0.0831616222858429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7941061877210406, + 0.11966602384106897, + -0.5958820398042082, + 0.2524639964103699 + ], + [ + -0.12131829097652043, + 0.9919042816850872, + 0.03752023786341293, + -0.014686298556625843 + ], + [ + 0.595547844339723, + 0.042496337640547915, + 0.8021950052134768, + 0.08704318106174469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7844332368424234, + 0.12120201485400117, + -0.608255348132878, + 0.2583494186401367 + ], + [ + -0.1233287290166058, + 0.9916171672539831, + 0.038541123573845704, + -0.01525051612406969 + ], + [ + 0.6078277071144972, + 0.04478242068620539, + 0.7928051546637529, + 0.0879376232624054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.781973505704207, + 0.12316076940947548, + -0.6110227992924149, + 0.2611946165561676 + ], + [ + -0.12534619013977785, + 0.9913303203576683, + 0.03940213899023731, + -0.015678150579333305 + ], + [ + 0.6105782251228057, + 0.045777951221405634, + 0.7906317791411218, + 0.0908023864030838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7687620894672287, + 0.12461016543695966, + -0.6272775752948243, + 0.2655203938484192 + ], + [ + -0.12665890564126836, + 0.9910714802270186, + 0.0416514429808005, + -0.01665124110877514 + ], + [ + 0.626867108261182, + 0.04743024088490545, + 0.7776811691367248, + 0.09763375669717789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.763321011073698, + 0.12688784357268174, + -0.6334354814871848, + 0.26899316906929016 + ], + [ + -0.12941418288402265, + 0.9906794497299453, + 0.04249937824526417, + -0.016771836206316948 + ], + [ + 0.6329241686978684, + 0.04953486687423272, + 0.7726275258116708, + 0.09809473901987076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7518803856997768, + 0.12914409674828156, + -0.6465274069016914, + 0.274210125207901 + ], + [ + -0.13173483092256558, + 0.9902808134465813, + 0.044607676933244605, + -0.017594220116734505 + ], + [ + 0.646004504567699, + 0.051630541297259795, + 0.7615854957150867, + 0.10355620831251144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7454838844838341, + 0.12980676958279966, + -0.6537614094953684, + 0.275930255651474 + ], + [ + -0.13244379615652122, + 0.9901423825616145, + 0.04557085817559589, + -0.01763349026441574 + ], + [ + 0.6532322855114727, + 0.052614302482199546, + 0.7553272908744723, + 0.10599706321954727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7332497548113234, + 0.13285141518611568, + -0.6668547807072993, + 0.2842313349246979 + ], + [ + -0.13555323131686248, + 0.9896018008768361, + 0.04809986674493627, + -0.01902959868311882 + ], + [ + 0.666310827278599, + 0.05512510484678986, + 0.7436337164672805, + 0.10828791558742523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1259.8857421875, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7278566347872852, + 0.13409935546007432, + -0.6724894661340957, + 0.2850722074508667 + ], + [ + -0.13723793264401019, + 0.989338030985999, + 0.04874433596167556, + -0.019136743620038033 + ], + [ + 0.6718559883187221, + 0.05681217571911124, + 0.7384997682127827, + 0.11139214038848877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1259.8857421875, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7148830278280238, + 0.1367185096901049, + -0.685747989885171, + 0.2915836572647095 + ], + [ + -0.13916754750297775, + 0.9888985292812797, + 0.05207775443822137, + -0.020702848210930824 + ], + [ + 0.6852551716298407, + 0.05820436318213602, + 0.7259735545191155, + 0.11660328507423401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1259.8857421875, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7094214680152219, + 0.13791182546719952, + -0.6911595395532295, + 0.2937223017215729 + ], + [ + -0.14115280427464202, + 0.9886011420852102, + 0.05238003162677847, + -0.02043089270591736 + ], + [ + 0.6905049359450897, + 0.060399588277756086, + 0.720801514406945, + 0.11835376918315887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1259.8857421875, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.6983867556782056, + 0.14107145899531662, + -0.7016799718890383, + 0.2988835275173187 + ], + [ + -0.14505011860477612, + 0.9879357480539643, + 0.054253302293903405, + -0.0216800756752491 + ], + [ + 0.7008683204325967, + 0.06388897537123268, + 0.7104236737609494, + 0.12412037700414658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1259.8857421875, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.690921289586591, + 0.14183909835477784, + -0.7088790036204382, + 0.30036234855651855 + ], + [ + -0.1456265131689204, + 0.9877701618807562, + 0.05570481092622879, + -0.021542727947235107 + ], + [ + 0.7081106483158294, + 0.06474393775457558, + 0.7031269673862373, + 0.12725535035133362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.6776760754448715, + 0.14453462193436076, + -0.7210165600261396, + 0.30274122953414917 + ], + [ + -0.14730971542203602, + 0.9873016070801011, + 0.05945909854116089, + -0.02296159788966179 + ], + [ + 0.7204547067733789, + 0.06591873572316236, + 0.6903620323922397, + 0.13293620944023132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.6716357346406244, + 0.1446411583664712, + -0.7266253334836015, + 0.30813729763031006 + ], + [ + -0.14818239694546137, + 0.9871663758149956, + 0.05953590257807176, + -0.02331569977104664 + ], + [ + 0.7259114389436543, + 0.06768664393137949, + 0.6844494875767381, + 0.1350233107805252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1259.8857421875, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.6569189362321155, + 0.14710482374743789, + -0.7394712178644283, + 0.3130064904689789 + ], + [ + -0.1517200648035203, + 0.9865104654635934, + 0.061466441794034904, + -0.023828577250242233 + ], + [ + 0.738538105418861, + 0.07181415153741849, + 0.6703761589460644, + 0.1401670128107071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1259.8857421875, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.6487886022015183, + 0.14810203754727086, + -0.7464175347134786, + 0.31670206785202026 + ], + [ + -0.15242521277578377, + 0.9862916496222315, + 0.06320867342157509, + -0.02482004463672638 + ], + [ + 0.7455467149439103, + 0.07276378467208172, + 0.6624692653071073, + 0.14372475445270538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1259.8857421875, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.6370508163104038, + 0.14879543729535838, + -0.7563241205186648, + 0.3220136761665344 + ], + [ + -0.1531581105408836, + 0.9860624400761696, + 0.06498813312118856, + -0.02514425665140152 + ], + [ + 0.7554527454538734, + 0.07443642999979158, + 0.6509611104168139, + 0.14703066647052765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1259.8857421875, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6310566116781843, + 0.1509878469505586, + -0.7609009284594704, + 0.32228145003318787 + ], + [ + -0.15650136174586227, + 0.9854862884207641, + 0.06575788246557293, + -0.025533068925142288 + ], + [ + 0.7597860729369419, + 0.07758508495774158, + 0.6455274416809558, + 0.1508716344833374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6157001287448329, + 0.15195101403967856, + -0.7731909471766395, + 0.32759907841682434 + ], + [ + -0.15644183983479382, + 0.9852702986970217, + 0.0690535245630991, + -0.02706342749297619 + ], + [ + 0.7722948285549376, + 0.07844315035613547, + 0.6304025459573462, + 0.15818528831005096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.6124264760153805, + 0.15380221664160104, + -0.7754216205597525, + 0.32883143424987793 + ], + [ + -0.1579233247596394, + 0.9849222559805341, + 0.07062841617279084, + -0.028105536475777626 + ], + [ + 0.7745928188230539, + 0.0792024483860535, + 0.6274814237867209, + 0.16030383110046387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.5993219701921791, + 0.15533948029264177, + -0.7852915521686054, + 0.3320612609386444 + ], + [ + -0.1606759437844429, + 0.984370692190376, + 0.07209425390154273, + -0.027841007336974144 + ], + [ + 0.7842170727126155, + 0.08296979100283246, + 0.6149143002459801, + 0.16939368844032288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.5905327954670345, + 0.15570124039178063, + -0.7918510852542605, + 0.33431747555732727 + ], + [ + -0.16150737623812608, + 0.9841627173583515, + 0.07306923554068984, + -0.028511280193924904 + ], + [ + 0.7906872864151581, + 0.08474001122424571, + 0.6063272594887589, + 0.1691763699054718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.5750833993520994, + 0.15853178300325785, + -0.8025875388812372, + 0.3365557789802551 + ], + [ + -0.16444323004972178, + 0.9834216615047041, + 0.0764215923292697, + -0.030075566843152046 + ], + [ + 0.801397222281465, + 0.08803129819067057, + 0.5916189505572123, + 0.17523729801177979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.5681676530020247, + 0.1589926706786304, + -0.8074074861881374, + 0.34174346923828125 + ], + [ + -0.16453397511450799, + 0.9832947208506984, + 0.07784640634072772, + -0.0306220892816782 + ], + [ + 0.8062965267909749, + 0.0886161532544931, + 0.5848359498758493, + 0.17866098880767822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.5533323208870413, + 0.16236783505602384, + -0.8169822695756496, + 0.34722283482551575 + ], + [ + -0.16925414321407364, + 0.9822724975877962, + 0.08058396544910156, + -0.031740739941596985 + ], + [ + 0.81558345843122, + 0.09368792142988304, + 0.5710045496416976, + 0.18423625826835632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.5470459466649309, + 0.16229032814320357, + -0.8212201785323113, + 0.34846776723861694 + ], + [ + -0.16959960235986535, + 0.9821687506265441, + 0.08112040539882179, + -0.031575337052345276 + ], + [ + 0.819741853949672, + 0.09490202676373594, + 0.5648158090911498, + 0.187338188290596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/camxtime_eval/target/eval_scene_017__bullettime_early/caption.txt b/camxtime_eval/target/eval_scene_017__bullettime_early/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..30d741fdbc5cac0df90a033653eb3e2d820fe2ce --- /dev/null +++ b/camxtime_eval/target/eval_scene_017__bullettime_early/caption.txt @@ -0,0 +1 @@ +A person in a black hoodie and pants stands on a green lawn, gesturing with their right hand while looking toward the right side of the frame. Behind them, a black sedan is parked on a paved driveway next to a light-colored brick wall. Two small, spherical garden lights are embedded in the pavement near the lawn's edge. The scene is set under a uniformly bright, overcast sky, with the green leaves of a tree visible in the upper right corner. The camera sweeps along an arc around the scene while scene time is frozen at an early moment. diff --git a/camxtime_eval/target/eval_scene_021__bullettime_mid/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_021__bullettime_mid/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..ef7e2b67603aac896fa8f081ac2adf2d31334f2e --- /dev/null +++ b/camxtime_eval/target/eval_scene_021__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": 0.005212017592869378, + "max_input_determinant_error": 0.005127803404743947, + "max_rotation_element_change": 0.002182046876756827, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_021__zigzag/caption.txt b/camxtime_eval/target/eval_scene_021__zigzag/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..fa9257a59211c649a20c566f4b69091b86898fae --- /dev/null +++ b/camxtime_eval/target/eval_scene_021__zigzag/caption.txt @@ -0,0 +1 @@ +A person with dark hair in a ponytail, wearing a white blouse with a brown tie and beige trousers, walks forward through a modern interior space with dark wood flooring and a contrasting light-colored wall. As they advance, they turn their head to the right, then continue walking until they exit the frame, leaving the empty room visible. The lighting is even and bright, highlighting the clean lines of the minimalist environment. The camera sweeps along an arc around the scene. Scene time plays forward and then rewinds backward. diff --git a/camxtime_eval/target/eval_scene_021__zigzag/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_021__zigzag/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..2924bb1200d50bd81bd8c47fccc38eb0470ca47b --- /dev/null +++ b/camxtime_eval/target/eval_scene_021__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/EvalScene021_traj01_zigzag.safetensors", + "pattern_parameters": null, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.005212017592869378, + "max_input_determinant_error": 0.005127803404743947, + "max_rotation_element_change": 0.002182046876756827, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_021__zigzag/transforms.json b/camxtime_eval/target/eval_scene_021__zigzag/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..abb7aeb307a89a686652208f214121e937a52764 --- /dev/null +++ b/camxtime_eval/target/eval_scene_021__zigzag/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": [ + [ + 0.9999995511027391, + 0.0002441684627969456, + -0.0009155195695081463, + 0.0008541229763068259 + ], + [ + -0.00024411258347648056, + 0.9999999683350523, + 6.114688568039072e-05, + -0.00036640081088989973 + ], + [ + 0.0009155344706593224, + -6.092336838443851e-05, + 0.9999995790423999, + 0.0003059802402276546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9998268915430516, + 0.001404822353522889, + 0.018552989557336832, + -0.011224358342587948 + ], + [ + -0.0014025533467427608, + 0.9999990072671565, + -0.0001353100536595188, + 0.00038120418321341276 + ], + [ + -0.01855316122576283, + 0.00010926507274913083, + 0.9998278693203521, + 0.006984399631619453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 736.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9983131852538937, + 0.0004914166215791263, + 0.05805637482593513, + -0.033226143568754196 + ], + [ + -0.0004843292061106286, + 0.9999998734443041, + -0.00013614916445329732, + 0.00019802282622549683 + ], + [ + -0.05805643438453276, + 0.00010780110810591995, + 0.9983132969190966, + 0.013181697577238083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9967978190428776, + 0.0014807347592073617, + 0.07994945513219752, + -0.045783959329128265 + ], + [ + -0.0014442226030289649, + 0.9999988247477484, + -0.0005145135509811188, + 0.00024703433155082166 + ], + [ + -0.0799501230295194, + 0.0003974011752842239, + 0.9967987860646048, + 0.00936678983271122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9933819295432287, + 0.0010103339879374569, + 0.11485347744933645, + -0.06423505395650864 + ], + [ + -0.0009402257566138724, + 0.9999993371501016, + -0.0006645862504254984, + -0.0002503358118701726 + ], + [ + -0.11485407277279745, + 0.0005521997740611223, + 0.9933822210221556, + 0.01836339943110943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 728.0, + "fy": 728.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9909573981370278, + 0.0023436341958051497, + 0.13415641041802162, + -0.07760141044855118 + ], + [ + -0.0022740737539384205, + 0.9999971886771734, + -0.0006717338100917621, + -0.0003113678831141442 + ], + [ + -0.13415760755937045, + 0.0003605780168349639, + 0.9909599418328875, + 0.012784481048583984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9859332253107324, + 0.0020284162125779803, + 0.16712737883436615, + -0.09484183043241501 + ], + [ + -0.0020948030957461815, + 0.9999977814914335, + 0.00022093483616059188, + -0.0004712774243671447 + ], + [ + -0.167126559913041, + -0.0005679259461655107, + 0.9859352871419866, + 0.013167155906558037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9830235089370493, + 0.0007141076202567629, + 0.18347825736963333, + -0.10261079668998718 + ], + [ + -0.0007421691156590061, + 0.9999997210414913, + 8.427302216141726e-05, + -0.0010827657533809543 + ], + [ + -0.18347814600680507, + -0.00021901425796854208, + 0.9830237647028987, + 0.017149485647678375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9772385077596839, + 0.0027413648604167544, + 0.21212586798957, + -0.11987339705228806 + ], + [ + -0.0031883924005938072, + 0.9999933588514167, + 0.001765334801701975, + -0.0019575809128582478 + ], + [ + -0.21211961980337002, + -0.002401493652778592, + 0.9772407583204404, + 0.014032134786248207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9740400785759347, + 0.0028024535776632123, + 0.2263582814516224, + -0.12501753866672516 + ], + [ + -0.0029968009571465642, + 0.9999953769936172, + 0.0005149518591742888, + -0.0005983727751299739 + ], + [ + -0.22635579186716226, + -0.001179934463885169, + 0.9740439739779984, + 0.02291203662753105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 728.0, + "fy": 728.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9657701645912518, + 0.004366115630256437, + 0.2593625381964216, + -0.14804624021053314 + ], + [ + -0.004836782501128318, + 0.9999876105299536, + 0.0011765719827201626, + -0.0021822548005729914 + ], + [ + -0.25935418778269964, + -0.002390778303601727, + 0.9657793171624038, + 0.017264094203710556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9616039252168701, + 0.00478256252421871, + 0.274399377009515, + -0.15482354164123535 + ], + [ + -0.0051295634082731386, + 0.9999866940707584, + 0.0005470472342176531, + -0.0018403440481051803 + ], + [ + -0.2743931095832191, + -0.0019335917712636963, + 0.961615662640805, + 0.02336038462817669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9530545988276835, + 0.004986486167079492, + 0.30275743856940907, + -0.1737646907567978 + ], + [ + -0.005876419829165833, + 0.999980676147175, + 0.002028551756733213, + -0.0022814027033746243 + ], + [ + -0.3027414727839504, + -0.0037124503961513057, + 0.9530654848270719, + 0.024073323234915733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9476070188129423, + 0.004766291007504941, + 0.3194029122698777, + -0.18816229701042175 + ], + [ + -0.005337090336566135, + 0.9999853419033617, + 0.0009118361449755893, + -0.0022854218259453773 + ], + [ + -0.31939388435470506, + -0.002568744527532873, + 0.9476185668233631, + 0.01962706819176674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 736.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9402835731514722, + 0.0039139163614583215, + 0.340369627493722, + -0.19248880445957184 + ], + [ + -0.004766423706516717, + 0.9999872484930515, + 0.0016685491739454796, + -0.002017642604187131 + ], + [ + -0.34035875670614035, + -0.003191255240720783, + 0.9402902385026863, + 0.030726252123713493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.934166780682067, + 0.004810770541318974, + 0.3568042633670476, + -0.20087166130542755 + ], + [ + -0.0052433007932133815, + 0.9999862237936751, + 0.0002449890989739876, + -0.001278524985536933 + ], + [ + -0.3567981693715574, + -0.0020996927550252942, + 0.9341791357247496, + 0.03516920655965805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9236724916865386, + 0.004628823774679554, + 0.3831549322298286, + -0.21692465245723724 + ], + [ + -0.004962334215181747, + 0.9999876805869627, + -0.00011795526396169829, + -0.0011177423875778913 + ], + [ + -0.38315075798009113, + -0.001792390797348498, + 0.9236840823541956, + 0.04029596969485283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.917578461642379, + 0.004288277829822549, + 0.3975316055400614, + -0.22802431881427765 + ], + [ + -0.005029524004785871, + 0.999987014038963, + 0.0008219742836480222, + -0.0021493188105523586 + ], + [ + -0.397522918356024, + -0.0027536206514238645, + 0.9175881140005124, + 0.03866308182477951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 736.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9090514518819744, + 0.006690934805815664, + 0.416630158801183, + -0.23169861733913422 + ], + [ + -0.006937613887904539, + 0.9999755094371015, + -0.0009219758952765047, + -0.0006099892198108137 + ], + [ + -0.4166261241746811, + -0.0020522956496177246, + 0.9090756078224462, + 0.04764025658369064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9024485627735428, + 0.005849832147432794, + 0.43075790301724576, + -0.2381143420934677 + ], + [ + -0.005784544115411592, + 0.999982201640371, + -0.0014613185326468204, + 0.0007820518803782761 + ], + [ + -0.43075878470130446, + -0.001172973283524201, + 0.9024663392816001, + 0.05198207125067711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.8921972115847999, + 0.006728662935275284, + 0.4515959042500401, + -0.2533135712146759 + ], + [ + -0.006587595509098524, + 0.9999765256878187, + -0.001884584497479227, + 0.001465476700104773 + ], + [ + -0.4515979840806604, + -0.001293510117118021, + 0.8922205935786627, + 0.05322643741965294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 736.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.8904164669654016, + 0.006788404216073492, + 0.4550960699951725, + -0.24992237985134125 + ], + [ + -0.006760630221167865, + 0.9999757210054269, + -0.0016885729741871118, + 0.0008079016115516424 + ], + [ + -0.45509648343605613, + -0.0015732030624551587, + 0.8904407424395289, + 0.05834745988249779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.8786140377007746, + 0.008546240003055242, + 0.47745610744544037, + -0.26108846068382263 + ], + [ + -0.007596327885293626, + 0.9999634635453802, + -0.003920124613679154, + 0.0022470438852906227 + ], + [ + -0.4774721652178279, + -0.00018263662787665206, + 0.8786468563001072, + 0.06353607773780823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.8729810914438123, + 0.0081234106432682, + 0.4876863994218947, + -0.27020177245140076 + ], + [ + -0.006755951910189923, + 0.999966767432535, + -0.004563019210325295, + 0.0022689001634716988 + ], + [ + -0.48770725962954237, + 0.0006886436287607193, + 0.8730069614124477, + 0.06484237313270569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 736.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.8611599324793986, + 0.007541897371186563, + 0.5082781625017155, + -0.27902454137802124 + ], + [ + -0.006142080355164447, + 0.9999713185022283, + -0.004431367940836022, + 0.002970252651721239 + ], + [ + -0.5082970052449537, + 0.0006942311998615207, + 0.8611815560623983, + 0.07285256683826447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.8550967198403131, + 0.008107935870999583, + 0.5184051129129109, + -0.2857731878757477 + ], + [ + -0.006662591052624961, + 0.9999669938206839, + -0.0046498548031918205, + 0.003923376556485891 + ], + [ + -0.5184257030653491, + 0.0005221543230145105, + 0.8551225162256345, + 0.0750284269452095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 736.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.8423957642939954, + 0.007261827335433596, + 0.5388103953741852, + -0.2937728762626648 + ], + [ + -0.0058531942544130435, + 0.9999735122873489, + -0.004326065270347407, + 0.0030669488478451967 + ], + [ + -0.5388275386582941, + 0.0004904971493778087, + 0.8424159560430884, + 0.08468944579362869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.835786292630003, + 0.006837190315705701, + 0.5490123185142396, + -0.3002643883228302 + ], + [ + -0.005596692949721274, + 0.9999766030956773, + -0.003933228859100577, + 0.003558407537639141 + ], + [ + -0.5490263655598162, + 0.00021468539387434866, + 0.8358050034729162, + 0.0868920087814331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.8250689285280493, + 0.008700028088133235, + 0.5649651074967751, + -0.30466392636299133 + ], + [ + -0.006732551439233207, + 0.9999618426978198, + -0.005566497956375644, + 0.002822382841259241 + ], + [ + -0.5649919786410204, + 0.0007890878569264761, + 0.8250960195102501, + 0.09696008265018463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 728.0, + "fy": 728.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.8190510806520482, + 0.008315795163100109, + 0.5736603305384794, + -0.3150974214076996 + ], + [ + -0.006299558830427016, + 0.9999650253402095, + -0.005501241214184492, + 0.00405359361320734 + ], + [ + -0.5736860141586632, + 0.0008919905604961093, + 0.819074820460003, + 0.09797058999538422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 728.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.8077079862306406, + 0.008115037367419885, + 0.5895268909454157, + -0.324230819940567 + ], + [ + -0.006467431649910512, + 0.999967061562444, + -0.004903888051821259, + 0.0035960297100245953 + ], + [ + -0.5895472680855165, + 0.00014818467006347177, + 0.8077338650410832, + 0.10552851855754852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8022557173636962, + 0.007771777505790022, + 0.5969299485129412, + -0.33066222071647644 + ], + [ + -0.006793017987825191, + 0.9999693625996839, + -0.003889571775763754, + 0.0016908624675124884 + ], + [ + -0.5969418890175824, + -0.0009345246825167391, + 0.8022839321585211, + 0.10540959984064102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 736.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.791983523370678, + 0.00830663155829193, + 0.6104859528126118, + -0.3377198576927185 + ], + [ + -0.006768215174756131, + 0.9999654512844574, + -0.004825712467639978, + 0.003270805813372135 + ], + [ + -0.61050494672256, + -0.00031001552690635234, + 0.7920123824269782, + 0.11232253164052963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 736.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.7850111589873543, + 0.008278728545166774, + 0.6194263014427186, + -0.3409290015697479 + ], + [ + -0.006703491163827631, + 0.9999656763145106, + -0.00486922982425704, + 0.004023128189146519 + ], + [ + -0.6194453514811029, + -0.0003299189906476176, + 0.7850397108948777, + 0.11613716185092926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 736.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.774130090036584, + 0.009335011990691772, + 0.6329577088961664, + -0.34479421377182007 + ], + [ + -0.006807308024234375, + 0.9999562082087406, + -0.006422010764631952, + 0.004236644599586725 + ], + [ + -0.6329899400917944, + 0.0006627336806706716, + 0.7741597357953038, + 0.12430282682180405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.7691182287006108, + 0.008637549125472639, + 0.6390481539176375, + -0.3465128242969513 + ], + [ + -0.006519030643615844, + 0.99996267669713, + -0.005669872324855685, + 0.004678686149418354 + ], + [ + -0.6390732763305808, + 0.00019482766131662067, + 0.7691458311154526, + 0.13304241001605988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 728.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.7578598545380376, + 0.008483465757786975, + 0.6523622242959205, + -0.3522159457206726 + ], + [ + -0.005674801361784485, + 0.9999633456449881, + -0.006411239816592474, + 0.004967147018760443 + ], + [ + -0.6523927019128042, + 0.00115679523600025, + 0.7578802176569149, + 0.1357060670852661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.752950925548047, + 0.008899724191214755, + 0.658016488110792, + -0.3529994785785675 + ], + [ + -0.005926911276770654, + 0.9999597042317209, + -0.006742524417957244, + 0.00590517558157444 + ], + [ + -0.658049979438535, + 0.0011767846573462464, + 0.7529733326876946, + 0.1387760192155838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 728.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.7437103659753757, + 0.009109482542829327, + 0.6684399066996035, + -0.3601509928703308 + ], + [ + -0.00664241213963846, + 0.9999584881043925, + -0.006237020838859637, + 0.00520128570497036 + ], + [ + -0.6684689745244279, + 0.00019848369978437834, + 0.7437400020857295, + 0.14258255064487457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 728.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.7385074921829585, + 0.009555584934948909, + 0.6741775543476572, + -0.36712127923965454 + ], + [ + -0.006414972802231141, + 0.9999538907007554, + -0.007145949647771018, + 0.006241334602236748 + ], + [ + -0.6742147522218602, + 0.0009525066786264482, + 0.7385347389374743, + 0.14221861958503723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.7263476726145341, + 0.00890548197111113, + 0.6872697802743202, + -0.3741734027862549 + ], + [ + -0.005607810630930501, + 0.9999595609208513, + -0.007030574863124349, + 0.006810299586504698 + ], + [ + -0.687304598374969, + 0.001252562908832844, + 0.7263682400399826, + 0.1471247673034668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 736.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.7221519657645815, + 0.01007552246586352, + 0.6916610601945078, + -0.3779290020465851 + ], + [ + -0.006479835019064827, + 0.9999485775265652, + -0.007800899994589628, + 0.007115559186786413 + ], + [ + -0.6917040914151633, + 0.0011515857066541153, + 0.7221801186476157, + 0.1499098837375641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 736.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.7168167779295405, + 0.008141678201140827, + 0.6972140417079828, + -0.3774046003818512 + ], + [ + -0.0056866968820220255, + 0.9999668329749987, + -0.005830474125141431, + 0.005053734872490168 + ], + [ + -0.6972383870365164, + 0.00021453675910220244, + 0.7168393025055867, + 0.157566100358963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.7007210939326329, + 0.011288709410550449, + 0.7133459984871982, + -0.3937377333641052 + ], + [ + -0.006887942640074174, + 0.9999352528053899, + -0.009057949172337397, + 0.006343227811157703 + ], + [ + -0.7134020638910722, + 0.0014336097327201473, + 0.700753480190497, + 0.1656453162431717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 736.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.6997296424688417, + 0.01134173201794834, + 0.714317711221877, + -0.4010959267616272 + ], + [ + -0.006453786746859811, + 0.9999335262202163, + -0.009554673067712708, + 0.0072599793784320354 + ], + [ + -0.7143785943650982, + 0.002075633791846072, + 0.6997563259144638, + 0.16058668494224548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 748.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.6867725193577089, + 0.009768117758453295, + 0.7268067766129613, + -0.4151167869567871 + ], + [ + -0.0073126679285210145, + 0.9999519456840708, + -0.006529258029011779, + 0.004493008367717266 + ], + [ + -0.7268356289718007, + -0.0008307816194488576, + 0.6868109479755461, + 0.16739948093891144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 748.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.6790640222747423, + 0.011514535403788785, + 0.7339887391005966, + -0.42523929476737976 + ], + [ + -0.008474827302766231, + 0.999933307194423, + -0.007845920303728708, + 0.0055345469154417515 + ], + [ + -0.7340301294594367, + -0.0008925456061556292, + 0.6791163172889491, + 0.16317279636859894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 760.6857299804688, + "fy": 757.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.6735609735303343, + 0.012478950994091322, + 0.7390263126025722, + -0.42831680178642273 + ], + [ + -0.009169265933521298, + 0.9999216016249315, + -0.008527318809091815, + 0.005456461105495691 + ], + [ + -0.739074786134061, + -0.0010326596334673203, + 0.6736225902647367, + 0.16987290978431702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 757.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.6705567730181854, + 0.011333518653293724, + 0.7417716397344761, + -0.4198119640350342 + ], + [ + -0.0074219524226593605, + 0.9999357447305031, + -0.008568607383318508, + 0.0055058542639017105 + ], + [ + -0.7418210894694713, + 0.0002403438976307134, + 0.6705978030482485, + 0.17889614403247833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 748.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.6735700233540661, + 0.011050922194671116, + 0.7390407977625117, + -0.41017889976501465 + ], + [ + -0.007890920782360289, + 0.999938753897638, + -0.007760272085740644, + 0.0067781368270516396 + ], + [ + -0.7390812925571917, + -0.0006046257400501734, + 0.6736159717670781, + 0.17318467795848846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 748.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.6735735519996747, + 0.011103462987292556, + 0.7390367941829629, + -0.3967032730579376 + ], + [ + -0.007225521661154876, + 0.9999382956329121, + -0.008437817458974478, + 0.008196089416742325 + ], + [ + -0.7390848813791726, + 0.00034356431220709354, + 0.67361221788229, + 0.1801729053258896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 736.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.6705743658897407, + 0.011499997549444332, + 0.7417531731431525, + -0.39477023482322693 + ], + [ + -0.004719880351380577, + 0.9999257381810133, + -0.011235695466849159, + 0.010965093970298767 + ], + [ + -0.7418272996736109, + 0.004033383135520175, + 0.6705788464300381, + 0.180445596575737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.6650862939173917, + 0.011010313118677425, + 0.7466853384446881, + -0.39581605792045593 + ], + [ + -0.0038711808927060537, + 0.9999287000735013, + -0.011296403313231436, + 0.01174895279109478 + ], + [ + -0.7467564767725328, + 0.004622528999142176, + 0.6650814962272874, + 0.18335510790348053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.6650843765585258, + 0.011333953811515593, + 0.746682203851649, + -0.38315773010253906 + ], + [ + -0.004241610589124984, + 0.999926023018241, + -0.011399878531510123, + 0.012787778861820698 + ], + [ + -0.7467561722526082, + 0.0044147459634039776, + 0.6650832498422364, + 0.1867743879556656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 728.0, + "fy": 725.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.6565632486778924, + 0.009838368627919375, + 0.7542068065114986, + -0.38341474533081055 + ], + [ + -0.0036995645905497803, + 0.999944906107669, + -0.009823338086672824, + 0.010755117982625961 + ], + [ + -0.7542618999441593, + 0.003659405971725719, + 0.6565634737331658, + 0.19210466742515564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 728.0, + "fy": 719.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.64286693396882, + 0.011365909845959534, + 0.7658935443669059, + -0.3891196846961975 + ], + [ + -0.004429228785588858, + 0.9999283473398963, + -0.011121246264175511, + 0.011720279231667519 + ], + [ + -0.765965069139509, + 0.0037571637543561422, + 0.6428712130579729, + 0.20292633771896362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 728.0, + "fy": 719.0857543945312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.6428733908374432, + 0.00966967199698899, + 0.7659114183746307, + -0.38739922642707825 + ], + [ + -0.0029547349974417647, + 0.9999441801122425, + -0.010144269355116912, + 0.012135299853980541 + ], + [ + -0.7659667570425379, + 0.004258415565080731, + 0.6428660770351882, + 0.20693686604499817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 722.05712890625, + "fy": 716.1143188476562, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.6367332656943651, + 0.008755452250620922, + 0.7710344288124076, + -0.3913966417312622 + ], + [ + -0.002516968246632514, + 0.9999538057310589, + -0.009276382636498387, + 0.011809674091637135 + ], + [ + -0.771080030365872, + 0.003965912235586689, + 0.6367258894619452, + 0.21063214540481567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 713.1428833007812, + "fy": 710.1714477539062, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.6367350706870658, + 0.010004956194965536, + 0.7710177368962886, + -0.38863417506217957 + ], + [ + -0.002744714914428853, + 0.9999388920121699, + -0.010708817932524718, + 0.012106318958103657 + ], + [ + -0.7710777628081203, + 0.004702456061492551, + 0.636723621840602, + 0.2103785276412964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 713.1428833007812, + "fy": 710.1714477539062, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.6272001338345415, + 0.010007104845649699, + 0.7787938430486865, + -0.39048558473587036 + ], + [ + -0.0030377808911365416, + 0.9999412806514961, + -0.010402265921593067, + 0.013008306734263897 + ], + [ + -0.7788522093473136, + 0.004158497523657645, + 0.6271937044431769, + 0.22015483677387238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 707.2000122070312, + "fy": 707.2000122070312, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.6240989295380475, + 0.010738593113710115, + 0.7812715333143798, + -0.38506510853767395 + ], + [ + -0.0037624497464879467, + 0.9999352612001458, + -0.010738593041095642, + 0.013050130568444729 + ], + [ + -0.7813362721142345, + 0.0037624495392356338, + 0.6240989295392968, + 0.22538761794567108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 701.2571411132812, + "fy": 701.2571411132812, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.6179978754088242, + 0.010350321293717034, + 0.7861116312835578, + -0.38843250274658203 + ], + [ + -0.003051248380646043, + 0.999937379600741, + -0.010766929020069626, + 0.013383331708610058 + ], + [ + -0.7861738458340489, + 0.004255317417119648, + 0.6179907575362116, + 0.22695299983024597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 701.2571411132812, + "fy": 701.2571411132812, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.6117811637978735, + 0.009668339012660695, + 0.7909679708071979, + -0.3929593563079834 + ], + [ + -0.003204175712806379, + 0.9999473877452787, + -0.009744485589077066, + 0.013018526136875153 + ], + [ + -0.7910205691890202, + 0.003427092372628937, + 0.6117799556684972, + 0.23013165593147278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 701.2571411132812, + "fy": 701.2571411132812, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.6117887653333581, + 0.010476029594018423, + 0.7909518060007389, + -0.38941872119903564 + ], + [ + -0.0024206187139444732, + 0.9999324109921243, + -0.011371633678546055, + 0.014446074143052101 + ], + [ + -0.7910174759238425, + 0.005042444984587311, + 0.611772773610963, + 0.23040597140789032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 701.2571411132812, + "fy": 701.2571411132812, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.6092890221005774, + 0.009966175942136474, + 0.7928855925572191, + -0.3892591893672943 + ], + [ + -0.0033245135596370575, + 0.9999443312075528, + -0.010014094840387492, + 0.01267152652144432 + ], + [ + -0.7929412558048133, + 0.003465519148824991, + 0.6092882364035234, + 0.2279188483953476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 701.2571411132812, + "fy": 701.2571411132812, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.6000091491864707, + 0.010228005150579046, + 0.7999277522396429, + -0.39049527049064636 + ], + [ + -0.0022347705960201096, + 0.9999357949506184, + -0.01110908532949083, + 0.013782697729766369 + ], + [ + -0.7999900166207765, + 0.004877897817142193, + 0.5999934828145844, + 0.23443517088890076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 701.2571411132812, + "fy": 701.2571411132812, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.6000062713659978, + 0.010831584983491686, + 0.7999219656242841, + -0.38892072439193726 + ], + [ + -0.002899367045330778, + 0.9999312116017434, + -0.011365110444022296, + 0.014206355437636375 + ], + [ + -0.7999900424331592, + 0.004499870155213185, + 0.599996402636197, + 0.2356031984090805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 701.2571411132812, + "fy": 698.2857055664062, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.5912918752478531, + 0.010311400173979112, + 0.8063917120682281, + -0.38801977038383484 + ], + [ + -0.0018297258865295934, + 0.9999328347166956, + -0.011444568957137913, + 0.015357187949120998 + ], + [ + -0.8064555600707684, + 0.0052916048498154525, + 0.5912710279973611, + 0.2425903081893921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.3142700195312, + "fy": 692.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.5912933902185188, + 0.010782814447848926, + 0.8063844353634773, + -0.38408583402633667 + ], + [ + -0.0018538267498060732, + 0.9999261412285879, + -0.012011470105179892, + 0.01503975223749876 + ], + [ + -0.8064543942531859, + 0.005607405843096245, + 0.5912697074850346, + 0.24547506868839264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.3142700195312, + "fy": 692.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.5849275152288983, + 0.009609071442354618, + 0.8110286478751307, + -0.3911669850349426 + ], + [ + -0.0023472018672617083, + 0.9999456867090077, + -0.010154519951520828, + 0.014194893650710583 + ], + [ + -0.8110821737478526, + 0.004036010166890275, + 0.5849183003209865, + 0.2443108856678009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.3142700195312, + "fy": 698.2857055664062, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.5805124124317408, + 0.009927890910447233, + 0.814190871967226, + -0.39725279808044434 + ], + [ + -0.0017665303141880153, + 0.999938669331297, + -0.010933295322296272, + 0.014200689271092415 + ], + [ + -0.8142494816598476, + 0.00490862078650976, + 0.5804943471375453, + 0.24753500521183014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 701.2571411132812, + "fy": 698.2857055664062, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.5715093848567202, + 0.010138731338380511, + 0.8205328933976633, + -0.3988746106624603 + ], + [ + -0.0013386777824762892, + 0.9999338586704308, + -0.011423056782542086, + 0.014465244486927986 + ], + [ + -0.8205944375649201, + 0.005429955000791714, + 0.57148515696053, + 0.2502453029155731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 701.2571411132812, + "fy": 701.2571411132812, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.5715061085105922, + 0.009869656575663872, + 0.8205384560239438, + -0.3975942134857178 + ], + [ + -0.0016317970615950994, + 0.9999393599493552, + -0.010890989965225197, + 0.014110425487160683 + ], + [ + -0.8205961888611403, + 0.00488531505138801, + 0.5714875576278279, + 0.2535114884376526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.3142700195312, + "fy": 698.2857055664062, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.568372407410179, + 0.01079005712397581, + 0.8227006631588542, + -0.39060863852500916 + ], + [ + -0.0005569143646589134, + 0.9999188203308426, + -0.0127295952240207, + 0.01596789062023163 + ], + [ + -0.8227712296508353, + 0.006776976865706303, + 0.5683322762639947, + 0.25675541162490845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 689.3714599609375, + "fy": 689.3714599609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.5683573495872751, + 0.009747232370856425, + 0.8227240817134482, + -0.3866253197193146 + ], + [ + -0.0019738948511370154, + 0.999943101267271, + -0.01048322312599381, + 0.014001837931573391 + ], + [ + -0.8227794521676175, + 0.004334246082221342, + 0.5683442507861358, + 0.25948360562324524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 689.3714599609375, + "fy": 689.3714599609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.5612275838757802, + 0.011369695703249867, + 0.8275834272848688, + -0.3923543691635132 + ], + [ + -0.0023938336179328145, + 0.9999237574087372, + -0.01211399728422018, + 0.01552580576390028 + ], + [ + -0.8276580626427587, + 0.004817612397022044, + 0.5612120115902973, + 0.2603716552257538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.3142700195312, + "fy": 692.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.5612413660307896, + 0.011666032533364432, + 0.8275699564029761, + -0.389384925365448 + ], + [ + -0.0008564417328976891, + 0.9999083065922911, + -0.013514618577505891, + 0.017368528991937637 + ], + [ + -0.8276517356735568, + 0.006876197544268877, + 0.5611998951745102, + 0.2647738754749298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 689.3714599609375, + "fy": 689.3714599609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.5580874301918847, + 0.011422372393191634, + 0.8297035311909485, + -0.3912811875343323 + ], + [ + -0.0014459853217686277, + 0.9999171200534974, + -0.012793050862423015, + 0.016229994595050812 + ], + [ + -0.8297808923976661, + 0.005939901752601946, + 0.5580576925183471, + 0.2618316411972046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 689.3714599609375, + "fy": 689.3714599609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.5549595825182698, + 0.010905732286909968, + 0.8318058227581923, + -0.3961654007434845 + ], + [ + 0.0006047935198920942, + 0.9999085094445735, + -0.013513214463253992, + 0.0173104889690876 + ], + [ + -0.8318770918807326, + 0.008002358628419895, + 0.5549022132416097, + 0.2616703510284424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.3142700195312, + "fy": 692.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.5468001107824209, + 0.011346641484445627, + 0.8371862950236086, + -0.4024755358695984 + ], + [ + -0.0008331266392370846, + 0.9999150452399084, + -0.013008005338050745, + 0.016719775274395943 + ], + [ + -0.8372627692357615, + 0.006415296555515979, + 0.5467631106994777, + 0.26570695638656616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.3142700195312, + "fy": 698.2857055664062, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.5443208641710534, + 0.011281897482160168, + 0.8388012372530695, + -0.4053319990634918 + ], + [ + -0.0015983984567203252, + 0.9999216940050725, + -0.012411727534875605, + 0.01601386070251465 + ], + [ + -0.8388755819252649, + 0.005415223654518639, + 0.544296273551749, + 0.2659150958061218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.3142700195312, + "fy": 698.2857055664062, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/camxtime_eval/target/eval_scene_027__bullettime_early/caption.txt b/camxtime_eval/target/eval_scene_027__bullettime_early/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..f8954b9225f75becead9c13aaaf391bcd60b7869 --- /dev/null +++ b/camxtime_eval/target/eval_scene_027__bullettime_early/caption.txt @@ -0,0 +1 @@ +A person with dark hair in a high ponytail, wearing a white and blue polo shirt, stands in profile, looking toward the right. Behind them, a large, reflective glass surface shows a blurred, sepia-toned image of a building and trees. The person remains mostly still, with slight shifts in posture and head position, suggesting quiet observation or waiting. The lighting is soft and diffused, creating a muted, contemplative atmosphere. The camera sweeps along an arc around the scene while scene time is frozen at an early moment. diff --git a/camxtime_eval/target/eval_scene_027__bullettime_early/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_027__bullettime_early/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..6df24aaa150d670a257260f9dabecea1af68cc70 --- /dev/null +++ b/camxtime_eval/target/eval_scene_027__bullettime_early/extras/temporal_mapping.json @@ -0,0 +1,263 @@ +{ + "pattern": "bullettime_early", + "source_cam_idx": [ + 0, + 1, + 3, + 4, + 6, + 7, + 9, + 10, + 12, + 13, + 15, + 16, + 18, + 19, + 21, + 22, + 24, + 25, + 27, + 28, + 30, + 31, + 33, + 34, + 36, + 37, + 39, + 40, + 42, + 43, + 45, + 46, + 48, + 49, + 51, + 52, + 54, + 55, + 57, + 58, + 60, + 61, + 62, + 64, + 65, + 67, + 68, + 70, + 71, + 73, + 74, + 76, + 77, + 79, + 80, + 82, + 83, + 85, + 86, + 88, + 89, + 91, + 92, + 94, + 95, + 97, + 98, + 100, + 101, + 103, + 104, + 106, + 107, + 109, + 110, + 112, + 113, + 115, + 116, + 118, + 119 + ], + "source_motion_frame": [ + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30 + ], + "timestamps_seconds": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "preprocessed_latent": null, + "pattern_parameters": { + "fixed_motion_frame": 30 + }, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.005299211224684575, + "max_input_determinant_error": 0.003480705061742362, + "max_rotation_element_change": 0.0022524323135654223, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_027__bullettime_early/transforms.json b/camxtime_eval/target/eval_scene_027__bullettime_early/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a60c7422f39c36aa1031efd74316e75af260e3e9 --- /dev/null +++ b/camxtime_eval/target/eval_scene_027__bullettime_early/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999998509884032, + 0.0004882737557640641, + 0.0002441555043318027, + 6.0988568293396384e-05 + ], + [ + -0.000488288656924197, + 0.9999998789280771, + 6.097554785797064e-05, + 6.0986290918663144e-05 + ], + [ + -0.00024412570201169274, + -6.109475713455059e-05, + 0.9999999683350352, + -0.0003128238022327423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1218.2857666015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999799580920341, + -0.003545617605086535, + 0.005245189229466893, + -0.01132377702742815 + ], + [ + 0.003534404705452613, + 0.999991452420792, + 0.0021454763417953814, + -0.0011286293156445026 + ], + [ + -0.005252751434485643, + -0.002126894720862792, + 0.9999839423316829, + 0.00476165022701025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1224.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999923930272243, + -0.001335881117760967, + -0.0036646022055360347, + -0.003627027152106166 + ], + [ + 0.0013496273343186066, + 0.9999920535631898, + 0.003751175353562498, + -0.0011363733792677522 + ], + [ + 0.003659561960681689, + -0.0037560926657792637, + 0.9999862495925345, + 0.007498409599065781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1218.2857666015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999997958561017, + -0.000850262589486474, + -0.0018330104547620441, + -0.008989878930151463 + ], + [ + 0.0008587003082367365, + 0.9999890174620792, + 0.004607340773700397, + -0.00045043558930046856 + ], + [ + 0.0018290728741591098, + -0.004608905374737594, + 0.9999877061662645, + 0.009873432107269764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1218.2857666015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999695278607071, + 0.001364069119307344, + -0.007686524928254352, + -0.0036312208976596594 + ], + [ + -0.0013213558923991738, + 0.9999836743120247, + 0.005559238079767001, + -0.0005842664395458996 + ], + [ + 0.007693982625438054, + -0.005548912042884002, + 0.9999550050909788, + 0.003805446671321988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999474902632567, + -0.0021696280922548408, + -0.010015459557879762, + -0.005465240217745304 + ], + [ + 0.002224611604170474, + 0.9999824992808575, + 0.005481991902694782, + -0.00017672055400907993 + ], + [ + 0.010003390396501279, + -0.005503984552296514, + 0.999934817042903, + 0.003318676259368658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998808227839138, + 0.0014148346929838578, + -0.015373303865938756, + -0.00642761867493391 + ], + [ + -0.0012702749425725394, + 0.9999549275738182, + 0.009408996886516537, + -0.0009808827890083194 + ], + [ + 0.015385923129056067, + -0.009388347225776389, + 0.9998375529583967, + 0.005068657454103231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997995690899085, + -0.00025065965329839935, + -0.02001896144588075, + -0.0075379726476967335 + ], + [ + 0.0004815667060229318, + 0.9999334064268413, + 0.0115304295288959, + -0.0011703945929184556 + ], + [ + 0.02001473809823924, + -0.011537758939732797, + 0.9997331095735039, + 0.004533012863248587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9996793605517411, + -0.0015131795196150013, + -0.02527620174400024, + -0.014630110934376717 + ], + [ + 0.001903289263004663, + 0.9998793402216845, + 0.015416954557601347, + -0.0016925128875300288 + ], + [ + 0.025249823303209448, + -0.015460119197186853, + 0.9995616194800426, + 0.006464784499257803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1218.2857666015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9995471108203541, + -0.0017990694867594454, + -0.030038918084112826, + -0.0153670534491539 + ], + [ + 0.0023487500768346378, + 0.9998302631904215, + 0.018273701914210957, + -0.0010364089393988252 + ], + [ + 0.030000943714469843, + -0.018335979863500183, + 0.9993816764473357, + 0.01158873736858368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1212.3428955078125, + "fy": 1206.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9990560924496591, + -0.000179257989766801, + -0.04343837020183711, + -0.01129134651273489 + ], + [ + 0.001038149290037701, + 0.9998043931751325, + 0.019750889442160947, + -0.0009109346428886056 + ], + [ + 0.043426332855427185, + -0.01977734194167538, + 0.9988608563561049, + 0.009609387256205082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1212.3428955078125, + "fy": 1212.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.998780174688449, + -0.0025058881413695757, + -0.049314127528874735, + -0.009003732353448868 + ], + [ + 0.0035947281530268656, + 0.9997514334994785, + 0.022003389403546365, + -0.0018384488066658378 + ], + [ + 0.04924673165619201, + -0.022153819994781717, + 0.9985409193822867, + 0.011698654852807522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1212.3428955078125, + "fy": 1212.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9983850080755943, + -0.004224823278996486, + -0.05665268323880693, + -0.01713552139699459 + ], + [ + 0.005772030197296626, + 0.9996140370654165, + 0.02717463098517882, + -0.0017132422653958201 + ], + [ + 0.0565160093893477, + -0.02745774517400119, + 0.9980240542755786, + 0.006964324042201042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1224.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9979367060925153, + -0.005388208782063346, + -0.06397888588699432, + -0.016119936481118202 + ], + [ + 0.00729098514411938, + 0.9995368728686396, + 0.029544564840398083, + -0.0020042138639837503 + ], + [ + 0.06379006324537052, + -0.02995007482630259, + 0.997513819878727, + 0.009367525577545166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1212.3428955078125, + "fy": 1212.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9971498851388736, + -0.006276195197902449, + -0.07518454589454637, + -0.019013065844774246 + ], + [ + 0.008585460583596407, + 0.999499999878226, + 0.03043090715035458, + -0.001960848458111286 + ], + [ + 0.07495596329911865, + -0.03098966952492135, + 0.9967051941013636, + 0.0056088827550411224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9967577359610271, + -0.008034399033607096, + -0.08005912961065653, + -0.020653467625379562 + ], + [ + 0.010239520583336086, + 0.999578347640357, + 0.02717129269647476, + 0.00033017864916473627 + ], + [ + 0.07980706748196237, + -0.027902963296805056, + 0.9964197191039462, + 0.0024688418488949537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9954950453461489, + -0.006403843140736991, + -0.09459706911050901, + -0.01964375749230385 + ], + [ + 0.008906825930131906, + 0.999620676391108, + 0.02606092445085208, + -0.0005718295578844845 + ], + [ + 0.09439429613657838, + -0.026786080796031574, + 0.9951744684890523, + 0.0015995546709746122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9945768042169347, + -0.0064281863987141735, + -0.10380587138139974, + -0.0184008851647377 + ], + [ + 0.009175186329734727, + 0.9996196519298455, + 0.02600706502988231, + -0.0023112089838832617 + ], + [ + 0.10359921075685365, + -0.026818461836527134, + 0.9942574986568012, + 0.002469058847054839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.992893788606873, + -0.012142629522866478, + -0.11838277363772735, + -0.019054068252444267 + ], + [ + 0.015100537193782997, + 0.9995949921177638, + 0.02412105946152316, + -0.0008789990679360926 + ], + [ + 0.11804193459254292, + -0.025737293590382647, + 0.9926750190250041, + 0.010418335907161236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1224.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9910313342556426, + -0.009430381495973774, + -0.13329652069098152, + -0.007862584665417671 + ], + [ + 0.012437858812146315, + 0.9996861203937889, + 0.021747651831527076, + -0.00019883182540070266 + ], + [ + 0.1330495929781438, + -0.023210527716029914, + 0.990837563484295, + 0.010405253618955612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1224.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9892737322628997, + -0.017233293157404104, + -0.14505342554239398, + -0.022869233042001724 + ], + [ + 0.019960045630167206, + 0.9996499851914353, + 0.01736386147156929, + -0.0012310546590015292 + ], + [ + 0.14470341818033688, + -0.020072885037113453, + 0.9892714491246641, + 0.013084500096738338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9877874510117832, + -0.020127158992997756, + -0.15450193880503196, + -0.022844912484288216 + ], + [ + 0.022820379705136767, + 0.9996166458575705, + 0.015677742011330355, + -0.002093137940391898 + ], + [ + 0.15412716144066446, + -0.019012069727702963, + 0.9878680880112042, + 0.013640787452459335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1224.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.984646050285228, + -0.02321211480906458, + -0.17301258157657626, + -0.016465498134493828 + ], + [ + 0.025136929749887838, + 0.9996440218434494, + 0.008942279094391907, + -0.002221686067059636 + ], + [ + 0.17274342366773288, + -0.013153984899778193, + 0.9848790190986942, + 0.008657651953399181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9826929463851809, + -0.02497857715009419, + -0.1835501125261661, + -0.015392832458019257 + ], + [ + 0.02649003794609213, + 0.9996323274340754, + 0.005786867749311049, + -0.0029154366347938776 + ], + [ + 0.18333807846278444, + -0.010548963564739201, + 0.9829933206046135, + 0.009004917927086353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.980338518976458, + -0.030181591228343636, + -0.19500117887328294, + -0.0254538431763649 + ], + [ + 0.03121644284707984, + 0.9995101487199013, + 0.002235240903121176, + -0.004353953991085291 + ], + [ + 0.1948381941689559, + -0.008278535911932812, + 0.9808004608156208, + 0.0022015636786818504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9775818730455498, + -0.030358809439212587, + -0.2083555235221449, + -0.014772726222872734 + ], + [ + 0.03143997418377411, + 0.9995038765136817, + 0.0018785253379811771, + -0.004538144450634718 + ], + [ + 0.20819512366065887, + -0.008387104599050501, + 0.9780513519035522, + 0.007597330491989851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1224.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9741889882453029, + -0.03138418429565709, + -0.22354160274474402, + -0.0188163910061121 + ], + [ + 0.03273565338088901, + 0.9994613019570562, + 0.002341556753876841, + -0.005353383254259825 + ], + [ + 0.22334769347212732, + -0.009598899228638765, + 0.9746915763226224, + 0.006344084162265062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9723360239609624, + -0.034455330608735374, + -0.2310313543665219, + -0.017602477222681046 + ], + [ + 0.03647226462779098, + 0.9993246970305997, + 0.004463610379648944, + -0.0019459803588688374 + ], + [ + 0.23072154303555403, + -0.012766365862831431, + 0.9729360664925261, + 0.005178755149245262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9691340283133529, + -0.03221439566137588, + -0.24442067808863058, + -0.02671085298061371 + ], + [ + 0.03565743834886832, + 0.9993172508994712, + 0.00967363143392721, + -0.00491769565269351 + ], + [ + 0.2439421699000202, + -0.018090460660113775, + 0.9696210357544719, + 0.008745028637349606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1218.2857666015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.967128906298467, + -0.033371385391797695, + -0.25208734446410047, + -0.02886716090142727 + ], + [ + 0.03832437014623442, + 0.9991563034186292, + 0.014762248870482938, + -0.00645257206633687 + ], + [ + 0.2513820225370634, + -0.023938086303039497, + 0.9675918802725267, + 0.008106694556772709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1218.2857666015625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.963085587191464, + -0.032021451569324275, + -0.26728407805828414, + -0.025871384888887405 + ], + [ + 0.03954164389179643, + 0.9989577804051912, + 0.02279937205864229, + -0.004880145192146301 + ], + [ + 0.26627544036656425, + -0.03252659845922131, + 0.9633480213558677, + 0.014494380913674831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1212.3428955078125, + "fy": 1212.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9621404662504376, + -0.028894458292481905, + -0.2710181423509774, + -0.03035575896501541 + ], + [ + 0.03774473172202654, + 0.9989089675932595, + 0.027499267062966848, + -0.004636370111256838 + ], + [ + 0.2699278763496336, + -0.03668766470834806, + 0.9621813533984251, + 0.017477232962846756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1206.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.958429328022071, + -0.02585658005456365, + -0.2841560494781757, + -0.034985654056072235 + ], + [ + 0.03689467760042169, + 0.9987554489702716, + 0.03356092842803844, + -0.004161190707236528 + ], + [ + 0.282934631941589, + -0.04264962391478875, + 0.9581904839999217, + 0.012468017637729645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1224.2286376953125, + "fy": 1224.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.955528566347793, + -0.025091605827151964, + -0.29382915139643, + -0.030306272208690643 + ], + [ + 0.037179300651787116, + 0.9986734116056105, + 0.035624662174611715, + -0.0021358211524784565 + ], + [ + 0.2925454810732431, + -0.04496474473435838, + 0.9551938615980524, + 0.011606721207499504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9512445745117003, + -0.029379460076298894, + -0.30703518819131986, + -0.028865324333310127 + ], + [ + 0.04285114018579176, + 0.998387686631439, + 0.037226428347344284, + -0.000706900900695473 + ], + [ + 0.30544645888736716, + -0.048568245885018096, + 0.950969813529756, + 0.009220870211720467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9481765667459479, + -0.030373192761035846, + -0.31628889869131993, + -0.02597659081220627 + ], + [ + 0.044561081115089295, + 0.9982943046691312, + 0.037719906084585086, + -0.0005724809598177671 + ], + [ + 0.3146037322151812, + -0.049859306319646766, + 0.9479127287095587, + 0.009278512559831142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9443252680079696, + -0.03263250870143405, + -0.32739106215278213, + -0.034160587936639786 + ], + [ + 0.04797372723985302, + 0.9980911818923272, + 0.038891054543351074, + -0.0031545383390039206 + ], + [ + 0.32549701948926096, + -0.052431975021245844, + 0.9440882259084575, + 0.017021149396896362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9429405009474193, + -0.029025178052604787, + -0.3316937604358036, + -0.03987068310379982 + ], + [ + 0.04394938429092077, + 0.9983266984631938, + 0.03757997812702495, + -0.0025317624676972628 + ], + [ + 0.3300479712003679, + -0.050013419944983366, + 0.9426383158624141, + 0.016543464735150337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9340446098576874, + -0.03312881935161202, + -0.3556165745914678, + -0.022881245240569115 + ], + [ + 0.0482320509024583, + 0.9982679472412077, + 0.033686418280492084, + -0.0022035641595721245 + ], + [ + 0.35388463665655684, + -0.048616734147758925, + 0.9340246662156539, + 0.023025980219244957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9318680175321912, + -0.03570453621164401, + -0.36103626409896095, + -0.026922520250082016 + ], + [ + 0.05039928525322499, + 0.998236518810604, + 0.03136502126334803, + -0.0017765299417078495 + ], + [ + 0.3592797099010568, + -0.047424029845613044, + 0.9320241689176378, + 0.022797206416726112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9233841565365053, + -0.039374530793690576, + -0.38185251836558975, + -0.023289788514375687 + ], + [ + 0.05294710010018537, + 0.9982818782061822, + 0.02509773368490838, + -0.002267348812893033 + ], + [ + 0.38020823774393325, + -0.043392833163027375, + 0.9238824373164255, + 0.02375529520213604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9194603714219483, + -0.04207002771734883, + -0.390925489259112, + -0.01915433444082737 + ], + [ + 0.05545167653953337, + 0.998196418632112, + 0.023000465190537476, + -0.002667934400960803 + ], + [ + 0.3892527931223739, + -0.042825490048423794, + 0.9201349033965314, + 0.017819533124566078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9178658317357049, + -0.04400934932011973, + -0.39444326855017087, + -0.030404210090637207 + ], + [ + 0.056346180058456284, + 0.9982160747804876, + 0.019742746583393655, + -0.0002996241382788867 + ], + [ + 0.39287074582481035, + -0.040346563946087925, + 0.9187081864513895, + 0.018206341192126274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9101293976620574, + -0.04603364131240556, + -0.4117588898600999, + -0.03034551814198494 + ], + [ + 0.05913315367746764, + 0.9980669173711566, + 0.019123247250265155, + -0.001893956563435495 + ], + [ + 0.4100826131981915, + -0.04175323121338669, + 0.9110921567194966, + 0.021729150786995888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9069053077156098, + -0.04633594531383921, + -0.4187788712544235, + -0.029175594449043274 + ], + [ + 0.05962214139110774, + 0.9980460665573438, + 0.01868821247077153, + -0.0035101084504276514 + ], + [ + 0.41709466922174215, + -0.04191693215499946, + 0.9078959233885341, + 0.022932762280106544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8968568507139307, + -0.04678131945981244, + -0.43984008170821426, + -0.019942976534366608 + ], + [ + 0.06146324819334711, + 0.9979248988361382, + 0.019187636759258043, + -0.006109920796006918 + ], + [ + 0.4380297460778352, + -0.04424256358396506, + 0.8978711138679679, + 0.017147546634078026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8916823738118796, + -0.0475159561776188, + -0.45016083585951583, + -0.016528405249118805 + ], + [ + 0.06260365343130685, + 0.9978636745249301, + 0.018678052378558917, + -0.007248034700751305 + ], + [ + 0.448311640279688, + -0.04483660303959212, + 0.8927521224940357, + 0.015481972135603428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8817898438035094, + -0.04736607369905351, + -0.46925805952302924, + -0.014463401399552822 + ], + [ + 0.06382609763171077, + 0.9977758822423108, + 0.019222852979861697, + -0.008697716519236565 + ], + [ + 0.4673038632689553, + -0.04690142724815404, + 0.8828518309977024, + 0.020860319957137108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8790656663772984, + -0.046155469891803934, + -0.47446098553590543, + -0.01581883244216442 + ], + [ + 0.06342090369575121, + 0.9977775164981011, + 0.02044056127640273, + -0.007698381319642067 + ], + [ + 0.47246306011269285, + -0.048059340090630655, + 0.8800391790477301, + 0.021729182451963425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1230.1715087890625, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8695814453759889, + -0.04506730911447436, + -0.4917286319780315, + -0.0006800953415222466 + ], + [ + 0.06425275767912501, + 0.9976869871019897, + 0.022186908256503414, + -0.010540413670241833 + ], + [ + 0.48959135305725465, + -0.05088824438448707, + 0.8704657911687464, + 0.0038447317201644182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.863805528122088, + -0.04846408985006758, + -0.5014890243870992, + 0.0040292260237038136 + ], + [ + 0.06893130617904879, + 0.9973710972972208, + 0.022346572546750213, + -0.010667380876839161 + ], + [ + 0.499087652235727, + -0.053871386385924286, + 0.8648753604506769, + 0.0028235577046871185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.859546533015541, + -0.04644755381407887, + -0.5089424155301377, + -0.004576749633997679 + ], + [ + 0.06873712095340724, + 0.9973197348352862, + 0.025070993420886166, + -0.01182782556861639 + ], + [ + 0.5064138285868582, + -0.05653292184879281, + 0.860435391510157, + 0.0034605576656758785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8556538521145342, + -0.042369737518187706, + -0.5158112936958622, + 0.001792132155969739 + ], + [ + 0.0666734656998407, + 0.9973626898661294, + 0.028676014970225084, + -0.01289265789091587 + ], + [ + 0.5132359441164772, + -0.05892766927038875, + 0.8562221647803967, + -0.0009508770890533924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.847545951283661, + -0.04089342177915307, + -0.5291442038970721, + 0.0031124548986554146 + ], + [ + 0.07003719027214321, + 0.9969253977926403, + 0.035136067149987675, + -0.011880608275532722 + ], + [ + 0.5260804619461338, + -0.06683920474674367, + 0.8478041449930313, + 0.003506814129650593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8471854216507717, + -0.03959697741198276, + -0.5298197247387452, + -0.0048043918795883656 + ], + [ + 0.07230061727601557, + 0.9965344051600522, + 0.041131497344595126, + -0.013942714780569077 + ], + [ + 0.5263549012633126, + -0.07315229806462861, + 0.8471123061341705, + -0.0004443703219294548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1259.8857421875, + "fy": 1259.8857421875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8387020054910433, + -0.034926422171705315, + -0.5434694941020937, + 0.00797957181930542 + ], + [ + 0.07484553539035646, + 0.995864163214817, + 0.05150450714823595, + -0.012577973306179047 + ], + [ + 0.5394229248163569, + -0.08387319869145134, + 0.8378473576516373, + -0.007869330234825611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1271.771484375, + "fy": 1271.771484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8366829121099081, + -0.0339226476976193, + -0.5466360384720973, + 0.0009231232106685638 + ], + [ + 0.07660952291375424, + 0.995516428330682, + 0.05547992359988655, + -0.012958061881363392 + ], + [ + 0.5423031307140055, + -0.08829663015600034, + 0.8355303821650553, + -0.011668854393064976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1277.71435546875, + "fy": 1283.6572265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.828687315629195, + -0.03244383503074772, + -0.5587707315919267, + 0.0125046968460083 + ], + [ + 0.08320604803250273, + 0.9943666753598628, + 0.06566329647973744, + -0.011985251680016518 + ], + [ + 0.5534926255028989, + -0.1009074452271516, + 0.8267185742510187, + -0.010216649621725082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1289.5999755859375, + "fy": 1289.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.828399713504524, + -0.02717359306407403, + -0.5594778909891003, + 0.003424435155466199 + ], + [ + 0.08158004670983343, + 0.994025403313232, + 0.07251340253214068, + -0.013163026422262192 + ], + [ + 0.554164786543177, + -0.1057123143628734, + 0.8256671823123412, + -0.020715221762657166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1289.5999755859375, + "fy": 1289.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8204838007512039, + -0.020805295613461977, + -0.5712910574998479, + 0.013293365016579628 + ], + [ + 0.080640332762375, + 0.9935572157987267, + 0.07963162478724164, + -0.012914678081870079 + ], + [ + 0.5659535930063803, + -0.11140555914638682, + 0.8168753466438124, + -0.02184520848095417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1289.5999755859375, + "fy": 1289.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8183658305836311, + -0.019947430532161053, + -0.5743513448650821, + 0.015671206638216972 + ], + [ + 0.08038010076610194, + 0.9935468152587453, + 0.08002352960245922, + -0.012494616210460663 + ], + [ + 0.5690486857325966, + -0.11165494124475199, + 0.8146881411691443, + -0.02753828465938568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8085428980265698, + -0.016856148147556774, + -0.5881957602026925, + 0.011172224767506123 + ], + [ + 0.08090741432002764, + 0.9932804926929015, + 0.08275175613722269, + -0.014385450631380081 + ], + [ + 0.5828484986330872, + -0.11449774279598084, + 0.8044736754771915, + -0.028440209105610847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1289.5999755859375, + "fy": 1289.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.808556061824908, + -0.019318126224648843, + -0.5881019510980766, + 0.008044881746172905 + ], + [ + 0.08145695548823201, + 0.9935126119709137, + 0.0793565010400624, + -0.01240838784724474 + ], + [ + 0.582753686636802, + -0.1120691744142951, + 0.8048842406565768, + -0.04051457345485687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7980759411734136, + -0.022794060762514636, + -0.6021255873271991, + 0.004549873061478138 + ], + [ + 0.0852911192423573, + 0.9934961378960181, + 0.07543771579311669, + -0.012149800546467304 + ], + [ + 0.5964899136603703, + -0.11156099129916275, + 0.7948294962580287, + -0.039645612239837646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1289.5999755859375, + "fy": 1289.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7933137880038265, + -0.023991707622929723, + -0.6083400625705623, + 0.0016406737267971039 + ], + [ + 0.08550794986940705, + 0.9937094738162469, + 0.0723178550357313, + -0.0134896170347929 + ], + [ + 0.6027782546444014, + -0.10938866309254358, + 0.790374908581159, + -0.039216987788677216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.783728246465812, + -0.03091749825408289, + -0.6203338971822611, + 0.008753383532166481 + ], + [ + 0.09224972468542766, + 0.9934770025231107, + 0.0670330795440426, + -0.012758982367813587 + ], + [ + 0.6142149656163435, + -0.10976134911435802, + 0.7814681197934498, + -0.048430997878313065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1289.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7775975292453857, + -0.03171113551741811, + -0.6279621695577429, + 0.009661652147769928 + ], + [ + 0.0933015028683847, + 0.993489977146688, + 0.0653643241498928, + -0.014093730598688126 + ], + [ + 0.6218013445417856, + -0.10941695112397967, + 0.7754940481607576, + -0.05048136040568352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7641035528866483, + -0.032820282842247514, + -0.6442581699133949, + 0.01394562516361475 + ], + [ + 0.09623339624074899, + 0.9933291665271083, + 0.0635318847078545, + -0.013891012407839298 + ], + [ + 0.6378752965227394, + -0.11054409057347178, + 0.7621647526127876, + -0.049481429159641266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7586995752575971, + -0.034871956620174366, + -0.6505066495781748, + 0.005387429613620043 + ], + [ + 0.09859391919352756, + 0.9932101130490681, + 0.06174876869313008, + -0.011258660815656185 + ], + [ + 0.6439364825834935, + -0.11098476462352012, + 0.7569862537850075, + -0.04409823566675186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7406813728460913, + -0.03575485402204003, + -0.6709043853878817, + 0.02321273647248745 + ], + [ + 0.10662376400194622, + 0.9921832716668747, + 0.06483616563673404, + -0.008875998668372631 + ], + [ + 0.6633419004321123, + -0.11955729102936113, + 0.7387039848903173, + -0.046856097877025604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1289.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7305166275697752, + -0.028326908176255848, + -0.6823071471978408, + 0.03625169396400452 + ], + [ + 0.09970826353017737, + 0.9928562930916517, + 0.0655335292205477, + -0.00555723300203681 + ], + [ + 0.6755765826520916, + -0.11590499360026545, + 0.7281224577161755, + -0.047934774309396744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1307.4285888671875, + "fy": 1301.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7182182490599992, + -0.02134100878038478, + -0.6954905521007639, + 0.0543803907930851 + ], + [ + 0.10185486439655238, + 0.9919873304855943, + 0.07474438276435592, + -0.008832115679979324 + ], + [ + 0.6883226956275299, + -0.12452187558939233, + 0.7146370891464778, + -0.06842624396085739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1325.2572021484375, + "fy": 1313.3714599609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7132189460971192, + -0.017177037885700325, + -0.700730821569587, + 0.052581336349248886 + ], + [ + 0.10190104419320879, + 0.9916200451392576, + 0.07940946587372782, + -0.013316459022462368 + ], + [ + 0.6934947095115064, + -0.12804153797690143, + 0.708992561619698, + -0.0719619020819664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1313.3714599609375, + "fy": 1313.3714599609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7075440517212006, + -0.016072308711964738, + -0.7064864441492239, + 0.042559511959552765 + ], + [ + 0.10519290876199607, + 0.9909983329171772, + 0.08280553182950647, + -0.010292710736393929 + ], + [ + 0.6987960123098425, + -0.13290592555655487, + 0.702865668625107, + -0.07287868857383728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1313.3714599609375, + "fy": 1313.3714599609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.6975418147750945, + -0.019765483738200782, + -0.7162714166381778, + 0.061036791652441025 + ], + [ + 0.11130768458345289, + 0.9904741593646279, + 0.08106502935053893, + -0.009304291568696499 + ], + [ + 0.7078460397522458, + -0.1362727606072764, + 0.6930971928406097, + -0.06901344656944275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1325.2572021484375, + "fy": 1325.2572021484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.6922674187806211, + -0.02492931415627861, + -0.7212103369964364, + 0.045756444334983826 + ], + [ + 0.11431901585025564, + 0.9905716714845983, + 0.07549123304886374, + -0.004613864701241255 + ], + [ + 0.7125285843458107, + -0.13470817698976725, + 0.6885903887960159, + -0.0754833072423935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1331.2000732421875, + "fy": 1331.2000732421875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.686608095599836, + -0.026074069994266206, + -0.7265600222491605, + 0.05218799412250519 + ], + [ + 0.11804852936023354, + 0.9900932383626939, + 0.07602581182966599, + -0.012816067785024643 + ], + [ + 0.7173798629545247, + -0.1379692799952503, + 0.6828840384757424, + -0.08308408409357071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1343.085693359375, + "fy": 1343.085693359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6738634677001533, + -0.03611023908712837, + -0.7379729517619159, + 0.06517776846885681 + ], + [ + 0.12471781701370757, + 0.9900318952948539, + 0.06543937972058661, + -0.0061232829466462135 + ], + [ + 0.7282537284617635, + -0.13613558290157005, + 0.6716499162879349, + -0.0836443305015564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1343.085693359375, + "fy": 1343.085693359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.662793697939876, + -0.03757143672097687, + -0.7478588778064386, + 0.07356235384941101 + ], + [ + 0.12532677145885895, + 0.9902184304125284, + 0.061324223819355, + -0.006822085939347744 + ], + [ + 0.738239604956875, + -0.13437204774084954, + 0.6610192421246502, + -0.07155691087245941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1349.028564453125, + "fy": 1349.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6624080194014732, + -0.04294151135259238, + -0.747911520459053, + 0.06120489910244942 + ], + [ + 0.1278349142652641, + 0.990192328283923, + 0.05636832179918887, + -0.007396720815449953 + ], + [ + 0.7381557088632524, + -0.13294803349587173, + 0.6614007634272658, + -0.08552152663469315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1349.028564453125, + "fy": 1360.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6488979237508296, + -0.0397636917055665, + -0.7598357278871584, + 0.08273538202047348 + ], + [ + 0.12407950761382695, + 0.9907956515995266, + 0.054113330721564545, + -0.00650596572086215 + ], + [ + 0.7506901893205828, + -0.12939407093609748, + 0.6478591004720178, + -0.08488079160451889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1349.028564453125, + "fy": 1343.085693359375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/camxtime_eval/target/eval_scene_032__zigzag/caption.txt b/camxtime_eval/target/eval_scene_032__zigzag/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..5c8e88e4b76ed8a715f4df7ff0b2ee2248b6c135 --- /dev/null +++ b/camxtime_eval/target/eval_scene_032__zigzag/caption.txt @@ -0,0 +1 @@ +A person in a dark pinstripe suit and striped tie walks across a modern outdoor patio beside a swimming pool, moving from right to left. The contemporary building features glass walls and a concrete staircase, with three wooden lounge chairs nearby. In the background, a tree-covered hillside rises under a soft, diffused light, creating a calm, upscale atmosphere. The person’s motion is steady and purposeful, their grey sneakers contrasting with the polished concrete. The camera sweeps along an arc around the scene. Scene time plays forward and then rewinds backward. diff --git a/camxtime_eval/target/eval_scene_032__zigzag/transforms.json b/camxtime_eval/target/eval_scene_032__zigzag/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..58732faa04b8c6b2590332298c7a9105245859f9 --- /dev/null +++ b/camxtime_eval/target/eval_scene_032__zigzag/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": [ + [ + 0.9999996945262777, + 0.0006102918551112493, + 0.0004883556102603785, + -0.00024418527027592063 + ], + [ + -0.0006104110643428279, + 0.9999997839332098, + 0.00024399152612111476, + 1.2671624460836028e-07 + ], + [ + -0.0004882065987015629, + -0.0002442895492557357, + 0.9999998509884551, + -9.143355418927968e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999999985098843, + -0.00012210009207789464, + 0.00012204048744737836, + 0.00021347760048229247 + ], + [ + 0.00012204048744752294, + 0.9999998733401523, + 0.0004882886423704212, + 0.0019535233732312918 + ], + [ + -0.000122100092077849, + -0.00048827374121421675, + 0.9999998733401525, + 0.0007619595853611827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999993368994599, + -0.0006109467558223621, + 0.0009761888656887611, + 0.00015209137927740812 + ], + [ + 0.0006097546647304097, + 0.9999990686789063, + 0.0012209998234730141, + 0.003053562482818961 + ], + [ + -0.0009769339224246607, + -0.0012204037781124615, + 0.9999987781066182, + 0.0013999344082549214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999990686795818, + -0.0006112072814843576, + 0.0012202727676518556, + -0.0006426640320569277 + ], + [ + 0.000609493651638344, + 0.999998828398733, + 0.0014041789946667254, + 0.004028697032481432 + ], + [ + -0.0012211295824046953, + -0.0014034339384213284, + 0.9999982696063646, + 0.000544446287676692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999989196674917, + -0.0010989594506126909, + 0.0009761925908920654, + 0.00017627573106437922 + ], + [ + 0.0010983038006110192, + 0.9999991711242051, + 0.0006719223644498711, + 0.006714442744851112 + ], + [ + -0.0009769301971822286, + -0.0006708494825175866, + 0.9999992977839339, + 0.00055989547399804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999994039539909, + -0.0004886384992757645, + 0.0009763831623702599, + 0.00021355679200496525 + ], + [ + 0.000487923244053631, + 0.9999996125701569, + 0.0007326598422535051, + 0.007326959166675806 + ], + [ + -0.000976740789896572, + -0.0007321830055145736, + 0.9999992549424606, + 0.0035955021157860756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999988079083061, + -0.0014650064692306726, + 0.00048778890112931685, + 0.000504453550092876 + ], + [ + 0.0014646786442599538, + 0.999998701737705, + 0.000671743532690794, + 0.00952168833464384 + ], + [ + -0.0004887723764724008, + -0.0006710282779248327, + 0.9999996554112478, + -0.0008153551607392728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999997839332044, + -0.0006103738187381374, + 0.00024408470928019061, + 0.0008481956901960075 + ], + [ + 0.0006103291152680257, + 0.9999997969717225, + 0.00018317992599397825, + 0.010865028016269207 + ], + [ + -0.00024419646795490363, + -0.00018303091441030796, + 0.9999999534338837, + 0.0013710946077480912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999990463268451, + -0.0009762636040349722, + 0.0009768596497097429, + -0.00028636111528612673 + ], + [ + 0.0009768596497096093, + 0.9999993368991641, + -0.0006098741320236332, + 0.013670575805008411 + ], + [ + -0.0009762636040350636, + 0.0006108278051783146, + 0.999999336899164, + 0.0016870915424078703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999989867228314, + -0.0012203216617676785, + 0.0007330541255789985, + -0.0003237645432818681 + ], + [ + 0.0012210816196184388, + 0.9999987166395442, + -0.0010371494306622127, + 0.015136499889194965 + ], + [ + -0.0007317875288892179, + 0.001038043498661685, + 0.999999193476028, + -0.0001519040815765038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999987408552342, + -0.0006092773455221828, + 0.0014652880478075103, + -0.0014725736109539866 + ], + [ + 0.0006114231073910182, + 0.9999987408550636, + -0.0014643940970998066, + 0.01745225489139557 + ], + [ + -0.0014643939806492313, + 0.0014652881641871562, + 0.9999978542381301, + 0.0019961099606007338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999983534287111, + -0.001219470014793766, + 0.0013438871793935631, + -0.0010589995654299855 + ], + [ + 0.0012219286973478717, + 0.9999975785701957, + -0.0018302305878434343, + 0.0183080043643713 + ], + [ + -0.0013416520139430033, + 0.0018318697085488638, + 0.9999974221082997, + 0.0007063333760015666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.999999158086718, + -0.0008537454840905002, + 0.0009772126197942694, + -0.0004415616567712277 + ], + [ + 0.000855235596728108, + 0.9999984707716797, + -0.001525459398321393, + 0.020136738196015358 + ], + [ + -0.0009759087713404865, + 0.001526293861034633, + 0.9999983590132137, + 0.0029608497861772776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999987334047998, + -0.0008535478623917229, + 0.0013433707019437557, + -0.0005332415457814932 + ], + [ + 0.0008554328546312082, + 0.9999986495857138, + -0.0014032324751960983, + 0.02160182036459446 + ], + [ + -0.0013421711617569096, + 0.0014043798613031975, + 0.9999981131451086, + 0.002991251414641738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999989122176013, + -0.0013423802574582472, + 0.0006112109778309649, + -6.127927917987108e-05 + ], + [ + 0.001343162566627877, + 0.9999982770566179, + -0.0012813267016831046, + 0.02343597263097763 + ], + [ + -0.0006094898970812462, + 0.0012821462635840236, + 0.9999989923110049, + 0.0011592278024181724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999991580870784, + -0.0009758041726179598, + 0.0008553545181813955, + 0.0001311418745899573 + ], + [ + 0.000977316636443583, + 0.9999979566828967, + -0.0017695994528101708, + 0.02489658258855343 + ], + [ + -0.0008536259878907274, + 0.0017704339151619808, + 0.9999980684413472, + 0.0033551191445440054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999987781097063, + -0.0009753675588725505, + 0.0012216534781255286, + -0.001002818695269525 + ], + [ + 0.0009777517367980555, + 0.9999976158214502, + -0.00195252476503143, + 0.027220241725444794 + ], + [ + -0.001219746136171537, + 0.001953716853069991, + 0.9999973476013937, + 0.0002680123725440353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999978393448125, + -0.0013409757515262643, + 0.0015884236654364842, + -0.0008000452653504908 + ], + [ + 0.001344559462004701, + 0.999996548535836, + -0.0022572275626084387, + 0.028196187689900398 + ], + [ + -0.0015853912956219239, + 0.002259358415586567, + 0.9999961909097408, + 0.000476934015750885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999973476093981, + -0.0019517758127367156, + 0.0012228431399657633, + -0.001006799517199397 + ], + [ + 0.0019544580056652526, + 0.9999956786865905, + -0.0021960651286296413, + 0.03003123588860035 + ], + [ + -0.0012185516288758687, + 0.0021984492993721762, + 0.9999968409713129, + -0.0017180683789774776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999982640241266, + -0.001585775703619549, + 0.0009783987688527331, + -0.00038588186725974083 + ], + [ + 0.0015880406689586096, + 0.9999960512091617, + -0.0023185540575073665, + 0.031737376004457474 + ], + [ + -0.0009747181986684911, + 0.0023201037695885925, + 0.9999968335164525, + 0.00018079840810969472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999977201414079, + -0.001829468592313036, + 0.0011012523129238171, + -0.0013136268826201558 + ], + [ + 0.0018326201646115833, + 0.999994209072706, + -0.0028676339349991446, + 0.03466298058629036 + ], + [ + -0.0010959996894337307, + 0.0028696455743935138, + 0.9999952819483489, + 0.0009706343989819288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999987781138887, + -0.0012192962974696664, + 0.0009783083708180124, + -0.0016914630541577935 + ], + [ + 0.001222097699806367, + 0.9999951403799969, + -0.002868047001433632, + 0.03564264625310898 + ], + [ + -0.0009748066175213576, + 0.002869239085416242, + 0.999995408599024, + -2.913621301559033e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999992698511814, + -0.0008529212597061355, + 0.0008560504824389942, + -0.001435813377611339 + ], + [ + 0.0008560504788609234, + 0.9999929294347195, + -0.0036617288465900302, + 0.038082677870988846 + ], + [ + -0.0008529212632973475, + 0.0036624589954084887, + 0.9999929294347163, + 0.0006289749871939421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999993667072253, + -0.000853167508037581, + 0.0007339552791697016, + -0.0010087948758155107 + ], + [ + 0.0008558049943891785, + 0.9999931510841127, + -0.0036007475166974666, + 0.040028780698776245 + ], + [ + -0.0007308782115856246, + 0.003601373358963882, + 0.9999932479406893, + 0.0026931206230074167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999990314310123, + -0.0003636262738874681, + 0.0013434704946677718, + -0.0015984411584213376 + ], + [ + 0.0003687894984440818, + 0.9999925401402586, + -0.003844952293382946, + 0.041980672627687454 + ], + [ + -0.0013420623468905534, + 0.003845444027091317, + 0.9999917056800476, + 0.0029254353139549494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999996647265343, + -0.00036441834199972274, + 0.0007333117281792482, + -0.0016603161348029971 + ], + [ + 0.0003679946000261409, + 0.9999880120909305, + -0.004882648298130218, + 0.04391989856958389 + ], + [ + -0.0007315236107073053, + 0.004882916515864084, + 0.9999878109254663, + 0.0051900953985750675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999975785853816, + -0.0007276628246887987, + 0.0020768558416907256, + -0.0030799994710832834 + ], + [ + 0.0007371622403108267, + 0.9999892544776209, + -0.004576846198362101, + 0.045884449034929276 + ], + [ + -0.0020735031239568777, + 0.0045783660956250985, + 0.9999873694945799, + 0.002673131413757801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999989122220845, + -0.0006072300087484145, + 0.001344182414681578, + -0.00243903836235404 + ], + [ + 0.0006134586639660411, + 0.999989055162304, + -0.004638235016675673, + 0.047115448862314224 + ], + [ + -0.0013413512273338405, + 0.004639054571654074, + 0.999988339906804, + 0.0005880446406081319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999997019788079, + -0.00024232712505198095, + 0.0007330210499519514, + -0.0015355166979134083 + ], + [ + 0.00024594808596011507, + 0.9999877494594348, + -0.004943727398742371, + 0.04929981753230095 + ], + [ + -0.0007318140708006926, + 0.004943906210530671, + 0.9999875110417863, + 0.0034034657292068005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999994034912, + -0.0009753933547645406, + 0.0004915537082950309, + -0.0012685867259278893 + ], + [ + 0.0009777224485502654, + 0.9999881908991041, + -0.004760474887142334, + 0.049796730279922485 + ], + [ + -0.0004869045679173865, + 0.004760952650572358, + 0.9999885480613272, + 0.0015347069129347801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999985545958192, + -0.0006070037095747099, + 0.0015881916665418379, + -0.002715798793360591 + ], + [ + 0.0006136868481266336, + 0.9999909457310755, + -0.004210919652828052, + 0.05199630185961723 + ], + [ + -0.001585621242777609, + 0.004211888218684519, + 0.9999898728501745, + 0.001062531373463571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999956414460718, + -0.0014591915851916632, + 0.0025666804977613374, + -0.0025410500820726156 + ], + [ + 0.001470456799697542, + 0.9999892712508058, + -0.004392623371330466, + 0.05296017974615097 + ], + [ + -0.0025602432814297122, + 0.004396378418635055, + 0.9999870584218277, + 0.003458896651864052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999949858193481, + -0.0014578791775565758, + 0.0028112140554922777, + -0.002360172802582383 + ], + [ + 0.0014717594869178255, + 0.9999867064393507, + -0.004941747524180794, + 0.05588623136281967 + ], + [ + -0.002803972213631836, + 0.004945860176321039, + 0.9999838379728657, + 0.0038993132766336203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.999994620831569, + -0.0023129215206426036, + 0.002325661618841435, + -0.0015898802084848285 + ], + [ + 0.0023256617346167686, + 0.9999822232267723, + -0.005490403258137094, + 0.057108648121356964 + ], + [ + -0.002312921404229441, + 0.005495782426567521, + 0.9999822232270418, + 0.003201359650120139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.999995455213063, + -0.0015798432338470971, + 0.0025678100738409514, + -0.0027971675153821707 + ], + [ + 0.0015939246878252324, + 0.9999836536226531, + -0.005491073809371998, + 0.05953720584511757 + ], + [ + -0.0025590930636439474, + 0.0054951417494820826, + 0.9999816270611401, + 0.0054002320393919945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999962747542229, + -0.001213975178987669, + 0.0024447376018435435, + -0.0026279848534613848 + ], + [ + 0.0012273861056247546, + 0.9999841676812228, + -0.005491621822384427, + 0.060522500425577164 + ], + [ + -0.0024380322033939424, + 0.0054946020017074115, + 0.9999819325106921, + 0.0040315729565918446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999966398175613, + -0.0017031907455831775, + 0.001954352800930653, + -0.0023287280928343534 + ], + [ + 0.0017147313664955498, + 0.9999810142614813, + -0.005918683377235212, + 0.06296376883983612 + ], + [ + -0.0019442350493453725, + 0.005922014679428395, + 0.9999805746574326, + 0.0036732854787260294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999968633200624, + -0.0018258768021747484, + 0.0017145039923274355, + -0.002306578913703561 + ], + [ + 0.0018362032382148688, + 0.9999800680163656, + -0.0060408548776383535, + 0.0639326274394989 + ], + [ + -0.0017034399620754123, + 0.006043984107192073, + 0.9999802840798452, + 0.004845928400754929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999969900043406, + -0.00023623727170819176, + 0.0024421658851058264, + -0.0034340007696300745 + ], + [ + 0.0002520323084347439, + 0.9999790417666281, + -0.006469351374851461, + 0.06640499085187912 + ], + [ + -0.0024405863997047604, + 0.006469947406837644, + 0.9999760913734782, + 0.00028541963547468185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999950752495096, + 0.0007418106496846391, + 0.003049457933493919, + -0.0033557582646608353 + ], + [ + -0.0007229982055027938, + 0.9999807311938079, + -0.006165591187539751, + 0.06735950708389282 + ], + [ + -0.0030539728752849945, + 0.006163356070927426, + 0.9999763428659802, + 0.0043928655795753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9999953136478577, + 0.00025391322067315134, + 0.003050935987163592, + -0.0040043494664132595 + ], + [ + -0.00023435570338100722, + 0.9999794348021734, + -0.00640898198844601, + 0.06932215392589569 + ], + [ + -0.0030525005693193786, + 0.0064082369494503685, + 0.9999748080524191, + 0.0025317377876490355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9999934659125914, + 0.0007426679011402983, + 0.003537877402114649, + -0.0035106989089399576 + ], + [ + -0.0007221417680354887, + 0.9999829216030164, + -0.005799570118712923, + 0.0707901120185852 + ], + [ + -0.0035421241354074277, + 0.005796977374772432, + 0.9999769239387103, + 0.0024981412570923567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999993130706008, + 0.0011094083204475213, + 0.003536630313754761, + -0.0037569208070635796 + ], + [ + -0.0010878020066960364, + 0.9999807703593978, + -0.006105374535608352, + 0.07176559418439865 + ], + [ + -0.0035433356589345604, + 0.006101485442443621, + 0.9999751080140964, + 0.002831757767125964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999948964213851, + 0.0003761780751589092, + 0.0031726363232075974, + -0.003197409911081195 + ], + [ + -0.0003562256775937305, + 0.9999801723931331, + -0.006287123655995132, + 0.0741996318101883 + ], + [ + -0.003174938495497082, + 0.0062859613946409845, + 0.9999752029200003, + 0.003467415925115347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.999992929541328, + 0.000867205792122431, + 0.0036590738537680945, + -0.004141124431043863 + ], + [ + -0.0008417252596835662, + 0.9999754284112277, + -0.006959459200857626, + 0.075187548995018 + ], + [ + -0.003665019227838832, + 0.006956330059398839, + 0.9999690880753088, + 0.0018964032642543316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1200.4571533203125, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999923036749987, + 0.0003806222924932457, + 0.003904832575127442, + -0.0039053536020219326 + ], + [ + -0.0003517741191339619, + 0.9999726624246797, + -0.007385841743972206, + 0.07714378833770752 + ], + [ + -0.003907537042489288, + 0.007384411281094637, + 0.9999651002031489, + 0.0011190680088475347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999913202523083, + -0.00035023815780515046, + 0.004151716907211246, + -0.004173060413450003 + ], + [ + 0.000382155809257596, + 0.99997036217194, + -0.007689521094074917, + 0.0790884867310524 + ], + [ + -0.004148900695636968, + 0.007691040953706768, + 0.9999618165270443, + 0.0018157870508730412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999954403394349, + 0.0007440182554842481, + 0.0029267280666743045, + -0.0035347086377441883 + ], + [ + -0.0007207728743942634, + 0.9999682536669331, + -0.007935499024548638, + 0.08152759820222855 + ], + [ + -0.0029325393099307673, + 0.007933353335164879, + 0.9999642304192967, + 0.0025951892603188753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9999969527699512, + 0.00037595824779460376, + 0.0024398988108477195, + -0.0030753419268876314 + ], + [ + -0.00035643807467666973, + 0.999967968656497, + -0.007995912261789783, + 0.0824970081448555 + ], + [ + -0.0024428267867741935, + 0.007995018223571309, + 0.9999650555298891, + 0.003291736589744687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9999956936775711, + -0.0008423761457706636, + 0.002811232602122045, + -0.0034203575924038887 + ], + [ + 0.000866537842375336, + 0.9999626044881438, + -0.008604576541342977, + 0.0849301740527153 + ], + [ + -0.0028038791846174455, + 0.008606975526695416, + 0.9999590282775598, + 0.0036092933733016253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9999944848262788, + -0.0009655506448417983, + 0.003177739601854333, + -0.003807100234553218 + ], + [ + 0.0009913142652027663, + 0.9999665736337852, + -0.008115966432567893, + 0.0854463279247284 + ], + [ + -0.003169797004944127, + 0.008119071810201332, + 0.9999620158085446, + 0.00025557054323144257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.999995075299803, + -0.0007194468580599091, + 0.003054794978426301, + -0.0033277880866080523 + ], + [ + 0.0007453370238773693, + 0.9999637443961872, + -0.008482591931637215, + 0.0883704200387001 + ], + [ + -0.003048581450877017, + 0.008484827009212915, + 0.9999593561049174, + 0.0010956022888422012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9999903946095996, + -0.0009582077906481602, + 0.004276976311255892, + -0.003835013136267662 + ], + [ + 0.000998626123745628, + 0.9999547725033601, + -0.009458102009321878, + 0.08982542157173157 + ], + [ + -0.0042677200472939466, + 0.009462282260835045, + 0.9999461244387192, + 0.00198014872148633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9999868725968998, + -0.0010735156318080526, + 0.005010209382843562, + -0.003546083578839898 + ], + [ + 0.0011236115662182967, + 0.9999493005432485, + -0.010006689768203344, + 0.09227415919303894 + ], + [ + -0.004999213030060846, + 0.010012187935565063, + 0.9999373800202805, + 0.001185575150884688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999892715865266, + -0.00144195204400095, + 0.004401986614043265, + -0.003985205199569464 + ], + [ + 0.0014875480832682475, + 0.9999450985650186, + -0.010372418064023331, + 0.09375052154064178 + ], + [ + -0.004386788409232715, + 0.010378854951184041, + 0.9999365157135499, + -0.00010840523464139551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9999899869023131, + -0.001928289671729666, + 0.004038290981814429, + -0.0036581431049853563 + ], + [ + 0.0019700859041818577, + 0.9999442716870293, + -0.010371705830108565, + 0.09567765146493912 + ], + [ + -0.004018066281439652, + 0.010379557757345071, + 0.9999380580436573, + 0.0022893333807587624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.999992482619213, + -0.0018129761285081308, + 0.0034275096820295305, + -0.0027405605651438236 + ], + [ + 0.0018490654082976364, + 0.9999425782913148, + -0.010555618278085377, + 0.09619031846523285 + ], + [ + -0.0034081757846073585, + 0.010561876617073803, + 0.9999384136536342, + 0.00015531644748989493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9999899793489089, + -0.0008309664890601232, + 0.004398942652702491, + -0.003160048509016633 + ], + [ + 0.0008779035085565366, + 0.9999425934049622, + -0.010678912865423447, + 0.09910178929567337 + ], + [ + -0.0043898163056519165, + 0.010682667702952345, + 0.9999333028375192, + 0.002094850642606616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9999857998172647, + -0.00180296623884106, + 0.00501492537990412, + -0.0033579946029931307 + ], + [ + 0.0018588658933564386, + 0.9999359481016251, + -0.011164421690968342, + 0.09960684180259705 + ], + [ + -0.0049944750890283255, + 0.011173585227886479, + 0.9999251003008873, + 0.0002595834666863084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1212.3428955078125, + "fy": 1206.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9999901285405426, + -0.002664579950002675, + 0.0035556764700667627, + -0.0029002090450376272 + ], + [ + 0.002706278709941606, + 0.9999270152567501, + -0.011774557964989439, + 0.10156678408384323 + ], + [ + -0.0035240427088586673, + 0.011784064384448161, + 0.9999243556137482, + -0.00038787469384260476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1212.3428955078125, + "fy": 1206.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9999881244502972, + -0.001805141322780577, + 0.004526855772093856, + -0.0031188090797513723 + ], + [ + 0.0018566896043998233, + 0.9999331916474697, + -0.011408985293066599, + 0.10253777354955673 + ], + [ + -0.004505958509514197, + 0.011417254771147333, + 0.9999246684782818, + 0.00022307620383799076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1212.3428955078125, + "fy": 1206.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9999850998136728, + -0.0024109381678850054, + 0.0048977063803955214, + -0.0027019621338695288 + ], + [ + 0.0024714339526507225, + 0.9999202661637325, + -0.012383591129683064, + 0.10547016561031342 + ], + [ + -0.004867459794966972, + 0.012395510969706463, + 0.9999113256399008, + 3.818760524154641e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1212.3428955078125, + "fy": 1206.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9999856883166046, + -0.0024121368497698175, + 0.004775432732709375, + -0.0025473718997091055 + ], + [ + 0.002470248750028372, + 0.9999225178476915, + -0.012200662778947257, + 0.10643566399812698 + ], + [ + -0.004745633053623033, + 0.012212284673663143, + 0.9999141658512343, + 0.0009604630176909268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.999981158560187, + -0.0017938631063876514, + 0.0058706541187861765, + -0.0032790261320769787 + ], + [ + 0.0018678884124506128, + 0.9999185154044418, + -0.012628283503923901, + 0.10838866978883743 + ], + [ + -0.005847522339035001, + 0.012639011295682463, + 0.9999030262360254, + 0.001007184968329966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9999851440213415, + -0.0030238340540016465, + 0.0045352138020837715, + -0.002989333588629961 + ], + [ + 0.0030795173277766755, + 0.9999193432325245, + -0.01232167206448568, + 0.1093670129776001 + ], + [ + -0.00449758931480776, + 0.012335455283477285, + 0.9999138004014672, + 0.000629560265224427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.999984794211062, + -0.0025291329218770347, + 0.004900493171408605, + -0.0026702946051955223 + ], + [ + 0.0025976739249742, + 0.999898185851142, + -0.014031037801036168, + 0.11230527609586716 + ], + [ + -0.00486450787223673, + 0.014043554331367858, + 0.9998895514730126, + 0.0002926159359049052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1206.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9999851443989978, + -0.0030190956318657614, + 0.004538286337517579, + -0.002758373972028494 + ], + [ + 0.003084149910752427, + 0.999891607674091, + -0.014396559389307213, + 0.113279789686203 + ], + [ + -0.004494329832540082, + 0.01441034227516888, + 0.9998860650268455, + 0.0003777241217903793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9999853978538589, + -0.0016720183897584676, + 0.005138913655908782, + -0.0027599071618169546 + ], + [ + 0.0017455513813810907, + 0.9998956814560211, + -0.014338035289882336, + 0.11571399867534637 + ], + [ + -0.005114404113240574, + 0.014346796161626716, + 0.999883999427165, + 0.001124582253396511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9999881248157827, + -0.0017973415164163338, + 0.004529877579823286, + -0.0025034924037754536 + ], + [ + 0.0018643251411401105, + 0.9998883435564359, + -0.01482648683051401, + 0.11718466132879257 + ], + [ + -0.004502723529480019, + 0.014834755927909702, + 0.9998798205271349, + 0.0007727603078819811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.999987089273022, + -0.0020414062126901692, + 0.004653380270575829, + -0.0023306177463382483 + ], + [ + 0.0021085017209590937, + 0.9998932306853496, + -0.01445964903121592, + 0.11867742985486984 + ], + [ + -0.0046233654149881055, + 0.014469274006943972, + 0.999884625645355, + -0.0011871475726366043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1206.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9999874092969085, + -0.0015521516709627223, + 0.0047720093091642105, + -0.0023634324315935373 + ], + [ + 0.001621304227632872, + 0.9998932396027314, + -0.014521734378412952, + 0.12013077735900879 + ], + [ + -0.0047489599132738616, + 0.014529288418434474, + 0.9998831667538944, + -0.00030376005452126265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1206.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9999859271076649, + -0.0020399395242966293, + 0.004897370045321265, + -0.002784654265269637 + ], + [ + 0.0021099702162691086, + 0.9998949889709332, + -0.01433733087097546, + 0.12157636135816574 + ], + [ + -0.004867608479536707, + 0.014347462408195804, + 0.9998852217680466, + 0.0008876467472873628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9999881694450382, + -0.001430554835189371, + 0.004649137858372349, + -0.0026574351359158754 + ], + [ + 0.0014987826785183313, + 0.9998907497253604, + -0.01470517814036027, + 0.12257513403892517 + ], + [ + -0.004627593375093288, + 0.014711972217234184, + 0.9998810645536971, + -0.0004736410337500274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9999865151193933, + -0.002531290057919374, + 0.004534550695909578, + -0.002246599644422531 + ], + [ + 0.0025955175997094296, + 0.9998955988088111, + -0.014214597115576967, + 0.12500645220279694 + ], + [ + -0.004498096015059395, + 0.01422617493956996, + 0.9998886853439375, + 6.361770647345111e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9999886011469313, + -0.0025331517307871122, + 0.004047310034129044, + -0.0020927947480231524 + ], + [ + 0.00259363177943678, + 0.9998840012570832, + -0.015008567697089498, + 0.12597084045410156 + ], + [ + -0.0040088215720140465, + 0.015018893848557585, + 0.9998791737890983, + 0.0009996367152780294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9999878933801899, + -0.002410051595445171, + 0.004290075099225399, + -0.002224677475169301 + ], + [ + 0.0024726326225692234, + 0.9998897375915146, + -0.014642361390374649, + 0.12788981199264526 + ], + [ + -0.004254313218782534, + 0.014652791900515593, + 0.9998835914788067, + 0.003317558439448476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9999892346247022, + -0.0026573973924870473, + 0.0038037972869321033, + -0.0018875220557674766 + ], + [ + 0.0027132884896576993, + 0.9998873168073205, + -0.01476454379342329, + 0.1288420706987381 + ], + [ + -0.0037641334027317275, + 0.014774705646964521, + 0.9998837629308576, + 0.004992976319044828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1194.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9999854801032207, + -0.0011788867970841965, + 0.005258308535077179, + -0.0028161851223558187 + ], + [ + 0.001262177863670708, + 0.9998733493931174, + -0.01586480634706116, + 0.13086172938346863 + ], + [ + -0.005238939756368626, + 0.01587121291234443, + 0.9998603193001112, + 0.0006875856779515743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1206.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9999853237765399, + -0.002038135991491586, + 0.005019784179464875, + -0.001598007627762854 + ], + [ + 0.0021117497362665456, + 0.9998896699895212, + -0.014703345241728099, + 0.13178181648254395 + ], + [ + -0.004989262929491385, + 0.01471372998006462, + 0.9998792994184318, + 0.004449297208338976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1200.4571533203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9999711982304542, + -0.003491450145285651, + 0.006738878648059718, + -0.0022522564977407455 + ], + [ + 0.0035881517602389976, + 0.9998899994112316, + -0.014391464288005066, + 0.13373588025569916 + ], + [ + -0.006687890287361539, + 0.014415229907650304, + 0.9998737286628818, + 0.004169744439423084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1206.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9999618189149239, + -0.004092756009167931, + 0.007720755183715486, + -0.003059474052861333 + ], + [ + 0.004207277893729324, + 0.9998805015725879, + -0.014875529828390667, + 0.13474877178668976 + ], + [ + -0.007658950651517853, + 0.014907445227127657, + 0.9998595444119732, + 0.001374293235130608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1206.4000244140625, + "fy": 1206.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dycheck_eval/source/apple__camera_2/caption.txt b/dycheck_eval/source/apple__camera_2/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..3bd3859d18b1f9f06bb8bf2736e3d53a192f4d99 --- /dev/null +++ b/dycheck_eval/source/apple__camera_2/caption.txt @@ -0,0 +1 @@ +A person seated on a chair rotates a shiny red apple in their hand, showcasing its smooth surface and vibrant color against a casual indoor backdrop. diff --git a/dycheck_eval/source/apple__camera_2/extras/frame_mapping.json b/dycheck_eval/source/apple__camera_2/extras/frame_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..22671b304eba7f1797516ebf26bfed78e854ceb6 --- /dev/null +++ b/dycheck_eval/source/apple__camera_2/extras/frame_mapping.json @@ -0,0 +1,971 @@ +{ + "original_scene": "apple", + "source_frame_names": [ + "0_00000", + "0_00001", + "0_00002", + "0_00003", + "0_00004", + "0_00005", + "0_00006", + "0_00007", + "0_00008", + "0_00009", + "0_00010", + "0_00011", + "0_00012", + "0_00013", + "0_00014", + "0_00015", + "0_00016", + "0_00017", + "0_00018", + "0_00019", + "0_00020", + "0_00021", + "0_00022", + "0_00023", + "0_00024", + "0_00025", + "0_00026", + "0_00027", + "0_00028", + "0_00029", + "0_00030", + "0_00031", + "0_00032", + "0_00033", + "0_00034", + "0_00035", + "0_00036", + "0_00037", + "0_00038", + "0_00039", + "0_00040", + "0_00041", + "0_00042", + "0_00043", + "0_00044", + "0_00045", + "0_00046", + "0_00047", + "0_00048", + "0_00049", + "0_00050", + "0_00051", + "0_00052", + "0_00053", + "0_00054", + "0_00055", + "0_00056", + "0_00057", + "0_00058", + "0_00059", + "0_00060", + "0_00061", + "0_00062", + "0_00063", + "0_00064", + "0_00065", + "0_00066", + "0_00067", + "0_00068", + "0_00069", + "0_00070", + "0_00071", + "0_00072", + "0_00073", + "0_00074", + "0_00075", + "0_00076", + "0_00077", + "0_00078", + "0_00079", + "0_00080", + "0_00081", + "0_00082", + "0_00083", + "0_00084", + "0_00085", + "0_00086", + "0_00087", + "0_00088", + "0_00089", + "0_00090", + "0_00091", + "0_00092", + "0_00093", + "0_00094", + "0_00095", + "0_00096", + "0_00097", + "0_00098", + "0_00099", + "0_00100", + "0_00101", + "0_00102", + "0_00103", + "0_00104", + "0_00105", + "0_00106", + "0_00107", + "0_00108", + "0_00109", + "0_00110", + "0_00111", + "0_00112", + "0_00113", + "0_00114", + "0_00196", + "0_00197", + "0_00198", + "0_00199", + "0_00200", + "0_00201", + "0_00202", + "0_00203", + "0_00204", + "0_00205", + "0_00206", + "0_00207", + "0_00208", + "0_00209", + "0_00210", + "0_00211", + "0_00212", + "0_00213", + "0_00214", + "0_00215", + "0_00216", + "0_00217", + "0_00218", + "0_00219", + "0_00220", + "0_00221", + "0_00222", + "0_00223", + "0_00224", + "0_00225", + "0_00226", + "0_00227", + "0_00228", + "0_00229", + "0_00230", + "0_00231", + "0_00232", + "0_00233", + "0_00234", + "0_00235", + "0_00236", + "0_00237", + "0_00238", + "0_00239", + "0_00240", + "0_00241", + "0_00242", + "0_00243", + "0_00244", + "0_00245", + "0_00246", + "0_00247", + "0_00248", + "0_00249", + "0_00250", + "0_00251", + "0_00252", + "0_00253", + "0_00254", + "0_00255", + "0_00256", + "0_00257", + "0_00258", + "0_00259", + "0_00260", + "0_00261", + "0_00262", + "0_00263", + "0_00264", + "0_00265", + "0_00266", + "0_00267", + "0_00268", + "0_00269", + "0_00270", + "0_00271", + "0_00272", + "0_00273", + "0_00274", + "0_00275", + "0_00276", + "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_00393", + "0_00394", + "0_00395", + "0_00396", + "0_00397", + "0_00398", + "0_00399", + "0_00400", + "0_00401", + "0_00402", + "0_00403", + "0_00404", + "0_00405", + "0_00406", + "0_00407", + "0_00408", + "0_00409", + "0_00410", + "0_00411", + "0_00412", + "0_00413", + "0_00414", + "0_00415", + "0_00416", + "0_00417", + "0_00418", + "0_00419", + "0_00420", + "0_00421", + "0_00422", + "0_00423", + "0_00424", + "0_00425", + "0_00426", + "0_00427", + "0_00428", + "0_00429", + "0_00430", + "0_00431", + "0_00432", + "0_00433", + "0_00434", + "0_00435", + "0_00436", + "0_00437", + "0_00438", + "0_00439", + "0_00440", + "0_00441", + "0_00442", + "0_00443", + "0_00444", + "0_00445", + "0_00446", + "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", + "0_00472", + "0_00473", + "0_00474" + ], + "target_frame_names": [ + "2_00000", + "2_00001", + "2_00002", + "2_00003", + "2_00004", + "2_00005", + "2_00006", + "2_00007", + "2_00008", + "2_00009", + "2_00010", + "2_00011", + "2_00012", + "2_00013", + "2_00014", + "2_00015", + "2_00016", + "2_00017", + "2_00018", + "2_00019", + "2_00020", + "2_00021", + "2_00022", + "2_00023", + "2_00024", + "2_00025", + "2_00026", + "2_00027", + "2_00028", + "2_00029", + "2_00030", + "2_00031", + "2_00032", + "2_00033", + "2_00034", + "2_00035", + "2_00036", + "2_00037", + "2_00038", + "2_00039", + "2_00040", + "2_00041", + "2_00042", + "2_00043", + "2_00044", + "2_00045", + "2_00046", + "2_00047", + "2_00048", + "2_00049", + "2_00050", + "2_00051", + "2_00052", + "2_00053", + "2_00054", + "2_00055", + "2_00056", + "2_00057", + "2_00058", + "2_00059", + "2_00060", + "2_00061", + "2_00062", + "2_00063", + "2_00064", + "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_00196", + "2_00197", + "2_00198", + "2_00199", + "2_00200", + "2_00201", + "2_00202", + "2_00203", + "2_00204", + "2_00205", + "2_00206", + "2_00207", + "2_00208", + "2_00209", + "2_00210", + "2_00211", + "2_00212", + "2_00213", + "2_00214", + "2_00215", + "2_00216", + "2_00217", + "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_00393", + "2_00394", + "2_00395", + "2_00396", + "2_00397", + "2_00398", + "2_00399", + "2_00400", + "2_00401", + "2_00402", + "2_00403", + "2_00404", + "2_00405", + "2_00406", + "2_00407", + "2_00408", + "2_00409", + "2_00410", + "2_00411", + "2_00412", + "2_00413", + "2_00414", + "2_00415", + "2_00416", + "2_00417", + "2_00418", + "2_00419", + "2_00420", + "2_00421", + "2_00422", + "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", + "2_00472", + "2_00473", + "2_00474" + ], + "original_time_ids": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268, + 269, + 270, + 271, + 272, + 273, + 274, + 275, + 276, + 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, + 393, + 394, + 395, + 396, + 397, + 398, + 399, + 400, + 401, + 402, + 403, + 404, + 405, + 406, + 407, + 408, + 409, + 410, + 411, + 412, + 413, + 414, + 415, + 416, + 417, + 418, + 419, + 420, + 421, + 422, + 423, + 424, + 425, + 426, + 427, + 428, + 429, + 430, + 431, + 432, + 433, + 434, + 435, + 436, + 437, + 438, + 439, + 440, + 441, + 442, + 443, + 444, + 445, + 446, + 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, + 472, + 473, + 474 + ], + "source_camera_id": 0, + "target_camera_id": 2 +} diff --git a/dycheck_eval/source/apple__camera_2/transforms.json b/dycheck_eval/source/apple__camera_2/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..c46297cd197ee582aca6199b5dc658b4150424ec --- /dev/null +++ b/dycheck_eval/source/apple__camera_2/transforms.json @@ -0,0 +1,11213 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 320, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 7.421561698528478e-10, + -4.768407002586628e-09, + -3.725290298461914e-09 + ], + [ + 7.421560588305454e-10, + -1.0, + -2.045647562454178e-08, + 2.9802322387695312e-08 + ], + [ + -4.768407002586628e-09, + 2.045647562454178e-08, + -1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999488592147827, + 0.002296288264915347, + 0.009848498739302158, + 0.0007456871098838747 + ], + [ + 0.0023980361875146627, + -0.999943733215332, + -0.010331978090107441, + 0.00020781670173164457 + ], + [ + 0.009824219159781933, + 0.010355066508054733, + -0.9998981356620789, + -0.0010886373929679394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999870240688324, + 0.006209974177181721, + 0.014862051233649254, + 0.0018417872488498688 + ], + [ + 0.00633644312620163, + -0.9999439716339111, + -0.008477609604597092, + 0.00013366341590881348 + ], + [ + 0.014808572828769684, + 0.008570682257413864, + -0.9998536109924316, + -0.0006534010171890259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998787045478821, + 0.005691928789019585, + 0.014496109448373318, + 0.0028722849674522877 + ], + [ + 0.005741875618696213, + -0.999977707862854, + -0.0034062417689710855, + -6.405029853340238e-05 + ], + [ + 0.014476398006081581, + 0.003489063587039709, + -0.9998891353607178, + 0.00024564890190958977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998709559440613, + 0.006415570620447397, + 0.014729638583958149, + 0.0037175375036895275 + ], + [ + 0.006391526199877262, + -0.9999781847000122, + 0.0016788836801424623, + -0.0005420246161520481 + ], + [ + 0.014740088023245335, + -0.001584522076882422, + -0.9998900890350342, + 0.0012806919403374195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999853789806366, + 0.007210426963865757, + 0.015506980009377003, + 0.004008296877145767 + ], + [ + 0.007109856698662043, + -0.9999533891677856, + 0.0065308669582009315, + -0.0006926059722900391 + ], + [ + 0.015553347766399384, + -0.0064196595922112465, + -0.9998584389686584, + 0.001694902777671814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999918520450592, + 0.005953496787697077, + 0.011292733252048492, + 0.003916479647159576 + ], + [ + 0.0058992537669837475, + -0.9999709129333496, + 0.004830626305192709, + -0.0005650818347930908 + ], + [ + 0.01132116373628378, + -0.004763614386320114, + -0.9999245405197144, + 0.0011230409145355225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999179244041443, + 0.007713330909609795, + 0.010229786857962608, + 0.0029790070839226246 + ], + [ + 0.007717210333794355, + -0.9999701380729675, + -0.0003398244734853506, + -0.000588481780141592 + ], + [ + 0.010226860642433167, + 0.0004187420126982033, + -0.9999476075172424, + 0.00031899241730570793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998780488967896, + 0.011349601671099663, + 0.01072912011295557, + 0.001763712614774704 + ], + [ + 0.011342234909534454, + -0.9999353885650635, + 0.0007472350262105465, + -0.0006999969482421875 + ], + [ + 0.01073690690100193, + -0.0006254516774788499, + -0.9999421834945679, + 8.58306884765625e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998805522918701, + 0.012971057556569576, + 0.008405450731515884, + 0.000814143568277359 + ], + [ + 0.012958092615008354, + -0.9999147653579712, + 0.0015950851375237107, + -0.0009194314479827881 + ], + [ + 0.008425424806773663, + -0.0014859760412946343, + -0.9999634027481079, + -0.00023850798606872559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998852610588074, + 0.013570583425462246, + 0.006732915993779898, + 0.00018901005387306213 + ], + [ + 0.01358340959995985, + -0.9999060034751892, + -0.001862896024249494, + -0.0012485682964324951 + ], + [ + 0.006707002408802509, + 0.0019541382789611816, + -0.9999756217002869, + -0.0004879385232925415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998453259468079, + 0.0148007245734334, + 0.009502178989350796, + -0.0002029910683631897 + ], + [ + 0.014783184044063091, + -0.9998888969421387, + 0.0019134620670229197, + -0.00134335458278656 + ], + [ + 0.009529443457722664, + -0.0017726935911923647, + -0.999953031539917, + -6.051361560821533e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998151063919067, + 0.015609683468937874, + 0.011228608898818493, + -0.0003392808139324188 + ], + [ + 0.01553918793797493, + -0.9998591542243958, + 0.006338340695947409, + -0.0011551827192306519 + ], + [ + 0.011325967498123646, + -0.006162685342133045, + -0.9999168515205383, + 0.00045603513717651367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998216032981873, + 0.014062197878956795, + 0.012612502090632915, + 2.8290358386584558e-05 + ], + [ + 0.014002093113958836, + -0.9998902678489685, + 0.004841162823140621, + -0.0008516809903085232 + ], + [ + 0.012679195031523705, + -0.00466369790956378, + -0.9999087452888489, + 0.0006884518079459667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998201727867126, + 0.012297471053898335, + 0.014435950666666031, + 0.0006132764392532408 + ], + [ + 0.012197361327707767, + -0.9999011158943176, + 0.007002459838986397, + -0.0005323193036019802 + ], + [ + 0.014520634897053242, + -0.006825120188295841, + -0.9998712539672852, + 0.001162025611847639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997970461845398, + 0.010993130505084991, + 0.01688292622566223, + 0.0011759661138057709 + ], + [ + 0.010817854665219784, + -0.9998869895935059, + 0.010438278317451477, + -0.0002528876066207886 + ], + [ + 0.016995767131447792, + -0.010253522545099258, + -0.9998030066490173, + 0.0016226470470428467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997804164886475, + 0.010856237262487411, + 0.017924902960658073, + 0.0013991929590702057 + ], + [ + 0.010698061436414719, + -0.9999032020568848, + 0.008896774612367153, + -0.0001926720142364502 + ], + [ + 0.01801975443959236, + -0.008703058585524559, + -0.9997997283935547, + 0.0016990602016448975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997425675392151, + 0.012248226441442966, + 0.019098401069641113, + 0.0012596286833286285 + ], + [ + 0.012169723398983479, + -0.9999170303344727, + 0.004221272189170122, + -1.7762184143066406e-05 + ], + [ + 0.01914851926267147, + -0.0039877635426819324, + -0.999808669090271, + 0.0013296008110046387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9997209906578064, + 0.010992149822413921, + 0.020908070728182793, + 0.001284268219023943 + ], + [ + 0.010938859544694424, + -0.9999366402626038, + 0.002661470090970397, + 0.00023278083244804293 + ], + [ + 0.02093600109219551, + -0.0024320168886333704, + -0.9997778534889221, + 0.0011747959069907665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9997155070304871, + 0.009344751946628094, + 0.021946290507912636, + 0.0009770356118679047 + ], + [ + 0.009258260950446129, + -0.9999489784240723, + 0.004039325751364231, + 0.0005260556936264038 + ], + [ + 0.021982917562127113, + -0.0038349919486790895, + -0.9997509717941284, + 0.00117415189743042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9996599555015564, + 0.009582124650478363, + 0.024252282455563545, + 0.0003045573830604553 + ], + [ + 0.009453927166759968, + -0.9999407529830933, + 0.005395150743424892, + 0.001097753643989563 + ], + [ + 0.024302542209625244, + -0.005164036527276039, + -0.9996913075447083, + 0.0015300214290618896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9996599555015564, + 0.009136018343269825, + 0.02442382462322712, + -0.0005162619054317474 + ], + [ + 0.008887996897101402, + -0.9999080300331116, + 0.010244215838611126, + 0.0017592161893844604 + ], + [ + 0.024515170603990555, + -0.010023653507232666, + -0.9996492266654968, + 0.002248898148536682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9996552467346191, + 0.010471103712916374, + 0.024076934903860092, + -0.0017925314605236053 + ], + [ + 0.010144050233066082, + -0.9998551607131958, + 0.013665941543877125, + 0.0023055672645568848 + ], + [ + 0.0242165457457304, + -0.013416992500424385, + -0.9996166825294495, + 0.002903863787651062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9995390176773071, + 0.013844437897205353, + 0.027020923793315887, + -0.003260299563407898 + ], + [ + 0.013451035134494305, + -0.9998016357421875, + 0.014687038958072662, + 0.0029611289501190186 + ], + [ + 0.027218898758292198, + -0.014316809363663197, + -0.9995269775390625, + 0.0032954663038253784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9994063973426819, + 0.015320406295359135, + 0.030856426805257797, + -0.0042764656245708466 + ], + [ + 0.014747518114745617, + -0.9997162222862244, + 0.01870904676616192, + 0.0036240220069885254 + ], + [ + 0.03113429993391037, + -0.018242886289954185, + -0.9993487000465393, + 0.0038000643253326416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9994116425514221, + 0.015239287167787552, + 0.03072672337293625, + -0.00491790845990181 + ], + [ + 0.014561439864337444, + -0.9996482729911804, + 0.02216491661965847, + 0.004106387495994568 + ], + [ + 0.0310536939650774, + -0.021704450249671936, + -0.9992820620536804, + 0.004057213664054871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9992882013320923, + 0.014565499499440193, + 0.03479909524321556, + -0.0054678539745509624 + ], + [ + 0.013865549117326736, + -0.9996983408927917, + 0.02027139812707901, + 0.004620546940714121 + ], + [ + 0.03508386015892029, + -0.019774459302425385, + -0.9991887211799622, + 0.003848645370453596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9991958737373352, + 0.013195334933698177, + 0.03786136209964752, + -0.006121493875980377 + ], + [ + 0.012472175993025303, + -0.999736487865448, + 0.01927322708070278, + 0.0051171183586120605 + ], + [ + 0.03810570016503334, + -0.018785513937473297, + -0.9990971088409424, + 0.003638923168182373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9991050362586975, + 0.013685493730008602, + 0.040022753179073334, + -0.007332843262702227 + ], + [ + 0.012906933203339577, + -0.9997236728668213, + 0.019647076725959778, + 0.005731662269681692 + ], + [ + 0.040280573070049286, + -0.019112922251224518, + -0.9990056157112122, + 0.003219780046492815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9990132451057434, + 0.016834070906043053, + 0.04109925404191017, + -0.009104538708925247 + ], + [ + 0.0161992609500885, + -0.9997450113296509, + 0.015730304643511772, + 0.0062857866287231445 + ], + [ + 0.041353579610586166, + -0.01504900585860014, + -0.9990312457084656, + 0.0025209039449691772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.998916506767273, + 0.019310489296913147, + 0.04234235733747482, + -0.0110953189432621 + ], + [ + 0.018842751160264015, + -0.9997572302818298, + 0.011418070644140244, + 0.006870836019515991 + ], + [ + 0.04255256801843643, + -0.010607852600514889, + -0.9990379214286804, + 0.0019178837537765503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9986756443977356, + 0.023356618359684944, + 0.04584111273288727, + -0.013131602667272091 + ], + [ + 0.022742312401533127, + -0.9996450543403625, + 0.01387693826109171, + 0.007798934821039438 + ], + [ + 0.046148959547281265, + -0.012816027738153934, + -0.9988523721694946, + 0.001957658212631941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9985185861587524, + 0.026025278493762016, + 0.047784242779016495, + -0.015196312218904495 + ], + [ + 0.02520064450800419, + -0.9995242953300476, + 0.01777961291372776, + 0.00881737470626831 + ], + [ + 0.048224229365587234, + -0.01654907874763012, + -0.998699426651001, + 0.0022053122520446777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9983829855918884, + 0.029529361054301262, + 0.0485740564763546, + -0.017634224146604538 + ], + [ + 0.02861178107559681, + -0.999400794506073, + 0.019478540867567062, + 0.009939849376678467 + ], + [ + 0.049120139330625534, + -0.01805725507438183, + -0.998629629611969, + 0.0024102628231048584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9980263710021973, + 0.036228906363248825, + 0.05129145830869675, + -0.02064882218837738 + ], + [ + 0.035046257078647614, + -0.9991028904914856, + 0.023772327229380608, + 0.011353299021720886 + ], + [ + 0.05210668966174126, + -0.021927835419774055, + -0.9984007477760315, + 0.003226667642593384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9974125027656555, + 0.04617009684443474, + 0.05510515719652176, + -0.02431802824139595 + ], + [ + 0.04451309144496918, + -0.9985299110412598, + 0.030928276479244232, + 0.012951920740306377 + ], + [ + 0.05645211040973663, + -0.02839534915983677, + -0.9980014562606812, + 0.004202766343951225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9967830181121826, + 0.057332977652549744, + 0.056004513055086136, + -0.028425682336091995 + ], + [ + 0.05529893934726715, + -0.9977759122848511, + 0.03721877187490463, + 0.014633610844612122 + ], + [ + 0.05801381915807724, + -0.03400205075740814, + -0.9977365732192993, + 0.004988774657249451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9959474802017212, + 0.0703774020075798, + 0.05599711090326309, + -0.033038221299648285 + ], + [ + 0.06813693791627884, + -0.9968346953392029, + 0.04096323996782303, + 0.016269857063889503 + ], + [ + 0.0587027482688427, + -0.03698176145553589, + -0.9975902438163757, + 0.005644563119858503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9945361614227295, + 0.0885910913348198, + 0.05522209033370018, + -0.03836255520582199 + ], + [ + 0.08607108145952225, + -0.9952052235603333, + 0.046458084136247635, + 0.01822468638420105 + ], + [ + 0.059073083102703094, + -0.04145121946930885, + -0.9973927140235901, + 0.0062318891286849976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9927085041999817, + 0.10525219887495041, + 0.05875183641910553, + -0.04368278756737709 + ], + [ + 0.1022292897105217, + -0.9933856129646301, + 0.05228998139500618, + 0.020463421940803528 + ], + [ + 0.06386686861515045, + -0.0459025502204895, + -0.9969021677970886, + 0.00686722993850708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9910075664520264, + 0.12052807956933975, + 0.05811183154582977, + -0.048901498317718506 + ], + [ + 0.11714278161525726, + -0.991389274597168, + 0.05852264165878296, + 0.022984564304351807 + ], + [ + 0.0646650642156601, + -0.05118899792432785, + -0.9965932369232178, + 0.007717981934547424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9884353280067444, + 0.14029322564601898, + 0.05756239593029022, + -0.05474133417010307 + ], + [ + 0.13622553646564484, + -0.9882450699806213, + 0.0693848505616188, + 0.02573651634156704 + ], + [ + 0.06661997735500336, + -0.06074097007513046, + -0.9959278702735901, + 0.008615847676992416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9849489331245422, + 0.16098402440547943, + 0.06292679905891418, + -0.06086955964565277 + ], + [ + 0.15567974746227264, + -0.9844245910644531, + 0.08168290555477142, + 0.0286589115858078 + ], + [ + 0.07509633153676987, + -0.07065706700086594, + -0.9946698546409607, + 0.009375810623168945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9819890856742859, + 0.17775054275989532, + 0.06404842436313629, + -0.06694170087575912 + ], + [ + 0.17202840745449066, + -0.9813375473022461, + 0.08592354506254196, + 0.03174620866775513 + ], + [ + 0.07812608033418655, + -0.07335783541202545, + -0.9942408800125122, + 0.009631738066673279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9778088927268982, + 0.19875715672969818, + 0.06622165441513062, + -0.07338562607765198 + ], + [ + 0.19286969304084778, + -0.9774587750434875, + 0.08588138967752457, + 0.03473943471908569 + ], + [ + 0.0817984789609909, + -0.07120344042778015, + -0.9941021203994751, + 0.00927707552909851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9705736637115479, + 0.22821204364299774, + 0.07685086876153946, + -0.08041216433048248 + ], + [ + 0.22128926217556, + -0.9711307883262634, + 0.08908441662788391, + 0.037588343024253845 + ], + [ + 0.09496238082647324, + -0.06945671886205673, + -0.9930548667907715, + 0.008772194385528564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9648483395576477, + 0.24880890548229218, + 0.0846274197101593, + -0.08649114519357681 + ], + [ + 0.241459459066391, + -0.9663844704627991, + 0.08830831199884415, + 0.04004107788205147 + ], + [ + 0.10375452041625977, + -0.06477004289627075, + -0.9924917221069336, + 0.0077108112163841724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9600276947021484, + 0.26620036363601685, + 0.08651126176118851, + -0.09235352277755737 + ], + [ + 0.2595328986644745, + -0.962326169013977, + 0.08106210827827454, + 0.04234708845615387 + ], + [ + 0.10483081638813019, + -0.05536935478448868, + -0.992947518825531, + 0.00617767870426178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.95265793800354, + 0.28863245248794556, + 0.0955725759267807, + -0.09848024696111679 + ], + [ + 0.2819538414478302, + -0.956289529800415, + 0.07753941416740417, + 0.04401855170726776 + ], + [ + 0.11377544701099396, + -0.046921487897634506, + -0.9923978447914124, + 0.0046956539154052734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9441025853157043, + 0.31226253509521484, + 0.10565255582332611, + -0.10445526242256165 + ], + [ + 0.30484384298324585, + -0.9489772319793701, + 0.0807000994682312, + 0.044869985431432724 + ], + [ + 0.12546148896217346, + -0.0439816415309906, + -0.9911231398582458, + 0.003776464145630598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9383511543273926, + 0.32805898785591125, + 0.10896994918584824, + -0.10893970727920532 + ], + [ + 0.3208109438419342, + -0.9438464045524597, + 0.0789574384689331, + 0.045246511697769165 + ], + [ + 0.12875360250473022, + -0.039131049066782, + -0.9909042716026306, + 0.002950608730316162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9320492744445801, + 0.34446513652801514, + 0.11237386614084244, + -0.11347401887178421 + ], + [ + 0.3372158706188202, + -0.9381272196769714, + 0.07875754684209824, + 0.04515618458390236 + ], + [ + 0.1325502097606659, + -0.03551166504621506, + -0.9905399084091187, + 0.0025469628162682056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9238647818565369, + 0.3629598915576935, + 0.12138346582651138, + -0.11822525411844254 + ], + [ + 0.35565727949142456, + -0.931357204914093, + 0.0779847800731659, + 0.04498015344142914 + ], + [ + 0.1413567066192627, + -0.028876475989818573, + -0.9895374774932861, + 0.0023603439331054688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9172976613044739, + 0.3771480321884155, + 0.1277666538953781, + -0.12215261161327362 + ], + [ + 0.37080276012420654, + -0.9259796142578125, + 0.07118341326713562, + 0.04461848735809326 + ], + [ + 0.14515601098537445, + -0.017920151352882385, + -0.9892464876174927, + 0.001912042498588562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9101941585540771, + 0.39116957783699036, + 0.13613586127758026, + -0.12569499015808105 + ], + [ + 0.3857820928096771, + -0.9202943444252014, + 0.06504201889038086, + 0.04437221214175224 + ], + [ + 0.1507275253534317, + -0.006682084407657385, + -0.9885527491569519, + 0.0015083434991538525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.901862382888794, + 0.40546494722366333, + 0.1491389274597168, + -0.12943986058235168 + ], + [ + 0.4005272388458252, + -0.9141063690185547, + 0.06314673274755478, + 0.044469401240348816 + ], + [ + 0.16193263232707977, + 0.002784542739391327, + -0.9867978692054749, + 0.0013678967952728271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8943167924880981, + 0.4193277657032013, + 0.15608243644237518, + -0.13255183398723602 + ], + [ + 0.415932834148407, + -0.9077050089836121, + 0.05542080104351044, + 0.04444986581802368 + ], + [ + 0.1649162918329239, + 0.01535605825483799, + -0.9861879944801331, + 0.0007182657718658447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8853212594985962, + 0.43394190073013306, + 0.16703489422798157, + -0.13536128401756287 + ], + [ + 0.43251222372055054, + -0.9004133939743042, + 0.04678565636277199, + 0.04437834024429321 + ], + [ + 0.17070272564888, + 0.030824298039078712, + -0.9848403334617615, + 3.115832805633545e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8739551305770874, + 0.45042791962623596, + 0.18252988159656525, + -0.1380583792924881 + ], + [ + 0.449994832277298, + -0.8918354511260986, + 0.04619693011045456, + 0.044479548931121826 + ], + [ + 0.18359500169754028, + 0.04176345467567444, + -0.9821143746376038, + -0.0006085187196731567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8619785308837891, + 0.4683690667152405, + 0.19396768510341644, + -0.1405741274356842 + ], + [ + 0.46975547075271606, + -0.8818099498748779, + 0.04172530025243759, + 0.04471801221370697 + ], + [ + 0.19058547914028168, + 0.0551510713994503, + -0.9801201820373535, + -0.001029178500175476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8521197438240051, + 0.4807957410812378, + 0.20670603215694427, + -0.14226047694683075 + ], + [ + 0.4845011830329895, + -0.8740595579147339, + 0.03575659543275833, + 0.04507307708263397 + ], + [ + 0.19786499440670013, + 0.06968041509389877, + -0.9777495265007019, + -0.001011684536933899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8400839567184448, + 0.49539443850517273, + 0.22100524604320526, + -0.14413407444953918 + ], + [ + 0.5020399689674377, + -0.864353358745575, + 0.02914019487798214, + 0.04539218917489052 + ], + [ + 0.2054625153541565, + 0.0864732563495636, + -0.9748371839523315, + -0.0007759365253150463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8242536187171936, + 0.5144791603088379, + 0.2364681363105774, + -0.14618948101997375 + ], + [ + 0.523506224155426, + -0.8515632152557373, + 0.02795136161148548, + 0.04587950184941292 + ], + [ + 0.21574796736240387, + 0.1007535383105278, + -0.9712371230125427, + -0.00022524921223521233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8098190426826477, + 0.5302270650863647, + 0.2511023283004761, + -0.14814889430999756 + ], + [ + 0.5408579707145691, + -0.8405563831329346, + 0.030619777739048004, + 0.04628913104534149 + ], + [ + 0.22730110585689545, + 0.1110142171382904, + -0.9674761295318604, + 0.0009351521730422974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7993821501731873, + 0.5427134037017822, + 0.2577795386314392, + -0.14980851113796234 + ], + [ + 0.5532261729240417, + -0.8322287797927856, + 0.03655291348695755, + 0.046724408864974976 + ], + [ + 0.23436930775642395, + 0.11339063942432404, + -0.9655120968818665, + 0.0032731294631958008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7868085503578186, + 0.5565233826637268, + 0.26685959100723267, + -0.1518915891647339 + ], + [ + 0.5673508048057556, + -0.822390079498291, + 0.04228005185723305, + 0.04671170935034752 + ], + [ + 0.24299252033233643, + 0.1181367039680481, + -0.9628075361251831, + 0.004710672423243523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.77577143907547, + 0.5638481378555298, + 0.2832913398742676, + -0.15347707271575928 + ], + [ + 0.5795506238937378, + -0.8142443299293518, + 0.03357439860701561, + 0.04650910198688507 + ], + [ + 0.24959921836853027, + 0.13813559710979462, + -0.9584460258483887, + 0.004266321659088135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.770118772983551, + 0.5687371492385864, + 0.28888604044914246, + -0.15446238219738007 + ], + [ + 0.5893213748931885, + -0.8076738119125366, + 0.019061703234910965, + 0.04647441580891609 + ], + [ + 0.2441667914390564, + 0.15556694567203522, + -0.9571737051010132, + 0.004084419924765825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7602486610412598, + 0.5751602649688721, + 0.30201438069343567, + -0.15558399260044098 + ], + [ + 0.5992920398712158, + -0.8003770112991333, + 0.015675051137804985, + 0.04622936248779297 + ], + [ + 0.25074103474617004, + 0.16907787322998047, + -0.9531744718551636, + 0.0033458173274993896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7543633580207825, + 0.5768481492996216, + 0.31334030628204346, + -0.15597958862781525 + ], + [ + 0.604656457901001, + -0.7964175343513489, + 0.010471881367266178, + 0.04615379497408867 + ], + [ + 0.25559040904045105, + 0.18156364560127258, + -0.9495831727981567, + 0.0021847966127097607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7483822107315063, + 0.5847127437591553, + 0.3131055533885956, + -0.15636645257472992 + ], + [ + 0.6133818030357361, + -0.7897385358810425, + 0.008706821128726006, + 0.045965224504470825 + ], + [ + 0.25236251950263977, + 0.18553723394870758, + -0.9496784210205078, + 0.002093389630317688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7403346300125122, + 0.5920233726501465, + 0.31845399737358093, + -0.15672244131565094 + ], + [ + 0.6209332942962646, + -0.7837471961975098, + 0.01349739357829094, + 0.04556706175208092 + ], + [ + 0.25757819414138794, + 0.1877460926771164, + -0.9478422403335571, + 0.0023675146512687206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.731067419052124, + 0.6007503271102905, + 0.32348018884658813, + -0.15723465383052826 + ], + [ + 0.6300361752510071, + -0.7763588428497314, + 0.017926592379808426, + 0.04492132365703583 + ], + [ + 0.26190611720085144, + 0.19069868326187134, + -0.9460651278495789, + 0.002583518624305725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.724637508392334, + 0.6077475547790527, + 0.3248744010925293, + -0.15765871107578278 + ], + [ + 0.6380296349525452, + -0.7698244452476501, + 0.016987226903438568, + 0.044122204184532166 + ], + [ + 0.26042020320892334, + 0.19496990740299225, + -0.9456046223640442, + 0.0027433782815933228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7155344486236572, + 0.618147075176239, + 0.3254299759864807, + -0.15808828175067902 + ], + [ + 0.6487455368041992, + -0.7607766389846802, + 0.018658632412552834, + 0.04281088337302208 + ], + [ + 0.25911328196525574, + 0.19777034223079681, + -0.9453820586204529, + 0.0036143395118415356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7105820178985596, + 0.6251504421234131, + 0.3228934705257416, + -0.15850766003131866 + ], + [ + 0.656638503074646, + -0.7540586590766907, + 0.014879729598760605, + 0.041452810168266296 + ], + [ + 0.2527826726436615, + 0.20145101845264435, + -0.9463183283805847, + 0.0037763267755508423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7113707661628723, + 0.6265027523040771, + 0.31850579380989075, + -0.1581660360097885 + ], + [ + 0.6580898761749268, + -0.7528581619262695, + 0.011057425290346146, + 0.0403437465429306 + ], + [ + 0.2467171996831894, + 0.20173950493335724, + -0.9478564262390137, + 0.003756493330001831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.71554034948349, + 0.6236869096755981, + 0.31466910243034363, + -0.1566629707813263 + ], + [ + 0.6559470295906067, + -0.7547938227653503, + 0.004444305319339037, + 0.03927185758948326 + ], + [ + 0.24028216302394867, + 0.20322619378566742, + -0.9491910338401794, + 0.0036446633748710155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7309194803237915, + 0.6118281483650208, + 0.3023624122142792, + -0.15386244654655457 + ], + [ + 0.6439176797866821, + -0.7650473713874817, + -0.008514533750712872, + 0.03889164328575134 + ], + [ + 0.22611214220523834, + 0.20091994106769562, + -0.9531550407409668, + 0.0034249871969223022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7478146553039551, + 0.5963363647460938, + 0.29181528091430664, + -0.15033118426799774 + ], + [ + 0.6277797222137451, + -0.778170108795166, + -0.01854521967470646, + 0.03854190930724144 + ], + [ + 0.21602272987365723, + 0.1970641016960144, + -0.9562948942184448, + 0.0032279822044074535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7675905227661133, + 0.5755587816238403, + 0.28202274441719055, + -0.14601017534732819 + ], + [ + 0.6070670485496521, + -0.794012725353241, + -0.031833961606025696, + 0.038137733936309814 + ], + [ + 0.2056073397397995, + 0.19564217329025269, + -0.9588794112205505, + 0.002503514289855957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7870293855667114, + 0.5569947957992554, + 0.2652198374271393, + -0.14198334515094757 + ], + [ + 0.5875824689865112, + -0.8077881336212158, + -0.04717192053794861, + 0.03718350827693939 + ], + [ + 0.18796691298484802, + 0.19296422600746155, + -0.9630333781242371, + 0.0015353411436080933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.8061344027519226, + 0.5361766219139099, + 0.25032374262809753, + -0.137795090675354 + ], + [ + 0.5650328993797302, + -0.8231298923492432, + -0.056524619460105896, + 0.03586606681346893 + ], + [ + 0.1757417768239975, + 0.1870075911283493, + -0.9665107131004333, + 0.0016689151525497437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.8252427577972412, + 0.5142883658409119, + 0.2334134727716446, + -0.13320162892341614 + ], + [ + 0.5397148728370667, + -0.8398704528808594, + -0.05766672641038895, + 0.03506280481815338 + ], + [ + 0.16637974977493286, + 0.17356577515602112, + -0.9706661105155945, + 0.0023317039012908936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.8433553576469421, + 0.49388477206230164, + 0.21173003315925598, + -0.12846745550632477 + ], + [ + 0.5153317451477051, + -0.8550093173980713, + -0.05824259668588638, + 0.034546107053756714 + ], + [ + 0.1522660255432129, + 0.15823042392730713, + -0.9755911827087402, + 0.0029667913913726807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.8632197976112366, + 0.4680016040802002, + 0.18927790224552155, + -0.1232413500547409 + ], + [ + 0.48616012930870056, + -0.8716739416122437, + -0.061910081654787064, + 0.034352079033851624 + ], + [ + 0.13601459562778473, + 0.14546136558055878, + -0.9799699187278748, + 0.003489673137664795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.8833255171775818, + 0.43812674283981323, + 0.16667616367340088, + -0.11775258183479309 + ], + [ + 0.4533485770225525, + -0.888881504535675, + -0.06606599688529968, + 0.03409428894519806 + ], + [ + 0.11921008676290512, + 0.13392019271850586, + -0.9837958812713623, + 0.004338100552558899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.8993323445320129, + 0.4132421910762787, + 0.1429414600133896, + -0.11292967200279236 + ], + [ + 0.42578554153442383, + -0.9020233154296875, + -0.07113819569349289, + 0.033530861139297485 + ], + [ + 0.09953922778367996, + 0.12483928352594376, + -0.9871712327003479, + 0.004753559827804565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9122281074523926, + 0.3904595375061035, + 0.12402094155550003, + -0.10857927054166794 + ], + [ + 0.40137287974357605, + -0.9124521017074585, + -0.07956709712743759, + 0.03275396302342415 + ], + [ + 0.0820954442024231, + 0.12236198782920837, + -0.9890843629837036, + 0.004645850975066423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9255082607269287, + 0.36441969871520996, + 0.10311499238014221, + -0.10400600731372833 + ], + [ + 0.37327370047569275, + -0.9237589240074158, + -0.08565151691436768, + 0.03169398009777069 + ], + [ + 0.06404029577970505, + 0.11776129901409149, + -0.9909748435020447, + 0.004915446043014526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.935045063495636, + 0.34414342045783997, + 0.08518233895301819, + -0.09977996349334717 + ], + [ + 0.3511272072792053, + -0.9321491122245789, + -0.08836095780134201, + 0.03050898015499115 + ], + [ + 0.0489937998354435, + 0.11253131926059723, + -0.9924395680427551, + 0.004775121808052063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9428399801254272, + 0.3254668116569519, + 0.07158338278532028, + -0.09532201290130615 + ], + [ + 0.33124563097953796, + -0.9388038516044617, + -0.09446533024311066, + 0.02917902171611786 + ], + [ + 0.036457423120737076, + 0.11277737468481064, + -0.9929512143135071, + 0.003959000110626221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9517390727996826, + 0.3024037778377533, + 0.05239030718803406, + -0.09017812460660934 + ], + [ + 0.3063112199306488, + -0.9465891122817993, + -0.10070986300706863, + 0.028041472658514977 + ], + [ + 0.019137050956487656, + 0.11189724504947662, + -0.9935355186462402, + 0.0029435274191200733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9594292640686035, + 0.28005239367485046, + 0.03265191987156868, + -0.08491036295890808 + ], + [ + 0.2819373607635498, + -0.9540051817893982, + -0.10190891474485397, + 0.027191201224923134 + ], + [ + 0.002610266674309969, + 0.10698018968105316, + -0.9942577481269836, + 0.0021265330724418163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9672962427139282, + 0.2533438503742218, + 0.012444579042494297, + -0.07904790341854095 + ], + [ + 0.25323259830474854, + -0.9617329239845276, + -0.10460871458053589, + 0.026700645685195923 + ], + [ + -0.014533612877130508, + 0.10433898866176605, + -0.9944356083869934, + 0.0014251172542572021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9739913940429688, + 0.22632664442062378, + -0.010814967565238476, + -0.07307447493076324 + ], + [ + 0.22379913926124573, + -0.9683817625045776, + -0.11023039370775223, + 0.02638864517211914 + ], + [ + -0.03542109206318855, + 0.10494307428598404, + -0.9938471913337708, + 0.0003248155117034912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9791719317436218, + 0.20159907639026642, + -0.02408689074218273, + -0.06703528761863708 + ], + [ + 0.19771328568458557, + -0.973761796951294, + -0.11268299072980881, + 0.026391154155135155 + ], + [ + -0.046171680092811584, + 0.10557372123003006, + -0.9933390021324158, + -0.0009040567092597485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9844304323196411, + 0.17232371866703033, + -0.03465869277715683, + -0.060439903289079666 + ], + [ + 0.16753409802913666, + -0.9795240163803101, + -0.11164697259664536, + 0.027041062712669373 + ], + [ + -0.053188443183898926, + 0.10410217195749283, + -0.9931433796882629, + -0.0020347684621810913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.98892742395401, + 0.14009582996368408, + -0.04894603416323662, + -0.05309666320681572 + ], + [ + 0.1340884268283844, + -0.9848713278770447, + -0.10976672172546387, + 0.027624959126114845 + ], + [ + -0.06358340382575989, + 0.10198821872472763, + -0.9927514791488647, + -0.003614844521507621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9919759631156921, + 0.11233992129564285, + -0.057995326817035675, + -0.0457494854927063 + ], + [ + 0.10572921484708786, + -0.9886594414710999, + -0.10664808005094528, + 0.028323760256171227 + ], + [ + -0.06931846588850021, + 0.09966053068637848, + -0.9926040172576904, + -0.005410421174019575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9943179488182068, + 0.08688429743051529, + -0.06150543689727783, + -0.03857145085930824 + ], + [ + 0.08027902245521545, + -0.9914624691009521, + -0.10274940729141235, + 0.029305675998330116 + ], + [ + -0.06990764290094376, + 0.09722798317670822, + -0.9928039312362671, + -0.006968524772673845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9956822395324707, + 0.06339144706726074, + -0.06781171262264252, + -0.031194942072033882 + ], + [ + 0.056413643062114716, + -0.9933583736419678, + -0.10028299689292908, + 0.03019411861896515 + ], + [ + -0.07371841371059418, + 0.09602449834346771, + -0.9926453828811646, + -0.008830979466438293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9964768290519714, + 0.043729960918426514, + -0.07156578451395035, + -0.02379155531525612 + ], + [ + 0.03659718856215477, + -0.9945024251937866, + -0.09810978919267654, + 0.03112204372882843 + ], + [ + -0.07546268403530121, + 0.09514502435922623, + -0.9925990104675293, + -0.010745331645011902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9968311190605164, + 0.022978221997618675, + -0.07615552097558975, + -0.016366001218557358 + ], + [ + 0.015609274618327618, + -0.9952607154846191, + -0.09598136693239212, + 0.03239858150482178 + ], + [ + -0.07800008356571198, + 0.0944884866476059, + -0.9924655556678772, + -0.012067705392837524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9963439702987671, + 0.0005994490929879248, + -0.08543042838573456, + -0.008569519966840744 + ], + [ + -0.006951102055609226, + -0.9960911273956299, + -0.08805754780769348, + 0.033469006419181824 + ], + [ + -0.08514928072690964, + 0.08832944184541702, + -0.9924452304840088, + -0.013032659888267517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9957329630851746, + -0.016351940110325813, + -0.09082130342721939, + -0.0011235254351049662 + ], + [ + -0.024027837440371513, + -0.9961695075035095, + -0.08407726138830185, + 0.03464270755648613 + ], + [ + -0.08909858018159866, + 0.08590073883533478, + -0.9923117160797119, + -0.014161275699734688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9941031336784363, + -0.03665151447057724, + -0.10205721855163574, + 0.006685677915811539 + ], + [ + -0.04540365934371948, + -0.9953630566596985, + -0.08479903638362885, + 0.036060914397239685 + ], + [ + -0.09847597032785416, + 0.08893276005983353, + -0.9911576509475708, + -0.015070840716362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9916366338729858, + -0.05818314105272293, + -0.11520197987556458, + 0.0145496167242527 + ], + [ + -0.06769733875989914, + -0.9944552183151245, + -0.08047288656234741, + 0.037307918071746826 + ], + [ + -0.10988104343414307, + 0.08759872615337372, + -0.9900770783424377, + -0.01583920419216156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9889905452728271, + -0.07543879747390747, + -0.1273052990436554, + 0.021756570786237717 + ], + [ + -0.08565094321966171, + -0.9933652877807617, + -0.07674229145050049, + 0.038536276668310165 + ], + [ + -0.12067131698131561, + 0.08680122345685959, + -0.9888902902603149, + -0.016694094985723495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.985420286655426, + -0.09337436407804489, + -0.14222528040409088, + 0.02831195294857025 + ], + [ + -0.10477781295776367, + -0.9916706681251526, + -0.07490630447864532, + 0.03987577185034752 + ], + [ + -0.1340463012456894, + 0.08871624618768692, + -0.9869959354400635, + -0.017521755769848824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9807453751564026, + -0.10925054550170898, + -0.16187284886837006, + 0.03431972488760948 + ], + [ + -0.122893325984478, + -0.9894447922706604, + -0.07678668946027756, + 0.0409587025642395 + ], + [ + -0.1517752707004547, + 0.0952012836933136, + -0.9838196039199829, + -0.01900254189968109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9773499965667725, + -0.12347817420959473, + -0.1718723475933075, + 0.040065567940473557 + ], + [ + -0.1382979452610016, + -0.9873881340026855, + -0.0770607441663742, + 0.041875213384628296 + ], + [ + -0.16018939018249512, + 0.09908491373062134, + -0.9821005463600159, + -0.02037777006626129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9740297198295593, + -0.13761304318904877, + -0.17980213463306427, + 0.0453181155025959 + ], + [ + -0.15268933773040771, + -0.9855872988700867, + -0.07282603532075882, + 0.042976897209882736 + ], + [ + -0.1671888828277588, + 0.09838858246803284, + -0.9810033440589905, + -0.02169446274638176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9698174595832825, + -0.1513291448354721, + -0.19118979573249817, + 0.05033661052584648 + ], + [ + -0.1680516004562378, + -0.9829651713371277, + -0.07441869378089905, + 0.04367981478571892 + ], + [ + -0.17667119204998016, + 0.1043023020029068, + -0.9787279367446899, + -0.023473482578992844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9652692079544067, + -0.1632101833820343, + -0.20400427281856537, + 0.055031102150678635 + ], + [ + -0.18178929388523102, + -0.9804120659828186, + -0.07579436898231506, + 0.04420376941561699 + ], + [ + -0.18763785064220428, + 0.11024776101112366, + -0.976031482219696, + -0.025093238800764084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9254197478294373, + -0.2786947190761566, + -0.2567636966705322, + 0.03981386497616768 + ], + [ + -0.3353632390499115, + -0.917809247970581, + -0.21250341832637787, + 0.022799447178840637 + ], + [ + -0.17643649876117706, + 0.2827639579772949, + -0.9428227543830872, + -0.02081248164176941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9344522953033447, + -0.26142191886901855, + -0.24177983403205872, + 0.03281700238585472 + ], + [ + -0.3135747015476227, + -0.9258559346199036, + -0.21085938811302185, + 0.022286444902420044 + ], + [ + -0.16873003542423248, + 0.2728540897369385, + -0.9471434950828552, + -0.018918395042419434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9454048275947571, + -0.24401164054870605, + -0.21602784097194672, + 0.026113595813512802 + ], + [ + -0.28958308696746826, + -0.9330673217773438, + -0.21337048709392548, + 0.021839603781700134 + ], + [ + -0.1495036482810974, + 0.2642795145511627, + -0.9527879953384399, + -0.01709480583667755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9530105590820312, + -0.22661694884300232, + -0.20103640854358673, + 0.01962108537554741 + ], + [ + -0.26791369915008545, + -0.9402419924736023, + -0.21015995740890503, + 0.021368542686104774 + ], + [ + -0.14139707386493683, + 0.2541450560092926, + -0.9567743539810181, + -0.015056397765874863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9615129828453064, + -0.20808982849121094, + -0.17941953241825104, + 0.01289310771971941 + ], + [ + -0.24436871707439423, + -0.9461781978607178, + -0.21220460534095764, + 0.020747968927025795 + ], + [ + -0.12560522556304932, + 0.24788200855255127, + -0.9606132507324219, + -0.01322556659579277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9686516523361206, + -0.18659435212612152, + -0.16400177776813507, + 0.005927767604589462 + ], + [ + -0.21933218836784363, + -0.9523624181747437, + -0.21189424395561218, + 0.020091384649276733 + ], + [ + -0.11665086448192596, + 0.2412225753068924, + -0.963433563709259, + -0.011598050594329834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9730803966522217, + -0.16899371147155762, + -0.15670239925384521, + -0.0004436974704731256 + ], + [ + -0.20069819688796997, + -0.9556071758270264, + -0.21572022140026093, + 0.01916470192372799 + ], + [ + -0.11329057067632675, + 0.24136300384998322, + -0.9637993574142456, + -0.010964859277009964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9791673421859741, + -0.14792723953723907, + -0.1391000896692276, + -0.006940346211194992 + ], + [ + -0.1763812005519867, + -0.9590267539024353, + -0.22171467542648315, + 0.01812662184238434 + ], + [ + -0.10060306638479233, + 0.241630420088768, + -0.9651392698287964, + -0.010475397109985352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.984757125377655, + -0.12673428654670715, + -0.1191294938325882, + -0.013111259788274765 + ], + [ + -0.15136489272117615, + -0.9618233442306519, + -0.22800107300281525, + 0.016980856657028198 + ], + [ + -0.08568597584962845, + 0.24255770444869995, + -0.9663455486297607, + -0.010326147079467773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9877544641494751, + -0.11091132462024689, + -0.10972604900598526, + -0.01836918666958809 + ], + [ + -0.13440991938114166, + -0.9620358943939209, + -0.23753084242343903, + 0.015962451696395874 + ], + [ + -0.07921553403139114, + 0.24937042593955994, + -0.9651628136634827, + -0.011196047067642212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.991295337677002, + -0.0930103212594986, + -0.09318096935749054, + -0.024051524698734283 + ], + [ + -0.11344818770885468, + -0.9625867009162903, + -0.24608203768730164, + 0.01501697301864624 + ], + [ + -0.06680659204721451, + 0.25451117753982544, + -0.9647595286369324, + -0.011786818504333496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9962979555130005, + -0.06660296022891998, + -0.05435485392808914, + -0.030680455267429352 + ], + [ + -0.0781497061252594, + -0.965128481388092, + -0.24983923137187958, + 0.01472271978855133 + ], + [ + -0.03581938520073891, + 0.25316211581230164, + -0.966760516166687, + -0.011245965957641602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9985660314559937, + -0.04234743118286133, + -0.03275102749466896, + -0.036969318985939026 + ], + [ + -0.049194078892469406, + -0.9671608805656433, + -0.24935868382453918, + 0.014573663473129272 + ], + [ + -0.02111581154167652, + 0.2506122589111328, + -0.9678572416305542, + -0.010359972715377808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9997625946998596, + -0.020177576690912247, + -0.008226372301578522, + -0.043204694986343384 + ], + [ + -0.021589171141386032, + -0.9683911204338074, + -0.24850068986415863, + 0.014376610517501831 + ], + [ + -0.0029522040858864784, + 0.24861928820610046, + -0.9685967564582825, + -0.009066477417945862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.999567449092865, + 0.010273956693708897, + 0.027556851506233215, + -0.050305865705013275 + ], + [ + 0.016640063375234604, + -0.9701635241508484, + -0.2418798804283142, + 0.014666572213172913 + ], + [ + 0.024249589070677757, + 0.24223379790782928, + -0.9699147939682007, + -0.007234498858451843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9979304671287537, + 0.0375116690993309, + 0.052227217704057693, + -0.05680139735341072 + ], + [ + 0.04875251278281212, + -0.9709793925285339, + -0.2341414988040924, + 0.015171438455581665 + ], + [ + 0.04192851483821869, + 0.2362031489610672, + -0.970798671245575, + -0.005536720156669617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9944099187850952, + 0.06665220856666565, + 0.08189279586076736, + -0.06348404288291931 + ], + [ + 0.0837373435497284, + -0.9702608585357666, + -0.2271166294813156, + 0.01568307913839817 + ], + [ + 0.06431955099105835, + 0.2327045053243637, + -0.9704182744026184, + -0.004336696583777666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9868363738059998, + 0.11206472665071487, + 0.11659940332174301, + -0.07149416953325272 + ], + [ + 0.1359470784664154, + -0.9653416872024536, + -0.22278645634651184, + 0.01639985479414463 + ], + [ + 0.08759176731109619, + 0.23570512235164642, + -0.967869222164154, + -0.004259746987372637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9816046357154846, + 0.1409023404121399, + 0.12883661687374115, + -0.07713348418474197 + ], + [ + 0.1675686538219452, + -0.9592148065567017, + -0.22765693068504333, + 0.01711178757250309 + ], + [ + 0.09150458872318268, + 0.245058074593544, + -0.965180516242981, + -0.00510313780978322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9755929112434387, + 0.16038160026073456, + 0.14998719096183777, + -0.0812990665435791 + ], + [ + 0.19248981773853302, + -0.9533170461654663, + -0.23266783356666565, + 0.017989948391914368 + ], + [ + 0.10566970705986023, + 0.2558600902557373, + -0.9609211683273315, + -0.006298869848251343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9689561128616333, + 0.18363645672798157, + 0.16553449630737305, + -0.0854795053601265 + ], + [ + 0.21955135464668274, + -0.9469695091247559, + -0.23461882770061493, + 0.0190218985080719 + ], + [ + 0.11367154866456985, + 0.2636786699295044, + -0.9578894972801208, + -0.007737502455711365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9631831049919128, + 0.19883058965206146, + 0.18095500767230988, + -0.08825511485338211 + ], + [ + 0.23960377275943756, + -0.9401364922523499, + -0.24234983325004578, + 0.020334014669060707 + ], + [ + 0.12193583697080612, + 0.276784747838974, + -0.9531641006469727, + -0.009681832045316696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9568785429000854, + 0.21189860999584198, + 0.1987018883228302, + -0.0910482257604599 + ], + [ + 0.25834715366363525, + -0.9335202574729919, + -0.24858947098255157, + 0.021509751677513123 + ], + [ + 0.13281647861003876, + 0.2892040014266968, + -0.9480088949203491, + -0.011371538043022156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9495539665222168, + 0.2308400720357895, + 0.21227362751960754, + -0.09474432468414307 + ], + [ + 0.2809108793735504, + -0.9270036816596985, + -0.24850210547447205, + 0.022539407014846802 + ], + [ + 0.13941419124603271, + 0.2955961525440216, + -0.9450855255126953, + -0.012442484498023987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9418574571609497, + 0.24580341577529907, + 0.22909650206565857, + -0.09839655458927155 + ], + [ + 0.29996421933174133, + -0.9223147630691528, + -0.2436327189207077, + 0.024162033572793007 + ], + [ + 0.15141333639621735, + 0.2981880307197571, + -0.9424213171005249, + -0.012948404997587204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9348186254501343, + 0.26115649938583374, + 0.24064795672893524, + -0.10211732983589172 + ], + [ + 0.3175184428691864, + -0.9181486964225769, + -0.2370336651802063, + 0.025739282369613647 + ], + [ + 0.15904772281646729, + 0.29799365997314453, + -0.9412245154380798, + -0.012859329581260681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9280343651771545, + 0.27633407711982727, + 0.2497832030057907, + -0.10600758343935013 + ], + [ + 0.3349993824958801, + -0.9123653769493103, + -0.23529726266860962, + 0.02696896158158779 + ], + [ + 0.16287289559841156, + 0.3020411729812622, + -0.9392781853675842, + -0.012787539511919022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9185478687286377, + 0.29550328850746155, + 0.2625787854194641, + -0.11036679893732071 + ], + [ + 0.35705846548080444, + -0.9052463173866272, + -0.23030059039592743, + 0.028276318684220314 + ], + [ + 0.16964387893676758, + 0.3052980899810791, + -0.9370239973068237, + -0.012104462832212448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9087615013122559, + 0.31405845284461975, + 0.27480870485305786, + -0.11483962088823318 + ], + [ + 0.37829557061195374, + -0.8979905247688293, + -0.22473424673080444, + 0.029364073649048805 + ], + [ + 0.1761959195137024, + 0.3081887364387512, + -0.9348661303520203, + -0.01150992140173912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.8983472585678101, + 0.33321404457092285, + 0.2862527072429657, + -0.11935044825077057 + ], + [ + 0.39968493580818176, + -0.8903828859329224, + -0.2178766280412674, + 0.03037160634994507 + ], + [ + 0.1822749674320221, + 0.3101397752761841, + -0.9330536723136902, + -0.010965242981910706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.8848365545272827, + 0.3549170196056366, + 0.301824688911438, + -0.12395244091749191 + ], + [ + 0.42489558458328247, + -0.8804828524589539, + -0.21027040481567383, + 0.03158288821578026 + ], + [ + 0.19112291932106018, + 0.31429892778396606, + -0.9298861026763916, + -0.009920459240674973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.872529923915863, + 0.37598201632499695, + 0.31197601556777954, + -0.12809939682483673 + ], + [ + 0.44781821966171265, + -0.87076735496521, + -0.20303456485271454, + 0.03315483033657074 + ], + [ + 0.195321187376976, + 0.3168622851371765, + -0.9281421899795532, + -0.009143024682998657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.8619330525398254, + 0.394412100315094, + 0.3186071217060089, + -0.1313488930463791 + ], + [ + 0.46738752722740173, + -0.8616454601287842, + -0.19777774810791016, + 0.035232871770858765 + ], + [ + 0.19652043282985687, + 0.3193841874599457, + -0.9270240068435669, + -0.008694037795066833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.8542273044586182, + 0.4082357883453369, + 0.32193049788475037, + -0.13374154269695282 + ], + [ + 0.4829983413219452, + -0.8522728085517883, + -0.2008572816848755, + 0.0373685359954834 + ], + [ + 0.19237548112869263, + 0.3270696699619293, + -0.9252119064331055, + -0.00828583538532257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.8423681855201721, + 0.4255303740501404, + 0.3306655287742615, + -0.13632549345493317 + ], + [ + 0.5032016038894653, + -0.8407052159309387, + -0.20000702142715454, + 0.03914050757884979 + ], + [ + 0.1928831785917282, + 0.33487099409103394, + -0.9223109483718872, + -0.008382335305213928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.829329252243042, + 0.4382287561893463, + 0.3466533124446869, + -0.13834774494171143 + ], + [ + 0.5218898057937622, + -0.8291418552398682, + -0.200386643409729, + 0.04055028781294823 + ], + [ + 0.19960959255695343, + 0.3471013307571411, + -0.9163387417793274, + -0.009003635495901108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.8163047432899475, + 0.4527398347854614, + 0.35871046781539917, + -0.14002598822116852 + ], + [ + 0.5411115884780884, + -0.816661536693573, + -0.20065420866012573, + 0.04194243252277374 + ], + [ + 0.20210090279579163, + 0.3578973710536957, + -0.911627471446991, + -0.009478241205215454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.802908182144165, + 0.4660278856754303, + 0.3716941177845001, + -0.14159850776195526 + ], + [ + 0.5596268177032471, + -0.8040672540664673, + -0.2007327377796173, + 0.04343033954501152 + ], + [ + 0.20532001554965973, + 0.36917996406555176, + -0.9063938856124878, + -0.010312940925359726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.7881166338920593, + 0.47428208589553833, + 0.392337441444397, + -0.14269590377807617 + ], + [ + 0.5747636556625366, + -0.7951518297195435, + -0.1933399736881256, + 0.04531806334853172 + ], + [ + 0.22027012705802917, + 0.37787574529647827, + -0.8992725014686584, + -0.0108286552131176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.7744123935699463, + 0.48740214109420776, + 0.40339142084121704, + -0.14420948922634125 + ], + [ + 0.5914483666419983, + -0.7841159701347351, + -0.18801872432231903, + 0.04731699824333191 + ], + [ + 0.22466491162776947, + 0.3841892182826996, + -0.8955022692680359, + -0.010604411363601685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.7656497359275818, + 0.5007644891738892, + 0.4037517011165619, + -0.14576299488544464 + ], + [ + 0.6066445708274841, + -0.7708563208580017, + -0.19432683289051056, + 0.04918128252029419 + ], + [ + 0.21392257511615753, + 0.3937200605869293, + -0.8939919471740723, + -0.01113426685333252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.7509408593177795, + 0.5094423294067383, + 0.4201861619949341, + -0.1469281166791916 + ], + [ + 0.6225143671035767, + -0.7584409713745117, + -0.19298478960990906, + 0.05129586160182953 + ], + [ + 0.2203717827796936, + 0.40649208426475525, + -0.886679470539093, + -0.011894792318344116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.7338154315948486, + 0.520530104637146, + 0.4365355968475342, + -0.14857792854309082 + ], + [ + 0.6386407017707825, + -0.7476654052734375, + -0.18202880024909973, + 0.05401818826794624 + ], + [ + 0.2316310852766037, + 0.4123649597167969, + -0.881080150604248, + -0.01186491921544075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.7241418361663818, + 0.5326219797134399, + 0.4381009638309479, + -0.15007860958576202 + ], + [ + 0.6497731804847717, + -0.7398039698600769, + -0.17459926009178162, + 0.05687795579433441 + ], + [ + 0.23111343383789062, + 0.4111008942127228, + -0.881806492805481, + -0.0115441232919693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.7166441679000854, + 0.5394900441169739, + 0.4420086443424225, + -0.1511186957359314 + ], + [ + 0.6594511270523071, + -0.7304584980010986, + -0.17763611674308777, + 0.059307605028152466 + ], + [ + 0.22703605890274048, + 0.4187849760055542, + -0.8792461156845093, + -0.0120476633310318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.7081815600395203, + 0.5478703379631042, + 0.4453279674053192, + -0.15245771408081055 + ], + [ + 0.6712865233421326, + -0.7179257273674011, + -0.184274360537529, + 0.06134134531021118 + ], + [ + 0.21875394880771637, + 0.4294423758983612, + -0.8761997222900391, + -0.012529060244560242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.7042557597160339, + 0.5525646209716797, + 0.44575342535972595, + -0.15337969362735748 + ], + [ + 0.6776244640350342, + -0.710472583770752, + -0.18987835943698883, + 0.06352705508470535 + ], + [ + 0.2117755264043808, + 0.43577638268470764, + -0.8747857213020325, + -0.0127846859395504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.6937764286994934, + 0.5573520064353943, + 0.4561063051223755, + -0.15440432727336884 + ], + [ + 0.6847986578941345, + -0.706616997718811, + -0.17816634476184845, + 0.06584315001964569 + ], + [ + 0.22299109399318695, + 0.43594861030578613, + -0.8719081282615662, + -0.012357324361801147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.6871370077133179, + 0.5620129108428955, + 0.4604174494743347, + -0.15540964901447296 + ], + [ + 0.689502477645874, + -0.7041786313056946, + -0.16946615278720856, + 0.06804151833057404 + ], + [ + 0.22897398471832275, + 0.4339054524898529, + -0.8713765144348145, + -0.01123952865600586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.6820180416107178, + 0.5661557912826538, + 0.46294599771499634, + -0.15637902915477753 + ], + [ + 0.6941434144973755, + -0.7004246115684509, + -0.16604280471801758, + 0.06974243372678757 + ], + [ + 0.2302526831626892, + 0.43459510803222656, + -0.8706955909729004, + -0.010263573378324509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.6745630502700806, + 0.5714977383613586, + 0.4672847390174866, + -0.1573592722415924 + ], + [ + 0.7013469338417053, + -0.6936824917793274, + -0.16406431794166565, + 0.07095831632614136 + ], + [ + 0.23038484156131744, + 0.4384004473686218, + -0.8687507510185242, + -0.009366169571876526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.6700341701507568, + 0.5701791644096375, + 0.47534188628196716, + -0.15713532269001007 + ], + [ + 0.7029960751533508, + -0.6930531859397888, + -0.1596049815416336, + 0.07263435423374176 + ], + [ + 0.23843376338481903, + 0.44110429286956787, + -0.8652030825614929, + -0.007244080305099487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.6624971032142639, + 0.5749131441116333, + 0.4801795780658722, + -0.15750785171985626 + ], + [ + 0.7078205943107605, + -0.6902522444725037, + -0.1501396894454956, + 0.07402094453573227 + ], + [ + 0.24512772262096405, + 0.43934810161590576, + -0.864225447177887, + -0.004926588851958513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.658462643623352, + 0.5778482556343079, + 0.48220157623291016, + -0.15783020853996277 + ], + [ + 0.7120245099067688, + -0.6858598589897156, + -0.15039069950580597, + 0.0748358964920044 + ], + [ + 0.2438196837902069, + 0.44236600399017334, + -0.8630552291870117, + -0.003113359212875366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.6522844433784485, + 0.5809183716773987, + 0.4868868887424469, + -0.15809302031993866 + ], + [ + 0.7180355191230774, + -0.6793354153633118, + -0.15142111480236053, + 0.0752662867307663 + ], + [ + 0.24279621243476868, + 0.4483717381954193, + -0.8602399826049805, + -0.0009332150220870972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.6500290632247925, + 0.5825046300888062, + 0.48800671100616455, + -0.15833410620689392 + ], + [ + 0.7219361662864685, + -0.6738439202308655, + -0.15729758143424988, + 0.07539743185043335 + ], + [ + 0.23721377551555634, + 0.45455771684646606, + -0.8585492968559265, + 0.0007913112640380859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.6472482085227966, + 0.586371123790741, + 0.48707154393196106, + -0.15892088413238525 + ], + [ + 0.7266062498092651, + -0.6677666902542114, + -0.16165079176425934, + 0.07532991468906403 + ], + [ + 0.23046281933784485, + 0.45853742957115173, + -0.8582717180252075, + 0.002189144492149353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.6427404284477234, + 0.5866556167602539, + 0.49266621470451355, + -0.15903593599796295 + ], + [ + 0.7311004400253296, + -0.6618431210517883, + -0.16569805145263672, + 0.07525398582220078 + ], + [ + 0.2288600504398346, + 0.4666893184185028, + -0.8542974591255188, + 0.003496411722153425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.6397364139556885, + 0.5834409594535828, + 0.5003339052200317, + -0.15893270075321198 + ], + [ + 0.7332712411880493, + -0.6583853363990784, + -0.16982929408550262, + 0.07555335760116577 + ], + [ + 0.23032714426517487, + 0.47552645206451416, + -0.8490135669708252, + 0.004302233457565308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.6376890540122986, + 0.5836766958236694, + 0.5026670694351196, + -0.15935355424880981 + ], + [ + 0.736135721206665, + -0.6539422273635864, + -0.174538716673851, + 0.0758410319685936 + ], + [ + 0.2268410623073578, + 0.4813326299190521, + -0.8466770648956299, + 0.004877332132309675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.6378288269042969, + 0.5859403014183044, + 0.4998483657836914, + -0.1600702553987503 + ], + [ + 0.7386059761047363, + -0.6492756605148315, + -0.18138982355594635, + 0.07600238174200058 + ], + [ + 0.21825578808784485, + 0.48488664627075195, + -0.8469057679176331, + 0.0056356159038841724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.635429859161377, + 0.5849559307098389, + 0.5040391683578491, + -0.16045236587524414 + ], + [ + 0.7414878606796265, + -0.6444036960601807, + -0.18692153692245483, + 0.07630127668380737 + ], + [ + 0.21546383202075958, + 0.492514431476593, + -0.8432110548019409, + 0.005938515067100525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.6332088708877563, + 0.5845664143562317, + 0.5072757005691528, + -0.1608371138572693 + ], + [ + 0.7452064156532288, + -0.6375142931938171, + -0.195558100938797, + 0.07646995037794113 + ], + [ + 0.20907877385616302, + 0.5018542408943176, + -0.8393023610115051, + 0.0057719978503882885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.6314629912376404, + 0.5852992534637451, + 0.5086051821708679, + -0.1615695357322693 + ], + [ + 0.7501806616783142, + -0.6270838975906372, + -0.20974932610988617, + 0.07629236578941345 + ], + [ + 0.19617198407649994, + 0.5139946937561035, + -0.8350604772567749, + 0.005869939923286438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.6273248195648193, + 0.5812647342681885, + 0.5182614326477051, + -0.1614803671836853 + ], + [ + 0.7558799982070923, + -0.6146026253700256, + -0.22563031315803528, + 0.07590100169181824 + ], + [ + 0.18737389147281647, + 0.5332869291305542, + -0.8249218463897705, + 0.004752978682518005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.617718517780304, + 0.575949490070343, + 0.5354493856430054, + -0.16103866696357727 + ], + [ + 0.7626826763153076, + -0.6047226786613464, + -0.2294026017189026, + 0.07592830061912537 + ], + [ + 0.19167406857013702, + 0.5500842332839966, + -0.8128151297569275, + 0.0034888535737991333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.6118907928466797, + 0.5755817294120789, + 0.5424899458885193, + -0.16077181696891785 + ], + [ + 0.767037034034729, + -0.5991764068603516, + -0.22943821549415588, + 0.07646720856428146 + ], + [ + 0.19298672676086426, + 0.556501030921936, + -0.808122992515564, + 0.0029380752239376307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.6066333055496216, + 0.5730022192001343, + 0.5510576367378235, + -0.16021788120269775 + ], + [ + 0.7699253559112549, + -0.5961223244667053, + -0.22771285474300385, + 0.0773288831114769 + ], + [ + 0.19801777601242065, + 0.5624114274978638, + -0.8027966022491455, + 0.0032682898454368114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.5942795872688293, + 0.5706610083580017, + 0.566725492477417, + -0.15975722670555115 + ], + [ + 0.7737264633178711, + -0.5979767441749573, + -0.20921562612056732, + 0.07855774462223053 + ], + [ + 0.2194974422454834, + 0.5628230571746826, + -0.7969009280204773, + 0.004035294055938721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.5903627872467041, + 0.5704727172851562, + 0.5709927082061768, + -0.15931333601474762 + ], + [ + 0.7734647989273071, + -0.602055013179779, + -0.19819669425487518, + 0.07989174872636795 + ], + [ + 0.230703204870224, + 0.5586507320404053, + -0.796671450138092, + 0.004918333608657122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.5927046537399292, + 0.5711567401885986, + 0.5678742527961731, + -0.15881094336509705 + ], + [ + 0.7724605798721313, + -0.6027450561523438, + -0.20000743865966797, + 0.08081004023551941 + ], + [ + 0.22804780304431915, + 0.5572057962417603, + -0.7984459400177002, + 0.0061942338943481445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.5958300828933716, + 0.5692153573036194, + 0.5665513277053833, + -0.1581013947725296 + ], + [ + 0.7714680433273315, + -0.601731538772583, + -0.2067756950855255, + 0.08103978633880615 + ], + [ + 0.22321189939975739, + 0.5602794289588928, + -0.7976611852645874, + 0.006253138184547424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.5988839268684387, + 0.5715615749359131, + 0.5609415173530579, + -0.15787792205810547 + ], + [ + 0.7707024812698364, + -0.6016784906387329, + -0.20976340770721436, + 0.0807153582572937 + ], + [ + 0.21761374175548553, + 0.5579429268836975, + -0.8008395433425903, + 0.0072212666273117065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.6028865575790405, + 0.5745778679847717, + 0.5535233020782471, + -0.15779095888137817 + ], + [ + 0.7694161534309387, + -0.6022211909294128, + -0.21290472149848938, + 0.08018986880779266 + ], + [ + 0.2110130935907364, + 0.5542471408843994, + -0.8051605820655823, + 0.007930532097816467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.6035149097442627, + 0.5775721669197083, + 0.549709141254425, + -0.1578328162431717 + ], + [ + 0.7698502540588379, + -0.6015893816947937, + -0.2131214290857315, + 0.0794394314289093 + ], + [ + 0.20760618150234222, + 0.5518156886100769, + -0.8077122569084167, + 0.008125126361846924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.6108846068382263, + 0.5805385112762451, + 0.5383261442184448, + -0.15801474452018738 + ], + [ + 0.7679216265678406, + -0.5999316573143005, + -0.22445142269134521, + 0.07814755290746689 + ], + [ + 0.19265620410442352, + 0.5505061745643616, + -0.8122970461845398, + 0.00878329947590828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.6135172843933105, + 0.5849018096923828, + 0.5305529236793518, + -0.15818727016448975 + ], + [ + 0.7669684290885925, + -0.6013270616531372, + -0.22397595643997192, + 0.07732370495796204 + ], + [ + 0.1880318820476532, + 0.5443304181098938, + -0.8175257444381714, + 0.00924210250377655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.6170276403427124, + 0.5887425541877747, + 0.5221676826477051, + -0.15806293487548828 + ], + [ + 0.764339029788971, + -0.6062520146369934, + -0.21964581310749054, + 0.07660573720932007 + ], + [ + 0.18725039064884186, + 0.5346406698226929, + -0.8240731954574585, + 0.009309649467468262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.6255257725715637, + 0.5905845761299133, + 0.50983065366745, + -0.15749290585517883 + ], + [ + 0.7593407034873962, + -0.610942006111145, + -0.22394540905952454, + 0.07529036700725555 + ], + [ + 0.17921826243400574, + 0.5272188186645508, + -0.8306149244308472, + 0.009453192353248596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.6399927735328674, + 0.5891278386116028, + 0.4932926893234253, + -0.15600894391536713 + ], + [ + 0.7501886487007141, + -0.617944598197937, + -0.23529022932052612, + 0.07361400127410889 + ], + [ + 0.16621153056621552, + 0.5206466317176819, + -0.8374370336532593, + 0.008257240056991577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.6583678722381592, + 0.587563157081604, + 0.47044798731803894, + -0.15387193858623505 + ], + [ + 0.7371350526809692, + -0.6297380924224854, + -0.24507515132427216, + 0.07174554467201233 + ], + [ + 0.1522618979215622, + 0.5081332921981812, + -0.8477126955986023, + 0.006304055452346802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.6799518465995789, + 0.5817931890487671, + 0.4462983310222626, + -0.15100403130054474 + ], + [ + 0.7202605605125427, + -0.6440228223800659, + -0.25779709219932556, + 0.06974756717681885 + ], + [ + 0.1374417096376419, + 0.4967406988143921, + -0.8569471836090088, + 0.003931969404220581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.7148042917251587, + 0.5683329701423645, + 0.4074953496456146, + -0.1466682255268097 + ], + [ + 0.6910826563835144, + -0.6632636189460754, + -0.28720399737358093, + 0.06803638488054276 + ], + [ + 0.10704933106899261, + 0.48690760135650635, + -0.8668687343597412, + 0.0006833109073340893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.7482898831367493, + 0.5522059798240662, + 0.3676014244556427, + -0.14140434563159943 + ], + [ + 0.6580092906951904, + -0.6881760954856873, + -0.30567535758018494, + 0.06672347337007523 + ], + [ + 0.08417875319719315, + 0.4706189036369324, + -0.8783118724822998, + -0.0020605954341590405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.781140148639679, + 0.5327209830284119, + 0.3256200850009918, + -0.13583071529865265 + ], + [ + 0.6216113567352295, + -0.7124102115631104, + -0.32568541169166565, + 0.06469150632619858 + ], + [ + 0.058475613594055176, + 0.45681509375572205, + -0.8876376152038574, + -0.004377510864287615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.8135107755661011, + 0.5115368962287903, + 0.27664101123809814, + -0.1301446259021759 + ], + [ + 0.5809251070022583, + -0.7368466854095459, + -0.3458077311515808, + 0.06173984333872795 + ], + [ + 0.02694861963391304, + 0.4420260190963745, + -0.8965973258018494, + -0.006605294067412615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.8360822796821594, + 0.48817792534828186, + 0.2502973675727844, + -0.12455479800701141 + ], + [ + 0.548398494720459, + -0.7562031149864197, + -0.3569537401199341, + 0.05770586058497429 + ], + [ + 0.015018697828054428, + 0.43570539355278015, + -0.8999640345573425, + -0.00883827731013298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.8528326749801636, + 0.47042179107666016, + 0.226671040058136, + -0.11983037739992142 + ], + [ + 0.5221808552742004, + -0.7698692679405212, + -0.36691752076148987, + 0.052561204880476 + ], + [ + 0.0019010717514902353, + 0.43128252029418945, + -0.9022149443626404, + -0.010703962296247482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.8714191913604736, + 0.4518401324748993, + 0.19096879661083221, + -0.1151888519525528 + ], + [ + 0.48987889289855957, + -0.7814011573791504, + -0.3865629732608795, + 0.04721292480826378 + ], + [ + -0.025441426783800125, + 0.4304099678993225, + -0.9022749066352844, + -0.012783747166395187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.8848351836204529, + 0.42872703075408936, + 0.18237273395061493, + -0.11002673953771591 + ], + [ + 0.4652290940284729, + -0.791985034942627, + -0.39537525177001953, + 0.04229053854942322 + ], + [ + -0.025071579962968826, + 0.4346870481967926, + -0.9002324938774109, + -0.014491170644760132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.8996177315711975, + 0.40180420875549316, + 0.1710009127855301, + -0.10398692637681961 + ], + [ + 0.43622875213623047, + -0.8091564774513245, + -0.393662691116333, + 0.03867827355861664 + ], + [ + -0.019808828830718994, + 0.428741455078125, + -0.9032100439071655, + -0.014939412474632263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9140058159828186, + 0.3804935812950134, + 0.14077641069889069, + -0.09828433394432068 + ], + [ + 0.4042058289051056, + -0.8242921829223633, + -0.3964341878890991, + 0.03519900143146515 + ], + [ + -0.034799765795469284, + 0.41924577951431274, + -0.9072055816650391, + -0.014855906367301941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9238289594650269, + 0.36062440276145935, + 0.1284138262271881, + -0.09245342016220093 + ], + [ + 0.3807550072669983, + -0.8309626579284668, + -0.4056188762187958, + 0.03133562207221985 + ], + [ + -0.03956896439194679, + 0.4236166775226593, + -0.9049769043922424, + -0.015335619449615479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9328653216362, + 0.33659958839416504, + 0.1283082216978073, + -0.08640389889478683 + ], + [ + 0.3589625954627991, + -0.8388293385505676, + -0.40928134322166443, + 0.028523370623588562 + ], + [ + -0.030135223641991615, + 0.4278622269630432, + -0.9033414721488953, + -0.014796599745750427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9410638809204102, + 0.3200761675834656, + 0.1093161553144455, + -0.08069514483213425 + ], + [ + 0.3359317481517792, + -0.8469046950340271, + -0.41219207644462585, + 0.025664404034614563 + ], + [ + -0.03935249522328377, + 0.4246218502521515, + -0.9045151472091675, + -0.01399354636669159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.947044849395752, + 0.3049808740615845, + 0.10046238452196121, + -0.07475154101848602 + ], + [ + 0.3186144232749939, + -0.8536704182624817, + -0.41198498010635376, + 0.023032844066619873 + ], + [ + -0.03988577425479889, + 0.4221770167350769, + -0.9056355357170105, + -0.013227760791778564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9524968266487122, + 0.2850302755832672, + 0.10727342218160629, + -0.06816542148590088 + ], + [ + 0.3037843108177185, + -0.8642762303352356, + -0.40092599391937256, + 0.021962970495224 + ], + [ + -0.02156216837465763, + 0.4144687056541443, + -0.9098080992698669, + -0.011165335774421692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.959300696849823, + 0.2647368013858795, + 0.09826789796352386, + -0.06087514013051987 + ], + [ + 0.28191840648651123, + -0.87782222032547, + -0.3872339427471161, + 0.021619880571961403 + ], + [ + -0.01625332422554493, + 0.39917731285095215, + -0.9167296886444092, + -0.008787186816334724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9655696749687195, + 0.24343527853488922, + 0.09173021465539932, + -0.0530126579105854 + ], + [ + 0.25992366671562195, + -0.888257622718811, + -0.37873217463493347, + 0.0214928537607193 + ], + [ + -0.010716711170971394, + 0.38953515887260437, + -0.9209492206573486, + -0.007016882300376892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9711255431175232, + 0.21958865225315094, + 0.09325212240219116, + -0.04536415636539459 + ], + [ + 0.23855344951152802, + -0.8982585668563843, + -0.36908507347106934, + 0.02201366424560547 + ], + [ + 0.002717624418437481, + 0.3806735575199127, + -0.9247055053710938, + -0.005743667483329773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9766817092895508, + 0.1985754817724228, + 0.08161287009716034, + -0.03822409734129906 + ], + [ + 0.2146681696176529, + -0.9089863300323486, + -0.357297420501709, + 0.022171368822455406 + ], + [ + 0.0032344770152121782, + 0.3664855360984802, + -0.9304181337356567, + -0.004071551840752363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9814838767051697, + 0.1816285252571106, + 0.06083139404654503, + -0.03179648891091347 + ], + [ + 0.19137565791606903, + -0.9165111780166626, + -0.3512585461139679, + 0.021694933995604515 + ], + [ + -0.008045916445553303, + 0.35639625787734985, + -0.9343002438545227, + -0.0028541269712150097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9849245548248291, + 0.16639919579029083, + 0.047274839133024216, + -0.026513904333114624 + ], + [ + 0.17236997187137604, + -0.9210512638092041, + -0.3492179214954376, + 0.021251171827316284 + ], + [ + -0.014567031525075436, + 0.3521020710468292, + -0.9358482360839844, + -0.0026459991931915283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9887767434120178, + 0.14712956547737122, + 0.025950537994503975, + -0.020754195749759674 + ], + [ + 0.1468697488307953, + -0.9254150986671448, + -0.34933680295944214, + 0.020729759708046913 + ], + [ + -0.027382751926779747, + 0.3492274582386017, + -0.936637818813324, + -0.0030801561661064625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9921974539756775, + 0.12449240684509277, + 0.0067682587541639805, + -0.014576698653399944 + ], + [ + 0.119260773062706, + -0.931874692440033, + -0.34261709451675415, + 0.020321527495980263 + ], + [ + -0.03634605556726456, + 0.3407509922981262, + -0.939450740814209, + -0.003339615184813738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9945245981216431, + 0.10440288484096527, + -0.004566102288663387, + -0.009444973431527615 + ], + [ + 0.09695892035961151, + -0.9381510615348816, + -0.3323725759983063, + 0.02049502171576023 + ], + [ + -0.038984350860118866, + 0.33010998368263245, + -0.9431371092796326, + -0.0035710004158318043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9962254166603088, + 0.08255721628665924, + -0.02681812457740307, + -0.004057824146002531 + ], + [ + 0.06965707987546921, + -0.9446769952774048, + -0.320520281791687, + 0.020395496860146523 + ], + [ + -0.051795728504657745, + 0.317442387342453, + -0.9468619227409363, + -0.0036857244558632374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9971337914466858, + 0.06442002952098846, + -0.03967636823654175, + 0.0009402856230735779 + ], + [ + 0.049036700278520584, + -0.9496369957923889, + -0.30949142575263977, + 0.02010957896709442 + ], + [ + -0.05761559307575226, + 0.3066587448120117, + -0.9500741362571716, + -0.003743693232536316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9969459176063538, + 0.04911181703209877, + -0.06071915477514267, + 0.005025338847190142 + ], + [ + 0.028667636215686798, + -0.9533731937408447, + -0.30042919516563416, + 0.020298460498452187 + ], + [ + -0.07264263927936554, + 0.29777100682258606, + -0.9518694877624512, + -0.00423384876921773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9966041445732117, + 0.030800480395555496, + -0.07636404037475586, + 0.00958289671689272 + ], + [ + 0.00768361147493124, + -0.958145260810852, + -0.28617939352989197, + 0.020215312018990517 + ], + [ + -0.08198230713605881, + 0.28462082147598267, + -0.9551281929016113, + -0.00407537491992116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9960076808929443, + 0.01897181011736393, + -0.08722832798957825, + 0.013450752943754196 + ], + [ + -0.005874359980225563, + -0.9611073136329651, + -0.27611276507377625, + 0.019813284277915955 + ], + [ + -0.08907413482666016, + 0.2755228281021118, + -0.9571588039398193, + -0.0041628628969192505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9941514134407043, + 0.007079586386680603, + -0.10776280611753464, + 0.016855690628290176 + ], + [ + -0.022893916815519333, + -0.9613539576530457, + -0.27436190843582153, + 0.01965814270079136 + ], + [ + -0.10554056614637375, + 0.27522438764572144, + -0.955569326877594, + -0.005224075634032488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9917466044425964, + -0.003156075719743967, + -0.12817448377609253, + 0.019833650439977646 + ], + [ + -0.03828867897391319, + -0.9613693952560425, + -0.27258554100990295, + 0.019074276089668274 + ], + [ + -0.12236273288726807, + 0.2752434313297272, + -0.9535556435585022, + -0.006594642996788025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9883732199668884, + -0.009496735408902168, + -0.1517503708600998, + 0.022308703511953354 + ], + [ + -0.05088840797543526, + -0.9611503481864929, + -0.27129390835762024, + 0.01819462515413761 + ], + [ + -0.14327852427959442, + 0.2758619785308838, + -0.9504585266113281, + -0.008178260177373886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.98288893699646, + -0.018261201679706573, + -0.1832917183637619, + 0.02479979768395424 + ], + [ + -0.06849972158670425, + -0.9599449634552002, + -0.2716864049434662, + 0.01780652068555355 + ], + [ + -0.17098863422870636, + 0.27959299087524414, + -0.9447701573371887, + -0.010038826614618301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.974772572517395, + -0.02492404729127884, + -0.2218044251203537, + 0.027002867311239243 + ], + [ + -0.08575223386287689, + -0.9592974781990051, + -0.26906293630599976, + 0.017055070027709007 + ], + [ + -0.20607028901576996, + 0.28129541873931885, + -0.9372341632843018, + -0.011947128921747208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.967134416103363, + -0.03550082445144653, + -0.2517751157283783, + 0.030138608068227768 + ], + [ + -0.10648448020219803, + -0.9557378888130188, + -0.2742738127708435, + 0.015929296612739563 + ], + [ + -0.2308940887451172, + 0.29206979274749756, + -0.9281073212623596, + -0.0148230642080307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9596563577651978, + -0.04796459153294563, + -0.2770542800426483, + 0.03365953639149666 + ], + [ + -0.1274755448102951, + -0.952477753162384, + -0.2766515910625458, + 0.015734344720840454 + ], + [ + -0.2506185472011566, + 0.3008081018924713, + -0.9201656579971313, + -0.017940625548362732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9495717883110046, + -0.06043056398630142, + -0.30767112970352173, + 0.03742419555783272 + ], + [ + -0.14882339537143707, + -0.9505425095558167, + -0.27261796593666077, + 0.015487696044147015 + ], + [ + -0.27598002552986145, + 0.30465900897979736, + -0.9116018414497375, + -0.020960208028554916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9410324096679688, + -0.07781868427991867, + -0.329245001077652, + 0.042155105620622635 + ], + [ + -0.17369475960731506, + -0.9462634921073914, + -0.2727920711040497, + 0.014904871582984924 + ], + [ + -0.29032421112060547, + 0.3138943016529083, + -0.9039813280105591, + -0.024271219968795776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9348002672195435, + -0.09131763875484467, + -0.34323394298553467, + 0.04647526517510414 + ], + [ + -0.1905873566865921, + -0.9444366693496704, + -0.2677980363368988, + 0.015735700726509094 + ], + [ + -0.2997080385684967, + 0.3157537281513214, + -0.9002636671066284, + -0.027377203106880188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9283501505851746, + -0.10197087377309799, + -0.35744649171829224, + 0.051013875752687454 + ], + [ + -0.20534302294254303, + -0.9422694444656372, + -0.26450443267822266, + 0.016263440251350403 + ], + [ + -0.309839129447937, + 0.31895187497138977, + -0.89569491147995, + -0.029968664050102234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9190306067466736, + -0.11840704083442688, + -0.37598204612731934, + 0.05645303055644035 + ], + [ + -0.22684542834758759, + -0.9389166831970215, + -0.25879836082458496, + 0.016230305656790733 + ], + [ + -0.32237228751182556, + 0.3231334388256073, + -0.8897532820701599, + -0.03204997256398201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9948216676712036, + -0.09619127959012985, + -0.03281901404261589, + 0.0026709064841270447 + ], + [ + -0.10163559764623642, + -0.9422760009765625, + -0.3190394341945648, + -0.006413951516151428 + ], + [ + -0.00023576035164296627, + 0.32072290778160095, + -0.9471730589866638, + -0.014854386448860168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9969184994697571, + -0.07689384371042252, + -0.015519913285970688, + -0.0031251460313796997 + ], + [ + -0.07778774946928024, + -0.9434853196144104, + -0.32215607166290283, + -0.00575593113899231 + ], + [ + 0.010129006579518318, + 0.32237058877944946, + -0.9465593695640564, + -0.014415457844734192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 240, + "c2w": [ + [ + 0.9982091188430786, + -0.05977751314640045, + 0.002289440482854843, + -0.008828051388263702 + ], + [ + -0.05586244538426399, + -0.9451572299003601, + -0.3218030333518982, + -0.004728794097900391 + ], + [ + 0.021400466561317444, + 0.32109883427619934, + -0.946803867816925, + -0.01357211172580719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 241, + "c2w": [ + [ + 0.9991686344146729, + -0.03145122900605202, + 0.02593959867954254, + -0.015946075320243835 + ], + [ + -0.021542780101299286, + -0.9475029706954956, + -0.31902047991752625, + -0.00322541082277894 + ], + [ + 0.03461143374443054, + 0.31819644570350647, + -0.9473927617073059, + -0.012495342642068863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 242, + "c2w": [ + [ + 0.9988320469856262, + -0.003562177298590541, + 0.048185668885707855, + -0.023062650114297867 + ], + [ + 0.011780641041696072, + -0.949226975440979, + -0.3143714368343353, + -0.0011039723176509142 + ], + [ + 0.046858981251716614, + 0.31457191705703735, + -0.9480763673782349, + -0.011264028027653694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 243, + "c2w": [ + [ + 0.9976599216461182, + 0.01941489800810814, + 0.06555703282356262, + -0.02967165596783161 + ], + [ + 0.03875279054045677, + -0.9505158066749573, + -0.30824974179267883, + 0.0005104988813400269 + ], + [ + 0.05632835999131203, + 0.31006890535354614, + -0.9490439295768738, + -0.010085314512252808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 244, + "c2w": [ + [ + 0.995488703250885, + 0.04273410141468048, + 0.08471176773309708, + -0.035893142223358154 + ], + [ + 0.06646190583705902, + -0.9512579441070557, + -0.3011496961116791, + 0.0018384605646133423 + ], + [ + 0.06771337985992432, + 0.30542123317718506, + -0.9498066902160645, + -0.0089959055185318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 245, + "c2w": [ + [ + 0.9928271770477295, + 0.06160392239689827, + 0.10246561467647552, + -0.04060361534357071 + ], + [ + 0.0890628769993782, + -0.9528433680534363, + -0.29009881615638733, + 0.003661319613456726 + ], + [ + 0.07976245135068893, + 0.2971438765525818, + -0.9514954090118408, + -0.007548466324806213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 246, + "c2w": [ + [ + 0.9902989864349365, + 0.07800380885601044, + 0.11499285697937012, + -0.04499738663434982 + ], + [ + 0.1078215092420578, + -0.953389048576355, + -0.2818223237991333, + 0.005004569888114929 + ], + [ + 0.08764971792697906, + 0.29148706793785095, + -0.9525507092475891, + -0.006793424487113953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 247, + "c2w": [ + [ + 0.986786961555481, + 0.09688419848680496, + 0.12986525893211365, + -0.04942020773887634 + ], + [ + 0.13042697310447693, + -0.9505297541618347, + -0.2819254696369171, + 0.006135667208582163 + ], + [ + 0.09612667560577393, + 0.29513829946517944, + -0.9506067037582397, + -0.007200282532721758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 248, + "c2w": [ + [ + 0.9819350242614746, + 0.11526169627904892, + 0.15006116032600403, + -0.05342163145542145 + ], + [ + 0.15413600206375122, + -0.9472420811653137, + -0.28102409839630127, + 0.0076010823249816895 + ], + [ + 0.10975293815135956, + 0.29907721281051636, + -0.9478961229324341, + -0.0076344311237335205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 249, + "c2w": [ + [ + 0.9776259064674377, + 0.13837964832782745, + 0.15842565894126892, + -0.05706772208213806 + ], + [ + 0.17810137569904327, + -0.9452756643295288, + -0.2733749449253082, + 0.010050803422927856 + ], + [ + 0.11192638427019119, + 0.29547423124313354, + -0.9487715363502502, + -0.007065668702125549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 250, + "c2w": [ + [ + 0.970304548740387, + 0.1662432998418808, + 0.1757049858570099, + -0.06117711588740349 + ], + [ + 0.20951424539089203, + -0.9406386613845825, + -0.2670257091522217, + 0.012553746812045574 + ], + [ + 0.12088366597890854, + 0.29590898752212524, + -0.947536289691925, + -0.00687691243365407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 251, + "c2w": [ + [ + 0.9623842835426331, + 0.1913277804851532, + 0.19289930164813995, + -0.06463203579187393 + ], + [ + 0.23855149745941162, + -0.9348694682121277, + -0.26289212703704834, + 0.015458360314369202 + ], + [ + 0.1300370991230011, + 0.2990196943283081, + -0.9453452229499817, + -0.006405159831047058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 252, + "c2w": [ + [ + 0.9543232917785645, + 0.2242143154144287, + 0.19747138023376465, + -0.06903493404388428 + ], + [ + 0.2713088095188141, + -0.9271414875984192, + -0.2584574222564697, + 0.018330365419387817 + ], + [ + 0.12513405084609985, + 0.30022767186164856, + -0.945624053478241, + -0.005999669432640076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 253, + "c2w": [ + [ + 0.9446617960929871, + 0.2630172371864319, + 0.19605103135108948, + -0.07443986088037491 + ], + [ + 0.30857038497924805, + -0.9152894020080566, + -0.25890088081359863, + 0.02093815803527832 + ], + [ + 0.11134803295135498, + 0.30506932735443115, + -0.9457982182502747, + -0.00629761815071106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 254, + "c2w": [ + [ + 0.9351000785827637, + 0.2990107834339142, + 0.19021138548851013, + -0.07987740635871887 + ], + [ + 0.3430657684803009, + -0.8983555436134338, + -0.2743414342403412, + 0.02317352592945099 + ], + [ + 0.08884640038013458, + 0.32179173827171326, + -0.9426326751708984, + -0.007326856255531311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 255, + "c2w": [ + [ + 0.9281022548675537, + 0.32132694125175476, + 0.18808291852474213, + -0.08417046070098877 + ], + [ + 0.36580485105514526, + -0.8810765147209167, + -0.2998182773590088, + 0.024812906980514526 + ], + [ + 0.06937574595212936, + 0.34706366062164307, + -0.9352720379829407, + -0.009336605668067932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 256, + "c2w": [ + [ + 0.9204009771347046, + 0.34158867597579956, + 0.19020844995975494, + -0.08823415637016296 + ], + [ + 0.3868122100830078, + -0.8663845658302307, + -0.31583863496780396, + 0.026600757613778114 + ], + [ + 0.056906770914793015, + 0.3642731308937073, + -0.929551899433136, + -0.01092783734202385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 257, + "c2w": [ + [ + 0.9110222458839417, + 0.35912173986434937, + 0.20265743136405945, + -0.09234119951725006 + ], + [ + 0.40808427333831787, + -0.8557544946670532, + -0.31804320216178894, + 0.029087930917739868 + ], + [ + 0.05920878052711487, + 0.3724457621574402, + -0.9261633157730103, + -0.011290863156318665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 258, + "c2w": [ + [ + 0.903052568435669, + 0.3728436827659607, + 0.21326884627342224, + -0.0962989553809166 + ], + [ + 0.4245564937591553, + -0.8501371741294861, + -0.31147804856300354, + 0.03144904971122742 + ], + [ + 0.0651751384139061, + 0.3718257248401642, + -0.9260118007659912, + -0.010399997234344482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 259, + "c2w": [ + [ + 0.8949236273765564, + 0.3898793160915375, + 0.2170388102531433, + -0.10082174092531204 + ], + [ + 0.44151440262794495, + -0.8441316485404968, + -0.3041492700576782, + 0.03339512273669243 + ], + [ + 0.06462782621383667, + 0.3680161237716675, + -0.9275707006454468, + -0.009062390774488449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 260, + "c2w": [ + [ + 0.887479305267334, + 0.4034685790538788, + 0.22269615530967712, + -0.10492966324090958 + ], + [ + 0.45605799555778503, + -0.8383941054344177, + -0.2985070049762726, + 0.03555464744567871 + ], + [ + 0.06626895815134048, + 0.36648115515708923, + -0.9280624985694885, + -0.007936224341392517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 261, + "c2w": [ + [ + 0.8812080025672913, + 0.4136727452278137, + 0.22879540920257568, + -0.10880433768033981 + ], + [ + 0.467613160610199, + -0.8337869048118591, + -0.2934916913509369, + 0.03754935786128044 + ], + [ + 0.06935708969831467, + 0.36561498045921326, + -0.9281784892082214, + -0.006685447413474321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 262, + "c2w": [ + [ + 0.8743022680282593, + 0.4254562258720398, + 0.2336290031671524, + -0.11291034519672394 + ], + [ + 0.47984516620635986, + -0.8301118612289429, + -0.2840120792388916, + 0.03944878280162811 + ], + [ + 0.07310350239276886, + 0.3604181408882141, + -0.9299218654632568, + -0.004993051290512085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 263, + "c2w": [ + [ + 0.8668256402015686, + 0.43791458010673523, + 0.2384200245141983, + -0.11666370183229446 + ], + [ + 0.4927685558795929, + -0.825372040271759, + -0.27557244896888733, + 0.0415000319480896 + ], + [ + 0.07610803097486496, + 0.35635918378829956, + -0.9312441945075989, + -0.0034142136573791504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 264, + "c2w": [ + [ + 0.8595739006996155, + 0.44926121830940247, + 0.24350988864898682, + -0.12036240100860596 + ], + [ + 0.5050696134567261, + -0.8193735480308533, + -0.27116724848747253, + 0.043176665902137756 + ], + [ + 0.0777006447315216, + 0.35607773065567017, + -0.931220293045044, + -0.0020162463188171387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 265, + "c2w": [ + [ + 0.8512400388717651, + 0.4623624086380005, + 0.2482163906097412, + -0.12419956922531128 + ], + [ + 0.5191987752914429, + -0.8108053207397461, + -0.27023571729660034, + 0.04438410699367523 + ], + [ + 0.07630833238363266, + 0.35890913009643555, + -0.930247962474823, + -0.0007989108562469482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 266, + "c2w": [ + [ + 0.8423787355422974, + 0.47446635365486145, + 0.2554989159107208, + -0.12727689743041992 + ], + [ + 0.5338061451911926, + -0.7996339797973633, + -0.27502086758613586, + 0.04552029073238373 + ], + [ + 0.07381746917963028, + 0.3680586516857147, + -0.9268677234649658, + 0.0003117173910140991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 267, + "c2w": [ + [ + 0.8309827446937561, + 0.4879198372364044, + 0.26721134781837463, + -0.1305711716413498 + ], + [ + 0.551399290561676, + -0.786029040813446, + -0.2794945538043976, + 0.04652620851993561 + ], + [ + 0.07366494834423065, + 0.3795953094959259, + -0.9222152233123779, + 0.0013526082038879395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 268, + "c2w": [ + [ + 0.8175304532051086, + 0.5028449296951294, + 0.2806971073150635, + -0.13388749957084656 + ], + [ + 0.5707108378410339, + -0.7726212739944458, + -0.2781105041503906, + 0.04788921773433685 + ], + [ + 0.07702610641717911, + 0.3875606954097748, + -0.9186205267906189, + 0.0028462111949920654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 269, + "c2w": [ + [ + 0.8043354749679565, + 0.5154969692230225, + 0.2954781651496887, + -0.1362304389476776 + ], + [ + 0.5882168412208557, + -0.7610806226730347, + -0.27341771125793457, + 0.05037739872932434 + ], + [ + 0.08393669873476028, + 0.39372479915618896, + -0.9153881072998047, + 0.004924356937408447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 270, + "c2w": [ + [ + 0.7916876673698425, + 0.52452152967453, + 0.31322160363197327, + -0.13798788189888 + ], + [ + 0.6037359833717346, + -0.7501454949378967, + -0.2697862982749939, + 0.05346287786960602 + ], + [ + 0.093453049659729, + 0.4026896357536316, + -0.9105534553527832, + 0.006672963500022888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 271, + "c2w": [ + [ + 0.7802642583847046, + 0.5345604419708252, + 0.32470420002937317, + -0.1396462768316269 + ], + [ + 0.6179574728012085, + -0.739005446434021, + -0.2683273255825043, + 0.05687537416815758 + ], + [ + 0.09652099758386612, + 0.4100196063518524, + -0.9069551229476929, + 0.008063841611146927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 272, + "c2w": [ + [ + 0.7722840905189514, + 0.5441005229949951, + 0.3279206156730652, + -0.140750452876091 + ], + [ + 0.6295617818832397, + -0.7245785593986511, + -0.28042447566986084, + 0.060341041535139084 + ], + [ + 0.0850251317024231, + 0.4230136573314667, + -0.902125358581543, + 0.008371058851480484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 273, + "c2w": [ + [ + 0.762273907661438, + 0.551295280456543, + 0.33913418650627136, + -0.1416759192943573 + ], + [ + 0.642937183380127, + -0.7053486704826355, + -0.2985214591026306, + 0.06338180601596832 + ], + [ + 0.0746343731880188, + 0.4455970823764801, + -0.8921170830726624, + 0.0070062726736068726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 274, + "c2w": [ + [ + 0.7521486878395081, + 0.5506126284599304, + 0.36207473278045654, + -0.14177535474300385 + ], + [ + 0.6543260812759399, + -0.6892726421356201, + -0.31106361746788025, + 0.0666688084602356 + ], + [ + 0.07829263806343079, + 0.47088104486465454, + -0.8787156939506531, + 0.005130082368850708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 275, + "c2w": [ + [ + 0.7386966347694397, + 0.5574657917022705, + 0.37889203429222107, + -0.14254368841648102 + ], + [ + 0.6689016819000244, + -0.6755495667457581, + -0.3101666271686554, + 0.07019167393445969 + ], + [ + 0.08305307477712631, + 0.48256057500839233, + -0.8719159960746765, + 0.004227949306368828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 276, + "c2w": [ + [ + 0.7319783568382263, + 0.5689222812652588, + 0.3748801052570343, + -0.144171342253685 + ], + [ + 0.6778128147125244, + -0.6638815402984619, + -0.3159605860710144, + 0.07330919802188873 + ], + [ + 0.06911896169185638, + 0.4853748679161072, + -0.8715697526931763, + 0.0036880522966384888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 277, + "c2w": [ + [ + 0.7232705950737, + 0.5794999599456787, + 0.3755788207054138, + -0.1460212767124176 + ], + [ + 0.6880271434783936, + -0.6512975692749023, + -0.3200470507144928, + 0.07593166828155518 + ], + [ + 0.05914630740880966, + 0.4898890554904938, + -0.8697760701179504, + 0.003054484724998474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 278, + "c2w": [ + [ + 0.7092409133911133, + 0.5874871015548706, + 0.3896617293357849, + -0.14775307476520538 + ], + [ + 0.7019864320755005, + -0.6393182873725891, + -0.31382665038108826, + 0.07862535864114761 + ], + [ + 0.06474877148866653, + 0.49611592292785645, + -0.8658386468887329, + 0.002634760458022356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 279, + "c2w": [ + [ + 0.7030045986175537, + 0.597678005695343, + 0.38544198870658875, + -0.1497623175382614 + ], + [ + 0.7093013525009155, + -0.6286607384681702, + -0.3188687562942505, + 0.08090510964393616 + ], + [ + 0.0517314113676548, + 0.4975607395172119, + -0.8658851981163025, + 0.0020371228456497192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 280, + "c2w": [ + [ + 0.6971304416656494, + 0.6081996560096741, + 0.3796082139015198, + -0.1518774926662445 + ], + [ + 0.7163879871368408, + -0.611786961555481, + -0.3354175090789795, + 0.08234793692827225 + ], + [ + 0.028238553553819656, + 0.5057765245437622, + -0.8622022271156311, + 0.0007912334986031055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 281, + "c2w": [ + [ + 0.693915069103241, + 0.6136410236358643, + 0.37673142552375793, + -0.15332062542438507 + ], + [ + 0.7200198173522949, + -0.5966379046440125, + -0.3543933033943176, + 0.08375568687915802 + ], + [ + 0.007301981095224619, + 0.5171729922294617, + -0.8558497428894043, + -0.0001920163631439209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 282, + "c2w": [ + [ + 0.6923865079879761, + 0.6186953186988831, + 0.3712371289730072, + -0.15482781827449799 + ], + [ + 0.7214374542236328, + -0.5855381488800049, + -0.36969318985939026, + 0.08557255566120148 + ], + [ + -0.011353963986039162, + 0.523794949054718, + -0.8517687320709229, + -0.0006163567304611206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 283, + "c2w": [ + [ + 0.6870419383049011, + 0.621417224407196, + 0.3765820264816284, + -0.15613067150115967 + ], + [ + 0.7265702486038208, + -0.5816059112548828, + -0.36582809686660767, + 0.08809183537960052 + ], + [ + -0.008309544064104557, + 0.5249525308609009, + -0.8510909676551819, + -0.0004199296236038208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 284, + "c2w": [ + [ + 0.677497923374176, + 0.6256880164146423, + 0.3866666257381439, + -0.1573747992515564 + ], + [ + 0.7355216145515442, + -0.5778482556343079, + -0.3536939024925232, + 0.0904526561498642 + ], + [ + 0.002132598776370287, + 0.5240285396575928, + -0.8516980409622192, + 0.00037491321563720703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 285, + "c2w": [ + [ + 0.6756516695022583, + 0.6291719675064087, + 0.3842361867427826, + -0.15850867331027985 + ], + [ + 0.7372174859046936, + -0.5750126838684082, + -0.35478267073631287, + 0.09265775978565216 + ], + [ + -0.0022786222398281097, + 0.5229751467704773, + -0.8523448705673218, + 0.0011480450630187988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 286, + "c2w": [ + [ + 0.6729395389556885, + 0.6328033804893494, + 0.38303041458129883, + -0.15967945754528046 + ], + [ + 0.7396788001060486, + -0.5719931721687317, + -0.35454070568084717, + 0.09470202028751373 + ], + [ + -0.005263778381049633, + 0.521903932094574, + -0.852988064289093, + 0.0021470189094543457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 287, + "c2w": [ + [ + 0.6638319492340088, + 0.639143168926239, + 0.3883594870567322, + -0.16076701879501343 + ], + [ + 0.7478814125061035, + -0.5678166747093201, + -0.3438861072063446, + 0.09616552293300629 + ], + [ + 0.0007245119195431471, + 0.5187294483184814, + -0.8549381494522095, + 0.0038460642099380493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 288, + "c2w": [ + [ + 0.6648898720741272, + 0.640337347984314, + 0.3845641016960144, + -0.1615872085094452 + ], + [ + 0.746929407119751, + -0.5670686364173889, + -0.3471737802028656, + 0.09756476432085037 + ], + [ + -0.004234114661812782, + 0.5180745720863342, + -0.8553249835968018, + 0.005144533235579729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 289, + "c2w": [ + [ + 0.6622827053070068, + 0.645185649394989, + 0.3809424042701721, + -0.1629035621881485 + ], + [ + 0.7491792440414429, + -0.5630548000335693, + -0.34885483980178833, + 0.0984073132276535 + ], + [ + -0.010584677569568157, + 0.5164346694946289, + -0.8562611937522888, + 0.006206035614013672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 290, + "c2w": [ + [ + 0.6588752865791321, + 0.647007405757904, + 0.383750855922699, + -0.16315868496894836 + ], + [ + 0.7521905303001404, + -0.5601189136505127, + -0.3470967411994934, + 0.09854777157306671 + ], + [ + -0.00962806399911642, + 0.5173472762107849, + -0.8557214140892029, + 0.00728917121887207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 291, + "c2w": [ + [ + 0.6621566414833069, + 0.6445441842079163, + 0.38224512338638306, + -0.1630609780550003 + ], + [ + 0.749302864074707, + -0.5628963708877563, + -0.3488450348377228, + 0.09878908842802048 + ], + [ + -0.009681656025350094, + 0.5174074172973633, + -0.8556843996047974, + 0.007725182455033064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 292, + "c2w": [ + [ + 0.659781277179718, + 0.6463854908943176, + 0.38324204087257385, + -0.16333791613578796 + ], + [ + 0.7514147758483887, + -0.5620443820953369, + -0.34566164016723633, + 0.0982169657945633 + ], + [ + -0.00803163181990385, + 0.5160348415374756, + -0.856529951095581, + 0.007575273513793945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 293, + "c2w": [ + [ + 0.6607657074928284, + 0.6445755958557129, + 0.38459205627441406, + -0.16267432272434235 + ], + [ + 0.7504851222038269, + -0.5586985349655151, + -0.35302701592445374, + 0.09676959365606308 + ], + [ + -0.012681570835411549, + 0.5218987464904785, + -0.8529132008552551, + 0.006902653258293867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 294, + "c2w": [ + [ + 0.6660051941871643, + 0.6430086493492126, + 0.3781229257583618, + -0.16169707477092743 + ], + [ + 0.7457268238067627, + -0.5616111159324646, + -0.35844722390174866, + 0.09549586474895477 + ], + [ + -0.018126625567674637, + 0.5207041501998901, + -0.8535447716712952, + 0.006521746516227722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 295, + "c2w": [ + [ + 0.6673964858055115, + 0.6437880396842957, + 0.37432458996772766, + -0.16060833632946014 + ], + [ + 0.7444966435432434, + -0.5649778842926025, + -0.35570311546325684, + 0.09407494217157364 + ], + [ + -0.01751229353249073, + 0.5160784125328064, + -0.8563622832298279, + 0.006196003872901201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 296, + "c2w": [ + [ + 0.670535147190094, + 0.6403517127037048, + 0.3746095895767212, + -0.15880517661571503 + ], + [ + 0.7417648434638977, + -0.5698744058609009, + -0.353593111038208, + 0.09287058562040329 + ], + [ + -0.012943536974489689, + 0.5149688124656677, + -0.8571111559867859, + 0.00600971607491374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 297, + "c2w": [ + [ + 0.6750425696372986, + 0.6405953764915466, + 0.3659988343715668, + -0.1572055071592331 + ], + [ + 0.7376505732536316, + -0.5767722725868225, + -0.35100629925727844, + 0.09095998853445053 + ], + [ + -0.013755041174590588, + 0.5069234371185303, + -0.8618813157081604, + 0.005742076318711042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 298, + "c2w": [ + [ + 0.6769046187400818, + 0.6427658200263977, + 0.35868123173713684, + -0.1556544452905655 + ], + [ + 0.7359013557434082, + -0.580509603023529, + -0.34850797057151794, + 0.0878201276063919 + ], + [ + -0.01579112373292446, + 0.49986064434051514, + -0.8659618496894836, + 0.004936084151268005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 299, + "c2w": [ + [ + 0.6786758899688721, + 0.639398992061615, + 0.3613419532775879, + -0.1531878411769867 + ], + [ + 0.7343640327453613, + -0.5838149189949036, + -0.3462218642234802, + 0.08398456871509552 + ], + [ + -0.010417082346975803, + 0.5003289580345154, + -0.8657727241516113, + 0.003947824239730835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 300, + "c2w": [ + [ + 0.6840358376502991, + 0.634896457195282, + 0.3591677248477936, + -0.15052826702594757 + ], + [ + 0.7294130921363831, + -0.5904952883720398, + -0.3453576862812042, + 0.08031363040208817 + ], + [ + -0.007179528009146452, + 0.4982186555862427, + -0.8670216798782349, + 0.002870041411370039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 301, + "c2w": [ + [ + 0.6846504211425781, + 0.6346907019615173, + 0.3583594262599945, + -0.14827612042427063 + ], + [ + 0.7288637161254883, + -0.5938938856124878, + -0.3406578004360199, + 0.07654465734958649 + ], + [ + -0.0033848711755126715, + 0.4944266974925995, + -0.8692127466201782, + 0.0019948333501815796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 302, + "c2w": [ + [ + 0.6858119368553162, + 0.6308003067970276, + 0.36297792196273804, + -0.14539840817451477 + ], + [ + 0.7277435064315796, + -0.5993087887763977, + -0.3334941864013672, + 0.07318628579378128 + ], + [ + 0.00716764573007822, + 0.49286913871765137, + -0.8700739145278931, + 0.0019569876603782177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 303, + "c2w": [ + [ + 0.6909851431846619, + 0.6263303756713867, + 0.3609012961387634, + -0.1423148661851883 + ], + [ + 0.7226858735084534, + -0.6097881197929382, + -0.3253975212574005, + 0.07020999491214752 + ], + [ + 0.016266971826553345, + 0.48566314578056335, + -0.8739947080612183, + 0.0021766871213912964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 304, + "c2w": [ + [ + 0.6959964036941528, + 0.622061550617218, + 0.35864806175231934, + -0.1392906755208969 + ], + [ + 0.7175484299659729, + -0.6211206912994385, + -0.3151719570159912, + 0.06744907796382904 + ], + [ + 0.02670735865831375, + 0.4767058789730072, + -0.8786570429801941, + 0.0023660659790039062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 305, + "c2w": [ + [ + 0.7005891799926758, + 0.616425633430481, + 0.3594360053539276, + -0.13613000512123108 + ], + [ + 0.7123708724975586, + -0.6333313584327698, + -0.3023560643196106, + 0.06494853645563126 + ], + [ + 0.041262079030275345, + 0.46787911653518677, + -0.8828287124633789, + 0.0027071055956184864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 306, + "c2w": [ + [ + 0.7081416845321655, + 0.6110023856163025, + 0.3538522720336914, + -0.13290295004844666 + ], + [ + 0.7042506337165833, + -0.6471728086471558, + -0.29188764095306396, + 0.06230613589286804 + ], + [ + 0.05065952241420746, + 0.4558985233306885, + -0.8885888457298279, + 0.0027697384357452393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 307, + "c2w": [ + [ + 0.7196134328842163, + 0.5999512076377869, + 0.34959277510643005, + -0.12893930077552795 + ], + [ + 0.6917127370834351, + -0.663418173789978, + -0.2853240966796875, + 0.05960172042250633 + ], + [ + 0.06074567139148712, + 0.44714081287384033, + -0.892398476600647, + 0.002165305893868208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 308, + "c2w": [ + [ + 0.7328341007232666, + 0.585841715335846, + 0.3460400402545929, + -0.12440463900566101 + ], + [ + 0.6758626699447632, + -0.6854507327079773, + -0.27086329460144043, + 0.05697931349277496 + ], + [ + 0.07851038128137589, + 0.43237340450286865, + -0.8982701897621155, + 0.002025619149208069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 309, + "c2w": [ + [ + 0.7458273768424988, + 0.576045036315918, + 0.3345349431037903, + -0.12027668952941895 + ], + [ + 0.6597259044647217, + -0.7082651257514954, + -0.25124144554138184, + 0.05442313477396965 + ], + [ + 0.09221306443214417, + 0.40808409452438354, + -0.9082753658294678, + 0.0024597379378974438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 310, + "c2w": [ + [ + 0.7656341791152954, + 0.5605419278144836, + 0.3155900835990906, + -0.11542332172393799 + ], + [ + 0.6363053321838379, + -0.7319620847702026, + -0.24361248314380646, + 0.05222168192267418 + ], + [ + 0.09444496780633926, + 0.38732969760894775, + -0.9170909523963928, + 0.0023464146070182323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 311, + "c2w": [ + [ + 0.7811221480369568, + 0.542994499206543, + 0.30822911858558655, + -0.11012127995491028 + ], + [ + 0.6150655150413513, + -0.754119336605072, + -0.23021388053894043, + 0.05071662366390228 + ], + [ + 0.1074366644024849, + 0.36940625309944153, + -0.923036515712738, + 0.003613606095314026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 312, + "c2w": [ + [ + 0.7890957593917847, + 0.5314201712608337, + 0.3080917000770569, + -0.10551045835018158 + ], + [ + 0.60114586353302, + -0.7712050080299377, + -0.20944325625896454, + 0.04931831359863281 + ], + [ + 0.12629948556423187, + 0.3504788279533386, + -0.9280156493186951, + 0.0049376338720321655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 313, + "c2w": [ + [ + 0.803831160068512, + 0.5186469554901123, + 0.2913087010383606, + -0.10083290189504623 + ], + [ + 0.5825098156929016, + -0.7855606079101562, + -0.20875076949596405, + 0.04759032651782036 + ], + [ + 0.12057269364595413, + 0.3374905586242676, + -0.9335750341415405, + 0.0049450877122581005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 314, + "c2w": [ + [ + 0.8171229958534241, + 0.5059416890144348, + 0.27628424763679504, + -0.09677807986736298 + ], + [ + 0.5662040710449219, + -0.7944153547286987, + -0.21981169283390045, + 0.04571010172367096 + ], + [ + 0.10827256739139557, + 0.3360464572906494, + -0.9356012940406799, + 0.003911122679710388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 315, + "c2w": [ + [ + 0.8241724967956543, + 0.4946434795856476, + 0.27580341696739197, + -0.09292225539684296 + ], + [ + 0.5546747446060181, + -0.8033394813537598, + -0.2167523354291916, + 0.04375399649143219 + ], + [ + 0.1143486425280571, + 0.33162251114845276, + -0.936456561088562, + 0.0033179372549057007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 316, + "c2w": [ + [ + 0.8325455784797668, + 0.48562854528427124, + 0.2665197253227234, + -0.0891336128115654 + ], + [ + 0.5417152643203735, + -0.8143112659454346, + -0.20842678844928741, + 0.041971027851104736 + ], + [ + 0.1158120185136795, + 0.3179025948047638, + -0.9410236477851868, + 0.003333449363708496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 317, + "c2w": [ + [ + 0.8428409695625305, + 0.47767534852027893, + 0.24788181483745575, + -0.08564513921737671 + ], + [ + 0.5279642939567566, + -0.8231779932975769, + -0.20888207852840424, + 0.040490373969078064 + ], + [ + 0.10427303612232208, + 0.3069271147251129, + -0.9460036158561707, + 0.0030839145183563232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 318, + "c2w": [ + [ + 0.8485442399978638, + 0.46935486793518066, + 0.2442922443151474, + -0.08181614428758621 + ], + [ + 0.5179427266120911, + -0.8312008380889893, + -0.20209036767482758, + 0.03898175060749054 + ], + [ + 0.10820382833480835, + 0.29801198840141296, + -0.9484096169471741, + 0.002902984619140625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + }, + { + "frame_index": 319, + "c2w": [ + [ + 0.8558040857315063, + 0.4606785774230957, + 0.235318124294281, + -0.0776793360710144 + ], + [ + 0.5057271122932434, + -0.8407642841339111, + -0.193275585770607, + 0.0373605340719223 + ], + [ + 0.10880915820598602, + 0.28441280126571655, + -0.9525071978569031, + 0.003182709217071533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 851.571023220486, + "fy": 852.3602456701807, + "cx": 415.2845133463541, + "cy": 245.0424863516566 + } + } + ] +} diff --git a/dycheck_eval/source/block__camera_1/caption.txt b/dycheck_eval/source/block__camera_1/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..cc46e9f9fe6356531836eedd09424be3327df0fa --- /dev/null +++ b/dycheck_eval/source/block__camera_1/caption.txt @@ -0,0 +1 @@ +A person in a colorful graphic shirt arranges and lifts various gray and white plastic molds on a blue table, showcasing their design and structure in a well-lit indoor space. diff --git a/dycheck_eval/source/block__camera_1/extras/frame_mapping.json b/dycheck_eval/source/block__camera_1/extras/frame_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..56ff53bd557b70c43ecd84428a16d4655e2b85ca --- /dev/null +++ b/dycheck_eval/source/block__camera_1/extras/frame_mapping.json @@ -0,0 +1,1169 @@ +{ + "original_scene": "block", + "source_frame_names": [ + "0_00000", + "0_00001", + "0_00002", + "0_00003", + "0_00004", + "0_00005", + "0_00006", + "0_00007", + "0_00008", + "0_00009", + "0_00010", + "0_00011", + "0_00012", + "0_00013", + "0_00014", + "0_00015", + "0_00016", + "0_00017", + "0_00018", + "0_00019", + "0_00020", + "0_00021", + "0_00022", + "0_00023", + "0_00024", + "0_00025", + "0_00026", + "0_00027", + "0_00028", + "0_00029", + "0_00030", + "0_00031", + "0_00032", + "0_00033", + "0_00034", + "0_00035", + "0_00036", + "0_00037", + "0_00038", + "0_00039", + "0_00040", + "0_00041", + "0_00042", + "0_00043", + "0_00044", + "0_00045", + "0_00046", + "0_00047", + "0_00048", + "0_00049", + "0_00050", + "0_00051", + "0_00052", + "0_00053", + "0_00054", + "0_00055", + "0_00056", + "0_00057", + "0_00058", + "0_00059", + "0_00060", + "0_00061", + "0_00062", + "0_00063", + "0_00064", + "0_00065", + "0_00066", + "0_00067", + "0_00068", + "0_00069", + "0_00070", + "0_00071", + "0_00072", + "0_00073", + "0_00074", + "0_00075", + "0_00076", + "0_00077", + "0_00078", + "0_00079", + "0_00080", + "0_00081", + "0_00082", + "0_00083", + "0_00084", + "0_00085", + "0_00086", + "0_00087", + "0_00088", + "0_00089", + "0_00090", + "0_00091", + "0_00092", + "0_00093", + "0_00094", + "0_00095", + "0_00096", + "0_00097", + "0_00098", + "0_00099", + "0_00100", + "0_00101", + "0_00102", + "0_00103", + "0_00104", + "0_00105", + "0_00106", + "0_00107", + "0_00108", + "0_00109", + "0_00110", + "0_00111", + "0_00112", + "0_00113", + "0_00114", + "0_00115", + "0_00116", + "0_00117", + "0_00118", + "0_00119", + "0_00120", + "0_00121", + "0_00122", + "0_00123", + "0_00124", + "0_00125", + "0_00126", + "0_00127", + "0_00128", + "0_00129", + "0_00130", + "0_00131", + "0_00132", + "0_00133", + "0_00134", + "0_00135", + "0_00136", + "0_00137", + "0_00138", + "0_00139", + "0_00140", + "0_00141", + "0_00142", + "0_00143", + "0_00144", + "0_00145", + "0_00146", + "0_00147", + "0_00148", + "0_00149", + "0_00150", + "0_00151", + "0_00152", + "0_00153", + "0_00154", + "0_00155", + "0_00156", + "0_00157", + "0_00158", + "0_00159", + "0_00160", + "0_00161", + "0_00162", + "0_00163", + "0_00164", + "0_00165", + "0_00166", + "0_00167", + "0_00168", + "0_00169", + "0_00170", + "0_00171", + "0_00172", + "0_00173", + "0_00174", + "0_00175", + "0_00176", + "0_00177", + "0_00178", + "0_00179", + "0_00180", + "0_00181", + "0_00182", + "0_00183", + "0_00184", + "0_00185", + "0_00186", + "0_00187", + "0_00188", + "0_00189", + "0_00190", + "0_00191", + "0_00192", + "0_00193", + "0_00194", + "0_00195", + "0_00196", + "0_00197", + "0_00198", + "0_00199", + "0_00261", + "0_00262", + "0_00263", + "0_00264", + "0_00265", + "0_00266", + "0_00267", + "0_00268", + "0_00269", + "0_00270", + "0_00271", + "0_00272", + "0_00273", + "0_00274", + "0_00275", + "0_00276", + "0_00277", + "0_00278", + "0_00279", + "0_00280", + "0_00281", + "0_00282", + "0_00283", + "0_00284", + "0_00285", + "0_00286", + "0_00287", + "0_00288", + "0_00289", + "0_00290", + "0_00291", + "0_00292", + "0_00293", + "0_00294", + "0_00295", + "0_00296", + "0_00297", + "0_00298", + "0_00299", + "0_00300", + "0_00301", + "0_00302", + "0_00303", + "0_00304", + "0_00305", + "0_00306", + "0_00307", + "0_00308", + "0_00309", + "0_00310", + "0_00311", + "0_00312", + "0_00313", + "0_00314", + "0_00315", + "0_00316", + "0_00317", + "0_00318", + "0_00319", + "0_00320", + "0_00321", + "0_00322", + "0_00323", + "0_00324", + "0_00325", + "0_00326", + "0_00327", + "0_00328", + "0_00329", + "0_00330", + "0_00331", + "0_00332", + "0_00333", + "0_00334", + "0_00335", + "0_00336", + "0_00337", + "0_00338", + "0_00339", + "0_00340", + "0_00341", + "0_00342", + "0_00343", + "0_00344", + "0_00345", + "0_00346", + "0_00347", + "0_00348", + "0_00349", + "0_00350", + "0_00351", + "0_00352", + "0_00353", + "0_00354", + "0_00355", + "0_00356", + "0_00357", + "0_00358", + "0_00359", + "0_00360", + "0_00361", + "0_00362", + "0_00363", + "0_00364", + "0_00365", + "0_00366", + "0_00367", + "0_00368", + "0_00369", + "0_00370", + "0_00371", + "0_00372", + "0_00373", + "0_00374", + "0_00375", + "0_00376", + "0_00377", + "0_00378", + "0_00379", + "0_00380", + "0_00381", + "0_00382", + "0_00383", + "0_00384", + "0_00385", + "0_00386", + "0_00387", + "0_00388", + "0_00389", + "0_00390", + "0_00391", + "0_00392", + "0_00393", + "0_00394", + "0_00395", + "0_00396", + "0_00397", + "0_00398", + "0_00399", + "0_00400", + "0_00401", + "0_00402", + "0_00403", + "0_00404", + "0_00405", + "0_00406", + "0_00407", + "0_00408", + "0_00409", + "0_00410", + "0_00411", + "0_00412", + "0_00413", + "0_00414", + "0_00415", + "0_00416", + "0_00417", + "0_00418", + "0_00419", + "0_00420", + "0_00421", + "0_00422", + "0_00423", + "0_00424", + "0_00425", + "0_00426", + "0_00427", + "0_00428", + "0_00429", + "0_00430", + "0_00431", + "0_00432", + "0_00433", + "0_00434", + "0_00435", + "0_00436", + "0_00437", + "0_00438", + "0_00439", + "0_00440", + "0_00441", + "0_00442", + "0_00443", + "0_00444", + "0_00445", + "0_00446" + ], + "target_frame_names": [ + "1_00000", + "1_00001", + "1_00002", + "1_00003", + "1_00004", + "1_00005", + "1_00006", + "1_00007", + "1_00008", + "1_00009", + "1_00010", + "1_00011", + "1_00012", + "1_00013", + "1_00014", + "1_00015", + "1_00016", + "1_00017", + "1_00018", + "1_00019", + "1_00020", + "1_00021", + "1_00022", + "1_00023", + "1_00024", + "1_00025", + "1_00026", + "1_00027", + "1_00028", + "1_00029", + "1_00030", + "1_00031", + "1_00032", + "1_00033", + "1_00034", + "1_00035", + "1_00036", + "1_00037", + "1_00038", + "1_00039", + "1_00040", + "1_00041", + "1_00042", + "1_00043", + "1_00044", + "1_00045", + "1_00046", + "1_00047", + "1_00048", + "1_00049", + "1_00050", + "1_00051", + "1_00052", + "1_00053", + "1_00054", + "1_00055", + "1_00056", + "1_00057", + "1_00058", + "1_00059", + "1_00060", + "1_00061", + "1_00062", + "1_00063", + "1_00064", + "1_00065", + "1_00066", + "1_00067", + "1_00068", + "1_00069", + "1_00070", + "1_00071", + "1_00072", + "1_00073", + "1_00074", + "1_00075", + "1_00076", + "1_00077", + "1_00078", + "1_00079", + "1_00080", + "1_00081", + "1_00082", + "1_00083", + "1_00084", + "1_00085", + "1_00086", + "1_00087", + "1_00088", + "1_00089", + "1_00090", + "1_00091", + "1_00092", + "1_00093", + "1_00094", + "1_00095", + "1_00096", + "1_00097", + "1_00098", + "1_00099", + "1_00100", + "1_00101", + "1_00102", + "1_00103", + "1_00104", + "1_00105", + "1_00106", + "1_00107", + "1_00108", + "1_00109", + "1_00110", + "1_00111", + "1_00112", + "1_00113", + "1_00114", + "1_00115", + "1_00116", + "1_00117", + "1_00118", + "1_00119", + "1_00120", + "1_00121", + "1_00122", + "1_00123", + "1_00124", + "1_00125", + "1_00126", + "1_00127", + "1_00128", + "1_00129", + "1_00130", + "1_00131", + "1_00132", + "1_00133", + "1_00134", + "1_00135", + "1_00136", + "1_00137", + "1_00138", + "1_00139", + "1_00140", + "1_00141", + "1_00142", + "1_00143", + "1_00144", + "1_00145", + "1_00146", + "1_00147", + "1_00148", + "1_00149", + "1_00150", + "1_00151", + "1_00152", + "1_00153", + "1_00154", + "1_00155", + "1_00156", + "1_00157", + "1_00158", + "1_00159", + "1_00160", + "1_00161", + "1_00162", + "1_00163", + "1_00164", + "1_00165", + "1_00166", + "1_00167", + "1_00168", + "1_00169", + "1_00170", + "1_00171", + "1_00172", + "1_00173", + "1_00174", + "1_00175", + "1_00176", + "1_00177", + "1_00178", + "1_00179", + "1_00180", + "1_00181", + "1_00182", + "1_00183", + "1_00184", + "1_00185", + "1_00186", + "1_00187", + "1_00188", + "1_00189", + "1_00190", + "1_00191", + "1_00192", + "1_00193", + "1_00194", + "1_00195", + "1_00196", + "1_00197", + "1_00198", + "1_00199", + "1_00261", + "1_00262", + "1_00263", + "1_00264", + "1_00265", + "1_00266", + "1_00267", + "1_00268", + "1_00269", + "1_00270", + "1_00271", + "1_00272", + "1_00273", + "1_00274", + "1_00275", + "1_00276", + "1_00277", + "1_00278", + "1_00279", + "1_00280", + "1_00281", + "1_00282", + "1_00283", + "1_00284", + "1_00285", + "1_00286", + "1_00287", + "1_00288", + "1_00289", + "1_00290", + "1_00291", + "1_00292", + "1_00293", + "1_00294", + "1_00295", + "1_00296", + "1_00297", + "1_00298", + "1_00299", + "1_00300", + "1_00301", + "1_00302", + "1_00303", + "1_00304", + "1_00305", + "1_00306", + "1_00307", + "1_00308", + "1_00309", + "1_00310", + "1_00311", + "1_00312", + "1_00313", + "1_00314", + "1_00315", + "1_00316", + "1_00317", + "1_00318", + "1_00319", + "1_00320", + "1_00321", + "1_00322", + "1_00323", + "1_00324", + "1_00325", + "1_00326", + "1_00327", + "1_00328", + "1_00329", + "1_00330", + "1_00331", + "1_00332", + "1_00333", + "1_00334", + "1_00335", + "1_00336", + "1_00337", + "1_00338", + "1_00339", + "1_00340", + "1_00341", + "1_00342", + "1_00343", + "1_00344", + "1_00345", + "1_00346", + "1_00347", + "1_00348", + "1_00349", + "1_00350", + "1_00351", + "1_00352", + "1_00353", + "1_00354", + "1_00355", + "1_00356", + "1_00357", + "1_00358", + "1_00359", + "1_00360", + "1_00361", + "1_00362", + "1_00363", + "1_00364", + "1_00365", + "1_00366", + "1_00367", + "1_00368", + "1_00369", + "1_00370", + "1_00371", + "1_00372", + "1_00373", + "1_00374", + "1_00375", + "1_00376", + "1_00377", + "1_00378", + "1_00379", + "1_00380", + "1_00381", + "1_00382", + "1_00383", + "1_00384", + "1_00385", + "1_00386", + "1_00387", + "1_00388", + "1_00389", + "1_00390", + "1_00391", + "1_00392", + "1_00393", + "1_00394", + "1_00395", + "1_00396", + "1_00397", + "1_00398", + "1_00399", + "1_00400", + "1_00401", + "1_00402", + "1_00403", + "1_00404", + "1_00405", + "1_00406", + "1_00407", + "1_00408", + "1_00409", + "1_00410", + "1_00411", + "1_00412", + "1_00413", + "1_00414", + "1_00415", + "1_00416", + "1_00417", + "1_00418", + "1_00419", + "1_00420", + "1_00421", + "1_00422", + "1_00423", + "1_00424", + "1_00425", + "1_00426", + "1_00427", + "1_00428", + "1_00429", + "1_00430", + "1_00431", + "1_00432", + "1_00433", + "1_00434", + "1_00435", + "1_00436", + "1_00437", + "1_00438", + "1_00439", + "1_00440", + "1_00441", + "1_00442", + "1_00443", + "1_00444", + "1_00445", + "1_00446" + ], + "original_time_ids": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268, + 269, + 270, + 271, + 272, + 273, + 274, + 275, + 276, + 277, + 278, + 279, + 280, + 281, + 282, + 283, + 284, + 285, + 286, + 287, + 288, + 289, + 290, + 291, + 292, + 293, + 294, + 295, + 296, + 297, + 298, + 299, + 300, + 301, + 302, + 303, + 304, + 305, + 306, + 307, + 308, + 309, + 310, + 311, + 312, + 313, + 314, + 315, + 316, + 317, + 318, + 319, + 320, + 321, + 322, + 323, + 324, + 325, + 326, + 327, + 328, + 329, + 330, + 331, + 332, + 333, + 334, + 335, + 336, + 337, + 338, + 339, + 340, + 341, + 342, + 343, + 344, + 345, + 346, + 347, + 348, + 349, + 350, + 351, + 352, + 353, + 354, + 355, + 356, + 357, + 358, + 359, + 360, + 361, + 362, + 363, + 364, + 365, + 366, + 367, + 368, + 369, + 370, + 371, + 372, + 373, + 374, + 375, + 376, + 377, + 378, + 379, + 380, + 381, + 382, + 383, + 384, + 385, + 386, + 387, + 388, + 389, + 390, + 391, + 392, + 393, + 394, + 395, + 396, + 397, + 398, + 399, + 400, + 401, + 402, + 403, + 404, + 405, + 406, + 407, + 408, + 409, + 410, + 411, + 412, + 413, + 414, + 415, + 416, + 417, + 418, + 419, + 420, + 421, + 422, + 423, + 424, + 425, + 426, + 427, + 428, + 429, + 430, + 431, + 432, + 433, + 434, + 435, + 436, + 437, + 438, + 439, + 440, + 441, + 442, + 443, + 444, + 445, + 446 + ], + "source_camera_id": 0, + "target_camera_id": 1 +} diff --git a/dycheck_eval/source/block__camera_1/transforms.json b/dycheck_eval/source/block__camera_1/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..de77ce3bde7d282d1e0ddcd84364b8ab216e88ee --- /dev/null +++ b/dycheck_eval/source/block__camera_1/transforms.json @@ -0,0 +1,13523 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 386, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.0590683885425278e-09, + -2.60561172638063e-09, + -1.961170559283687e-09 + ], + [ + 1.0590683885425278e-09, + -1.0, + 2.4129223064051075e-08, + -6.122269358144194e-11 + ], + [ + -2.60561172638063e-09, + -2.4129223064051075e-08, + -1.0, + 4.3093972834640226e-11 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999920129776001, + -0.0014363558730110526, + 0.0037269487511366606, + -0.00037586697726510465 + ], + [ + -0.00143066153395921, + -0.9999977946281433, + -0.0015301050152629614, + -0.0007643476710654795 + ], + [ + 0.0037291382905095816, + 0.0015247607370838523, + -0.9999918937683105, + -0.0005048070452176034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999815225601196, + -0.0020597358234226704, + 0.005715733394026756, + -0.00025010667741298676 + ], + [ + -0.0020189995411783457, + -0.9999725818634033, + -0.007123693358153105, + -0.0009511690586805344 + ], + [ + 0.0057302494533360004, + 0.007112022023648024, + -0.9999582767486572, + -0.0011763349175453186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999828338623047, + -0.0028551125433295965, + 0.005116971675306559, + -0.0001414922153344378 + ], + [ + -0.0028134735766798258, + -0.9999630451202393, + -0.0081262718886137, + -0.0010390897514298558 + ], + [ + 0.00513998419046402, + 0.008111735805869102, + -0.9999538660049438, + -0.0015337211079895496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999638199806213, + -0.004187670536339283, + 0.007403356023132801, + -0.00040501364856027067 + ], + [ + -0.0041418313048779964, + -0.9999722242355347, + -0.006196221336722374, + -0.0011955240042880177 + ], + [ + 0.007429097779095173, + 0.006165333557873964, + -0.9999533891677856, + -0.0013102213852107525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999468326568604, + -0.006730010267347097, + 0.007813781499862671, + -0.00032804356305859983 + ], + [ + -0.006687959190458059, + -0.999963104724884, + -0.0053953793831169605, + -0.0012481474550440907 + ], + [ + 0.007849804125726223, + 0.005342834163457155, + -0.9999549388885498, + -0.0012168544344604015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999573826789856, + -0.007688745856285095, + 0.0051095192320644855, + -0.0003448110946919769 + ], + [ + -0.007658497430384159, + -0.9999532103538513, + -0.005913459695875645, + -0.0011895616771653295 + ], + [ + 0.005154747050255537, + 0.005874076392501593, + -0.999969482421875, + -0.001617924775928259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999505281448364, + -0.007087378762662411, + 0.006975275464355946, + -0.0006802082061767578 + ], + [ + -0.007040368393063545, + -0.999952495098114, + -0.006741174031049013, + -0.0010234266519546509 + ], + [ + 0.007022721227258444, + 0.006691731978207827, + -0.9999529719352722, + -0.0015960047021508217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999340772628784, + -0.007747339084744453, + 0.008474516682326794, + -0.001091918209567666 + ], + [ + -0.007691380102187395, + -0.9999485611915588, + -0.006616009399294853, + -0.0008834862383082509 + ], + [ + 0.008525337092578411, + 0.006550392601639032, + -0.9999421834945679, + -0.0013834302080795169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999445080757141, + -0.008468560874462128, + 0.006262307055294514, + -0.0012838506372645497 + ], + [ + -0.00842272862792015, + -0.9999378323554993, + -0.007309323642402887, + -0.0008139722631312907 + ], + [ + 0.006323817186057568, + 0.007256172597408295, + -0.9999536871910095, + -0.0015150555409491062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999502301216125, + -0.008355589583516121, + 0.005451347213238478, + -0.001719387248158455 + ], + [ + -0.008309573866426945, + -0.9999300837516785, + -0.008409915491938591, + -0.0005639977753162384 + ], + [ + 0.00552123598754406, + 0.008364198729395866, + -0.9999497532844543, + -0.0016758888959884644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999547004699707, + -0.007982712239027023, + 0.005186974536627531, + -0.00239366851747036 + ], + [ + -0.007939022965729237, + -0.9999333024024963, + -0.008389526978135109, + -0.00023984728613868356 + ], + [ + 0.005253599490970373, + 0.008347966708242893, + -0.9999513626098633, + -0.001734160352498293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999611973762512, + -0.006457112729549408, + 0.005993212107568979, + -0.0032116661313921213 + ], + [ + -0.006400366313755512, + -0.99993497133255, + -0.009439853020012379, + 0.00017935018695425242 + ], + [ + 0.006053776480257511, + 0.009401127696037292, + -0.9999374747276306, + -0.0018995035206899047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999566674232483, + -0.004967618267983198, + 0.007870457135140896, + -0.003336448222398758 + ], + [ + -0.004881573375314474, + -0.9999285340309143, + -0.010914398357272148, + 0.00029990077018737793 + ], + [ + 0.007924113422632217, + 0.010875506326556206, + -0.9999094605445862, + -0.0023331157863140106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999635815620422, + -0.004256315995007753, + 0.007401233538985252, + -0.0038308242801576853 + ], + [ + -0.004163868259638548, + -0.9999136924743652, + -0.012461734935641289, + 0.0006097348523326218 + ], + [ + 0.007453635334968567, + 0.01243046298623085, + -0.9998949766159058, + -0.002689443761482835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999732971191406, + -0.004514655563980341, + 0.005743049085140228, + -0.003925362601876259 + ], + [ + -0.004443825222551823, + -0.9999146461486816, + -0.012286798097193241, + 0.0007788389921188354 + ], + [ + 0.005798029247671366, + 0.012260949239134789, + -0.9999080300331116, + -0.003166292794048786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999805688858032, + -0.003967470955103636, + 0.004813280887901783, + -0.004366659093648195 + ], + [ + -0.003923215437680483, + -0.9999502897262573, + -0.009169308468699455, + 0.0009917167481034994 + ], + [ + 0.004849420860409737, + 0.009150246158242226, + -0.9999463558197021, + -0.0030314114410430193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999786019325256, + -0.002120434306561947, + 0.006188748870044947, + -0.005016820505261421 + ], + [ + -0.0020490563474595547, + -0.9999315738677979, + -0.011517173610627651, + 0.0013227089075371623 + ], + [ + 0.006212746724486351, + 0.011504245921969414, + -0.9999145269393921, + -0.003013845067471266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999715089797974, + -0.0013007576344534755, + 0.007438605185598135, + -0.0054257833398878574 + ], + [ + -0.0012103042099624872, + -0.999925434589386, + -0.012151597999036312, + 0.001244798069819808 + ], + [ + 0.007453856524080038, + 0.012142248451709747, + -0.9998984932899475, + -0.0028147718403488398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999855756759644, + -0.0019082247745245695, + 0.005022270604968071, + -0.005909943953156471 + ], + [ + -0.0018610587576404214, + -0.9999542832374573, + -0.009379345923662186, + 0.0011583585292100906 + ], + [ + 0.0050399391911923885, + 0.009369864128530025, + -0.9999433755874634, + -0.002487495541572571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999926686286926, + -0.0020880165975540876, + 0.003205250483006239, + -0.006567750126123428 + ], + [ + -0.0020600559655576944, + -0.9999600052833557, + -0.008702057413756847, + 0.0011551249772310257 + ], + [ + 0.0032232922967523336, + 0.00869539100676775, + -0.9999570250511169, + -0.002323158085346222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999913573265076, + -0.0007101238588802516, + 0.004094185773283243, + -0.007382391020655632 + ], + [ + -0.0006701987003907561, + -0.9999523162841797, + -0.009744818322360516, + 0.0011911614565178752 + ], + [ + 0.004100910387933254, + 0.009741990827023983, + -0.9999441504478455, + -0.002214676234871149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999778866767883, + -0.0004751085944008082, + 0.006631903350353241, + -0.007548116147518158 + ], + [ + -0.0004037854669149965, + -0.9999421238899231, + -0.010751746594905853, + 0.0011095254449173808 + ], + [ + 0.006636627949774265, + 0.010748831555247307, + -0.9999201893806458, + -0.001862251665443182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999797344207764, + -0.0019708164036273956, + 0.00605154549703002, + -0.00789724476635456 + ], + [ + -0.001911696745082736, + -0.9999505281448364, + -0.009759621694684029, + 0.0011503546265885234 + ], + [ + 0.006070480681955814, + 0.009747855365276337, + -0.9999340772628784, + -0.0015408857725560665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999877214431763, + -0.0035072732716798782, + 0.003498364007100463, + -0.008264578878879547 + ], + [ + -0.0034875748679041862, + -0.9999781250953674, + -0.005621048156172037, + 0.0009951312094926834 + ], + [ + 0.0035180021077394485, + 0.0056087784469127655, + -0.9999780654907227, + -0.0010541779920458794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999788999557495, + -0.00560405571013689, + 0.003285451326519251, + -0.008603785187005997 + ], + [ + -0.005603039171546698, + -0.9999842643737793, + -0.000318642909405753, + 0.0009697451605461538 + ], + [ + 0.0032871852163225412, + 0.0003002276935148984, + -0.9999945759773254, + -0.00019469992548692971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999984085559845, + -0.005254789255559444, + 0.0020536647643893957, + -0.009082365781068802 + ], + [ + -0.0052591548301279545, + -0.9999839067459106, + 0.002126149134710431, + 0.001240575686097145 + ], + [ + 0.002042459324002266, + -0.002136915922164917, + -0.9999956488609314, + 0.0006617088802158833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999924302101135, + -0.002789490856230259, + 0.0027054056990891695, + -0.009125877171754837 + ], + [ + -0.002799652749672532, + -0.9999890327453613, + 0.0037597084883600473, + 0.001579703763127327 + ], + [ + 0.002694888273254037, + -0.0037672542966902256, + -0.9999892711639404, + 0.0019455957226455212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999598860740662, + 0.0005512810312211514, + 0.00893675722181797, + -0.0094173364341259 + ], + [ + 0.00046116483281366527, + -0.999949038028717, + 0.010082697495818138, + 0.0016589275328442454 + ], + [ + 0.008941859938204288, + -0.010078172199428082, + -0.9999092221260071, + 0.004056904464960098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999418258666992, + -0.0023748332168906927, + 0.010522224940359592, + -0.009227635338902473 + ], + [ + -0.0025763707235455513, + -0.9998127222061157, + 0.019181545823812485, + 0.0014579128473997116 + ], + [ + 0.010474701412022114, + -0.019207539036870003, + -0.999760627746582, + 0.006285340059548616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999685287475586, + -0.005929648410528898, + 0.005266072228550911, + -0.008531671017408371 + ], + [ + -0.006076633930206299, + -0.9995796084403992, + 0.028348853811621666, + 0.0019148288993164897 + ], + [ + 0.0050957598723471165, + -0.028379961848258972, + -0.9995841979980469, + 0.008163309656083584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999473690986633, + -0.0028637831564992666, + 0.009850512258708477, + -0.007648659870028496 + ], + [ + -0.003091821214184165, + -0.9997257590293884, + 0.023213082924485207, + 0.003169149160385132 + ], + [ + 0.00978133361786604, + -0.023242317140102386, + -0.9996820092201233, + 0.00941513292491436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9996057748794556, + -0.0016363192116841674, + 0.028028002008795738, + -0.006532654166221619 + ], + [ + -0.002134010661393404, + -0.9998404383659363, + 0.017736241221427917, + 0.004313148558139801 + ], + [ + 0.027994507923722267, + -0.01778906024992466, + -0.9994497895240784, + 0.010711011476814747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9995478391647339, + -0.0009742029360495508, + 0.03005259484052658, + -0.005171561613678932 + ], + [ + -0.0012315720086917281, + -0.9999627470970154, + 0.008546635508537292, + 0.0059576984494924545 + ], + [ + 0.03004314750432968, + -0.008579782210290432, + -0.9995117783546448, + 0.01009330153465271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9996873736381531, + 0.001520911231637001, + 0.0249564778059721, + -0.004300989676266909 + ], + [ + 0.0014920884277671576, + -0.9999982118606567, + 0.0011735025327652693, + 0.008108209818601608 + ], + [ + 0.02495821751654148, + -0.0011358984047546983, + -0.9996878504753113, + 0.009254480712115765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.999376654624939, + 0.0024270187132060528, + 0.03522013872861862, + -0.003851337591186166 + ], + [ + 0.0023301278706640005, + -0.9999933838844299, + 0.002791791455820203, + 0.010054592043161392 + ], + [ + 0.03522668033838272, + -0.002707983832806349, + -0.9993757009506226, + 0.009529130533337593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9992102384567261, + 0.001454246579669416, + 0.03970932215452194, + -0.0029480010271072388 + ], + [ + 0.0014573184307664633, + -0.999998927116394, + -4.84127776871901e-05, + 0.012006718665361404 + ], + [ + 0.03970921039581299, + 0.00010624366404954344, + -0.9992112517356873, + 0.008557271212339401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9994470477104187, + -0.0019287721952423453, + 0.0331936776638031, + -0.001870758831501007 + ], + [ + -0.0017673533875495195, + -0.999986469745636, + -0.004891590215265751, + 0.0138083565980196 + ], + [ + 0.03320266306400299, + 0.004830220248550177, + -0.9994369745254517, + 0.006971083581447601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9994401335716248, + -0.006623679306358099, + 0.03279612585902214, + -0.0013593119801953435 + ], + [ + -0.006681872997432947, + -0.9999762773513794, + 0.0016651286277920008, + 0.01469724252820015 + ], + [ + 0.032784320414066315, + -0.0018833358772099018, + -0.9994606971740723, + 0.0069235763512551785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9993924498558044, + -0.011784368194639683, + 0.03279954195022583, + -0.0014071412151679397 + ], + [ + -0.012017765082418919, + -0.9999037981033325, + 0.006927824579179287, + 0.014762651175260544 + ], + [ + 0.03271474689245224, + -0.0073177930898964405, + -0.9994379281997681, + 0.0075598834082484245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9993914365768433, + -0.015924980863928795, + 0.031035346910357475, + -0.0016971122240647674 + ], + [ + -0.016250237822532654, + -0.9998153448104858, + 0.010256283916532993, + 0.014496080577373505 + ], + [ + 0.030866283923387527, + -0.010754373855888844, + -0.9994656443595886, + 0.008063887245953083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9992935061454773, + -0.020528597757220268, + 0.03148126229643822, + -0.0018251728033646941 + ], + [ + -0.02098844386637211, + -0.9996767640113831, + 0.014346739277243614, + 0.014041613787412643 + ], + [ + 0.031176568940281868, + -0.014997346326708794, + -0.9994013905525208, + 0.008634944446384907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9992305636405945, + -0.023588594049215317, + 0.03133547306060791, + -0.0016255307709798217 + ], + [ + -0.02405540645122528, + -0.9996039271354675, + 0.014604703523218632, + 0.013596504926681519 + ], + [ + 0.030978556722402573, + -0.015347253531217575, + -0.9994022250175476, + 0.009114356711506844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9992373585700989, + -0.024855313822627068, + 0.030115343630313873, + -0.0016490615671500564 + ], + [ + -0.025333242490887642, + -0.9995574355125427, + 0.01559365913271904, + 0.013401705771684647 + ], + [ + 0.02971442975103855, + -0.01634468510746956, + -0.9994248151779175, + 0.009595719166100025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9991831183433533, + -0.026897264644503593, + 0.030160436406731606, + -0.0017916972283273935 + ], + [ + -0.02748960256576538, + -0.9994338154792786, + 0.01939992606639862, + 0.013239173218607903 + ], + [ + 0.029621554538607597, + -0.020213177427649498, + -0.9993568062782288, + 0.009870577603578568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9992383122444153, + -0.025856556370854378, + 0.029227646067738533, + -0.0021627454552799463 + ], + [ + -0.026372872292995453, + -0.9995003938674927, + 0.01742001250386238, + 0.013222098350524902 + ], + [ + 0.02876262180507183, + -0.018177561461925507, + -0.9994210004806519, + 0.00952854659408331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9992064833641052, + -0.023021431639790535, + 0.032502587884664536, + -0.002652253955602646 + ], + [ + -0.023209672421216965, + -0.9997158646583557, + 0.005426157731562853, + 0.0134737528860569 + ], + [ + 0.032368436455726624, + -0.006176226306706667, + -0.9994569420814514, + 0.008120222017168999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9990555047988892, + -0.02507290616631508, + 0.03548836335539818, + -0.0029169470071792603 + ], + [ + -0.024970149621367455, + -0.999682605266571, + -0.0033358351793140173, + 0.013425134122371674 + ], + [ + 0.035560738295316696, + 0.002446534810587764, + -0.9993644952774048, + 0.006546967197209597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9991733431816101, + -0.027145788073539734, + 0.030261700972914696, + -0.003508536145091057 + ], + [ + -0.02702014520764351, + -0.999624490737915, + -0.00455321604385972, + 0.01322084292769432 + ], + [ + 0.030373938381671906, + 0.0037317764945328236, + -0.999531626701355, + 0.005422494374215603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9991331696510315, + -0.027857672423124313, + 0.030933354049921036, + -0.004559502005577087 + ], + [ + -0.027591971680521965, + -0.9995788931846619, + -0.008983451873064041, + 0.013003047555685043 + ], + [ + 0.031170586124062538, + 0.008122152648866177, + -0.9994810819625854, + 0.004263349808752537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9990066289901733, + -0.02699354663491249, + 0.03545591980218887, + -0.00614004023373127 + ], + [ + -0.026568390429019928, + -0.9995700120925903, + -0.012408106587827206, + 0.012845408171415329 + ], + [ + 0.03577561303973198, + 0.011453773826360703, + -0.9992942214012146, + 0.003294240217655897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9990213513374329, + -0.02636418305337429, + 0.03551400452852249, + -0.008150150999426842 + ], + [ + -0.025837156921625137, + -0.9995503425598145, + -0.015218106098473072, + 0.013133961707353592 + ], + [ + 0.03589924797415733, + 0.014285632409155369, + -0.9992533326148987, + 0.002230385784059763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9990527629852295, + -0.028052283450961113, + 0.03326601907610893, + -0.01021166704595089 + ], + [ + -0.02744348719716072, + -0.9994499683380127, + -0.018618475645780563, + 0.013391148298978806 + ], + [ + 0.033770013600587845, + 0.017687903717160225, + -0.9992731213569641, + 0.0012123696506023407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.99891597032547, + -0.0310280229896307, + 0.03470047935843468, + -0.012468688189983368 + ], + [ + -0.030271640047430992, + -0.999297022819519, + -0.02211453951895237, + 0.013468150049448013 + ], + [ + 0.035362258553504944, + 0.02104012668132782, + -0.9991530776023865, + 0.0003947681107092649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.998753011226654, + -0.0370323583483696, + 0.0334809310734272, + -0.014634606428444386 + ], + [ + -0.03622064366936684, + -0.9990426301956177, + -0.02453417330980301, + 0.013383600860834122 + ], + [ + 0.03435743227601051, + 0.023290878161787987, + -0.9991381764411926, + -0.0005471365293487906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9987611770629883, + -0.041985224932432175, + 0.026708073914051056, + -0.01678387261927128 + ], + [ + -0.04144889488816261, + -0.9989337921142578, + -0.0203277375549078, + 0.013294566422700882 + ], + [ + 0.027533061802387238, + 0.01919553428888321, + -0.9994365572929382, + -0.0012585227377712727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9986922740936279, + -0.04132288694381714, + 0.030101733282208443, + -0.01945912092924118 + ], + [ + -0.04080585762858391, + -0.9990121722221375, + -0.017592787742614746, + 0.013489250093698502 + ], + [ + 0.030798982828855515, + 0.016341453418135643, + -0.999392032623291, + -0.0016367803327739239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9980171322822571, + -0.04321227967739105, + 0.04576629400253296, + -0.022171420976519585 + ], + [ + -0.042012616991996765, + -0.9987559914588928, + -0.026858488097786903, + 0.013854673132300377 + ], + [ + 0.04686997830867767, + 0.024882469326257706, + -0.9985910654067993, + -0.002379428595304489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9978539943695068, + -0.048497218638658524, + 0.043993789702653885, + -0.0245219673961401 + ], + [ + -0.04698784276843071, + -0.9982919692993164, + -0.034718018025159836, + 0.014246348291635513 + ], + [ + 0.04560237377882004, + 0.032576341181993484, + -0.9984283447265625, + -0.004091809969395399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9984983801841736, + -0.04766201227903366, + 0.027006886899471283, + -0.02749779261648655 + ], + [ + -0.04693605378270149, + -0.9985354542732239, + -0.026905639097094536, + 0.015322895720601082 + ], + [ + 0.02824971079826355, + 0.02559763938188553, + -0.9992731213569641, + -0.005032549612224102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9982833862304688, + -0.05076802149415016, + 0.02920512855052948, + -0.03067704476416111 + ], + [ + -0.04988759383559227, + -0.9983004331588745, + -0.03012424148619175, + 0.016646241769194603 + ], + [ + 0.03068483993411064, + 0.02861555479466915, + -0.9991194009780884, + -0.005478556267917156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9983742237091064, + -0.048442237079143524, + 0.03003792278468609, + -0.03379976004362106 + ], + [ + -0.04734041541814804, + -0.9982165694236755, + -0.036367204040288925, + 0.01775694265961647 + ], + [ + 0.03174606338143349, + 0.03488606959581375, + -0.9988869428634644, + -0.005676367785781622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9990055561065674, + -0.03310627117753029, + 0.02986454777419567, + -0.03836905583739281 + ], + [ + -0.03207821026444435, + -0.9988976716995239, + -0.034270334988832474, + 0.01952100172638893 + ], + [ + 0.03096619062125683, + 0.03327825292944908, + -0.9989662766456604, + -0.005160209257155657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9981715679168701, + -0.02413778007030487, + 0.055415086448192596, + -0.04315703362226486 + ], + [ + -0.022135943174362183, + -0.9990899562835693, + -0.03645838797092438, + 0.02097172848880291 + ], + [ + 0.056244682520627975, + 0.03516506031155586, + -0.9977975487709045, + -0.0034148450940847397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9977617859840393, + -0.01629592292010784, + 0.06485232710838318, + -0.04782092571258545 + ], + [ + -0.014522888697683811, + -0.9995102882385254, + -0.027717743068933487, + 0.02148205228149891 + ], + [ + 0.065272256731987, + 0.026713861152529716, + -0.9975098371505737, + -0.0018037036061286926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9986009001731873, + -0.00799534935504198, + 0.052271485328674316, + -0.052242740988731384 + ], + [ + -0.007356481626629829, + -0.9998959898948669, + -0.012403111904859543, + 0.02234482392668724 + ], + [ + 0.05236521735787392, + 0.012001224793493748, + -0.9985558986663818, + -0.0003466698108240962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9984681010246277, + -0.0019176834030076861, + 0.05529765412211418, + -0.056079696863889694 + ], + [ + -0.001609732280485332, + -0.9999829530715942, + -0.00561297545209527, + 0.022913165390491486 + ], + [ + 0.05530747398734093, + 0.00551536213606596, + -0.9984541535377502, + 0.0006853208178654313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9985058307647705, + 0.008448160253465176, + 0.053988635540008545, + -0.06052178889513016 + ], + [ + 0.008841698057949543, + -0.999936044216156, + -0.007054580841213465, + 0.02393297478556633 + ], + [ + 0.05392558500170708, + 0.007521390914916992, + -0.9985166192054749, + 0.0006410666392184794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9987528324127197, + 0.02706984616816044, + 0.04195193201303482, + -0.06585485488176346 + ], + [ + 0.02732381410896778, + -0.9996115565299988, + -0.005492144264280796, + 0.025425132364034653 + ], + [ + 0.04178696498274803, + 0.006631581578403711, + -0.9991045594215393, + 5.027376755606383e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9982528686523438, + 0.04648389294743538, + 0.036475274711847305, + -0.07060255110263824 + ], + [ + 0.046519581228494644, + -0.9989173412322998, + -0.00012987662921659648, + 0.026278650388121605 + ], + [ + 0.0364297479391098, + 0.0018264643149450421, + -0.9993345737457275, + -0.00037321075797080994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9969072937965393, + 0.0763682872056961, + 0.01853870041668415, + -0.07665906846523285 + ], + [ + 0.07629098743200302, + -0.9970738291740417, + 0.004842724651098251, + 0.027730556204915047 + ], + [ + 0.018854284659028053, + -0.00341341202147305, + -0.9998164176940918, + -0.0017151283100247383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9937784075737, + 0.11130942404270172, + 0.003834993578493595, + -0.08335372060537338 + ], + [ + 0.11128278821706772, + -0.9937670230865479, + 0.006571622099727392, + 0.0291576087474823 + ], + [ + 0.004542573820799589, + -0.0061039673164486885, + -0.9999710321426392, + -0.0035020518116652966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9901630878448486, + 0.1396062970161438, + 0.009336684830486774, + -0.08949515968561172 + ], + [ + 0.13960306346416473, + -0.9902070164680481, + 0.0010012087877839804, + 0.030299998819828033 + ], + [ + 0.009385026060044765, + 0.00031206983840093017, + -0.9999558925628662, + -0.005461989436298609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.985762894153595, + 0.16787968575954437, + 0.009378534741699696, + -0.09464950859546661 + ], + [ + 0.1679385006427765, + -0.9857799410820007, + -0.005877705290913582, + 0.03147624433040619 + ], + [ + 0.008258424699306488, + 0.0073690409772098064, + -0.9999387264251709, + -0.007125735282897949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9819074869155884, + 0.18901211023330688, + 0.011494874022901058, + -0.09939523786306381 + ], + [ + 0.18913528323173523, + -0.9818918704986572, + -0.01077808067202568, + 0.03219956159591675 + ], + [ + 0.009249536320567131, + 0.012757164426147938, + -0.9998758435249329, + -0.009288443252444267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9783482551574707, + 0.206863135099411, + 0.0065062991343438625, + -0.1036268100142479 + ], + [ + 0.2069380283355713, + -0.978246808052063, + -0.014486371539533138, + 0.03269476071000099 + ], + [ + 0.0033680701162666082, + 0.015519117005169392, + -0.9998738765716553, + -0.011950215324759483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.971717357635498, + 0.23386281728744507, + -0.03276582434773445, + -0.10710182785987854 + ], + [ + 0.23409894108772278, + -0.9722064137458801, + 0.0035116225481033325, + 0.03333067521452904 + ], + [ + -0.03103390894830227, + -0.01108274981379509, + -0.9994568824768066, + -0.013189520686864853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.967680037021637, + 0.24746334552764893, + -0.04855098947882652, + -0.11017513275146484 + ], + [ + 0.24826651811599731, + -0.9686272740364075, + 0.01118017639964819, + 0.03382724151015282 + ], + [ + -0.04426112771034241, + -0.02287242002785206, + -0.9987581372261047, + -0.014497198164463043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9643998742103577, + 0.26255762577056885, + -0.03156515583395958, + -0.11307641863822937 + ], + [ + 0.26282599568367004, + -0.9648322463035583, + 0.004602725151926279, + 0.03453608974814415 + ], + [ + -0.029246602207422256, + -0.01273501105606556, + -0.9994910955429077, + -0.01610616035759449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9598482251167297, + 0.27939507365226746, + -0.025095602497458458, + -0.11674308776855469 + ], + [ + 0.27944114804267883, + -0.9601612687110901, + -0.00172255071811378, + 0.03549087792634964 + ], + [ + -0.024577097967267036, + -0.005359356757253408, + -0.9996835589408875, + -0.01795932836830616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9563721418380737, + 0.2908107042312622, + -0.027955161407589912, + -0.12050682306289673 + ], + [ + 0.29075419902801514, + -0.9567779898643494, + -0.006154689472168684, + 0.03650552034378052 + ], + [ + -0.028536733239889145, + -0.002241907175630331, + -0.9995902180671692, + -0.020063506439328194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9515363574028015, + 0.3070340156555176, + -0.017569206655025482, + -0.12508457899093628 + ], + [ + 0.30696767568588257, + -0.9516982436180115, + -0.006421894300729036, + 0.037452224642038345 + ], + [ + -0.018692323938012123, + 0.0007174871279858053, + -0.9998250007629395, + -0.021573811769485474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9443238377571106, + 0.3289647698402405, + -0.00589219992980361, + -0.12920795381069183 + ], + [ + 0.32891765236854553, + -0.9443269968032837, + -0.007725796662271023, + 0.0384662039577961 + ], + [ + -0.008105678483843803, + 0.005357604939490557, + -0.9999527931213379, + -0.02241421490907669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9376981258392334, + 0.34743237495422363, + -0.003597173374146223, + -0.1338430792093277 + ], + [ + 0.3473567068576813, + -0.9376345872879028, + -0.013589931651949883, + 0.03943132236599922 + ], + [ + -0.008094416931271553, + 0.011493751779198647, + -0.9999011754989624, + -0.024164531379938126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9321439862251282, + 0.3620852530002594, + -0.001368424971587956, + -0.13808245956897736 + ], + [ + 0.3620626628398895, + -0.9321171045303345, + -0.008268805220723152, + 0.03988940641283989 + ], + [ + -0.004269544500857592, + 0.007212261203676462, + -0.9999648928642273, + -0.025050044059753418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9251222014427185, + 0.3796171247959137, + 0.006304602604359388, + -0.14274081587791443 + ], + [ + 0.37959983944892883, + -0.9251430034637451, + 0.003788883099332452, + 0.04028315842151642 + ], + [ + 0.007270983885973692, + -0.001111953635700047, + -0.999972939491272, + -0.024970468133687973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9174544811248779, + 0.3975243866443634, + 0.01586463674902916, + -0.1473645567893982 + ], + [ + 0.3974439799785614, + -0.9175909757614136, + 0.008069632574915886, + 0.040859684348106384 + ], + [ + 0.017765123397111893, + -0.001098215696401894, + -0.999841570854187, + -0.02558688074350357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9119963645935059, + 0.4098169803619385, + 0.01768363267183304, + -0.15061087906360626 + ], + [ + 0.40966320037841797, + -0.9121611714363098, + 0.011750379577279091, + 0.041673462837934494 + ], + [ + 0.020945828408002853, + -0.0034719703253358603, + -0.9997745752334595, + -0.02633896842598915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9061535596847534, + 0.42273077368736267, + 0.013580923900008202, + -0.1537836790084839 + ], + [ + 0.4225091338157654, + -0.9062085151672363, + 0.016497666016221046, + 0.042287785559892654 + ], + [ + 0.01928121969103813, + -0.009211353026330471, + -0.9997716546058655, + -0.027216468006372452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.90042644739151, + 0.4349766969680786, + 0.005245500709861517, + -0.1567506194114685 + ], + [ + 0.43484869599342346, + -0.900357186794281, + 0.016234755516052246, + 0.04289283975958824 + ], + [ + 0.011784564703702927, + -0.012337204068899155, + -0.9998544454574585, + -0.028607066720724106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.893285870552063, + 0.4494827389717102, + -0.002372412011027336, + -0.15953436493873596 + ], + [ + 0.4494646191596985, + -0.8931700587272644, + 0.015125219710171223, + 0.043521855026483536 + ], + [ + 0.004679557867348194, + -0.01457746047526598, + -0.9998828172683716, + -0.03016091138124466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.8824986815452576, + 0.4702998399734497, + -0.0037579070776700974, + -0.16124092042446136 + ], + [ + 0.4702873229980469, + -0.882332444190979, + 0.017869733273983, + 0.04380485787987709 + ], + [ + 0.0050884089432656765, + -0.0175373125821352, + -0.9998332858085632, + -0.031081896275281906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.8732780814170837, + 0.48718228936195374, + -0.006228010170161724, + -0.1630130112171173 + ], + [ + 0.4872150123119354, + -0.8731251955032349, + 0.016550766304135323, + 0.04427105188369751 + ], + [ + 0.00262540765106678, + -0.017487801611423492, + -0.9998436570167542, + -0.03243633732199669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.8676385879516602, + 0.49700579047203064, + -0.013731040060520172, + -0.16459088027477264 + ], + [ + 0.49718186259269714, + -0.867487907409668, + 0.016580618917942047, + 0.04531535506248474 + ], + [ + -0.0036708482075482607, + -0.021212808787822723, + -0.9997682571411133, + -0.033977340906858444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.8586481213569641, + 0.5121672749519348, + -0.020201846957206726, + -0.16638831794261932 + ], + [ + 0.512525737285614, + -0.858405351638794, + 0.021391374990344048, + 0.04606444388628006 + ], + [ + -0.006385412998497486, + -0.028721630573272705, + -0.9995670318603516, + -0.03491932526230812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.8489880561828613, + 0.5279530882835388, + -0.0220184288918972, + -0.16838382184505463 + ], + [ + 0.5283575057983398, + -0.8487616777420044, + 0.021022969856858253, + 0.046895042061805725 + ], + [ + -0.007589256390929222, + -0.029481852427124977, + -0.9995365142822266, + -0.036175116896629333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.842231810092926, + 0.5386372208595276, + -0.02270650304853916, + -0.17006602883338928 + ], + [ + 0.5390602350234985, + -0.8420016169548035, + 0.0211509857326746, + 0.04785309359431267 + ], + [ + -0.007726204581558704, + -0.030054206028580666, + -0.9995183944702148, + -0.03752853721380234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.8311681747436523, + 0.5555415749549866, + -0.023088814690709114, + -0.1723160743713379 + ], + [ + 0.5559903979301453, + -0.8308418393135071, + 0.024009395390748978, + 0.049017827957868576 + ], + [ + -0.005844937637448311, + -0.03279300406575203, + -0.9994450807571411, + -0.038655493408441544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.8159704804420471, + 0.5777612924575806, + -0.01959788054227829, + -0.17576497793197632 + ], + [ + 0.5780934691429138, + -0.8155266046524048, + 0.02691282518208027, + 0.04961300268769264 + ], + [ + -0.00043340373667888343, + -0.03328947722911835, + -0.9994456768035889, + -0.03950877860188484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.8044542670249939, + 0.5935444831848145, + -0.023627929389476776, + -0.17876054346561432 + ], + [ + 0.5940102338790894, + -0.8039640188217163, + 0.02817288227379322, + 0.05067535862326622 + ], + [ + -0.002274146070703864, + -0.03669902682304382, + -0.9993237853050232, + -0.039913468062877655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.7934825420379639, + 0.6079682111740112, + -0.027569537982344627, + -0.1820421814918518 + ], + [ + 0.6085734963417053, + -0.7930051684379578, + 0.027947690337896347, + 0.05117771402001381 + ], + [ + -0.004871480632573366, + -0.03895409405231476, + -0.9992291331291199, + -0.04074351117014885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.7796033620834351, + 0.6259670853614807, + -0.019590672105550766, + -0.18608121573925018 + ], + [ + 0.6262571811676025, + -0.7789751887321472, + 0.031616583466529846, + 0.05106300488114357 + ], + [ + 0.004530293866991997, + -0.03691719472408295, + -0.9993080496788025, + -0.04134771600365639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.7699106931686401, + 0.6380801200866699, + -0.009557372890412807, + -0.18914073705673218 + ], + [ + 0.6379733085632324, + -0.7692551612854004, + 0.03516478091478348, + 0.05122377723455429 + ], + [ + 0.015085889026522636, + -0.033171091228723526, + -0.9993358254432678, + -0.04178692400455475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.7642058730125427, + 0.6447142958641052, + -0.01824534311890602, + -0.19175781309604645 + ], + [ + 0.6448909044265747, + -0.7633538842201233, + 0.03750433027744293, + 0.05166132375597954 + ], + [ + 0.010251923464238644, + -0.04042728245258331, + -0.9991298913955688, + -0.04189848154783249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.7555163502693176, + 0.654610812664032, + -0.02607204206287861, + -0.194687157869339 + ], + [ + 0.655078113079071, + -0.7543584108352661, + 0.0426148995757103, + 0.05195960775017738 + ], + [ + 0.008228510618209839, + -0.0492754802107811, + -0.9987513422966003, + -0.04153648018836975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.7481521964073181, + 0.6632660627365112, + -0.018611788749694824, + -0.1967001110315323 + ], + [ + 0.6632769703865051, + -0.7468055486679077, + 0.0484270416200161, + 0.05243311822414398 + ], + [ + 0.018220625817775726, + -0.048575565218925476, + -0.9986532926559448, + -0.041255488991737366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.744484007358551, + 0.6674124598503113, + -0.017441710457205772, + -0.19843822717666626 + ], + [ + 0.6672922968864441, + -0.7429985404014587, + 0.05171249434351921, + 0.05303787812590599 + ], + [ + 0.02155439741909504, + -0.05013784393668175, + -0.9985097050666809, + -0.04126992076635361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.7417423129081726, + 0.6704239845275879, + -0.018708547577261925, + -0.19988813996315002 + ], + [ + 0.6702788472175598, + -0.7400341033935547, + 0.05545942485332489, + 0.05347157642245293 + ], + [ + 0.023336363956332207, + -0.0536765456199646, + -0.9982856512069702, + -0.0414339043200016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.7402510643005371, + 0.6721595525741577, + -0.015163728967308998, + -0.20127195119857788 + ], + [ + 0.6717726588249207, + -0.7385299801826477, + 0.05740175023674965, + 0.05363691970705986 + ], + [ + 0.027384264394640923, + -0.05267828702926636, + -0.9982360005378723, + -0.04285018891096115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.7382027506828308, + 0.6744753122329712, + -0.011823082342743874, + -0.20244362950325012 + ], + [ + 0.6739206314086914, + -0.7365950345993042, + 0.05708526074886322, + 0.053654175251722336 + ], + [ + 0.029793772846460342, + -0.05010831356048584, + -0.9982993006706238, + -0.04391900449991226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.7352571487426758, + 0.6776902675628662, + -0.011526389047503471, + -0.20352911949157715 + ], + [ + 0.6769213676452637, + -0.7333507537841797, + 0.06304073333740234, + 0.05329357087612152 + ], + [ + 0.03426920622587204, + -0.05415360629558563, + -0.9979444146156311, + -0.043870992958545685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.7318888306617737, + 0.6813864707946777, + -0.007152596488595009, + -0.2043321281671524 + ], + [ + 0.6801036596298218, + -0.7297773361206055, + 0.06988605111837387, + 0.05296839773654938 + ], + [ + 0.042399607598781586, + -0.0560133270919323, + -0.9975293278694153, + -0.043388012796640396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.7331488132476807, + 0.6800556182861328, + -0.0041456944309175014, + -0.20454943180084229 + ], + [ + 0.678528904914856, + -0.7310658097267151, + 0.0717029944062233, + 0.052745405584573746 + ], + [ + 0.04573124647140503, + -0.05538193881511688, + -0.9974173903465271, + -0.0435904897749424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.7338868975639343, + 0.6792072057723999, + -0.009361118078231812, + -0.20472851395606995 + ], + [ + 0.6779934763908386, + -0.7315912842750549, + 0.07140781730413437, + 0.05235068127512932 + ], + [ + 0.041652191430330276, + -0.05875203758478165, + -0.9974032640457153, + -0.0440327413380146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.7302788496017456, + 0.6830794215202332, + -0.00976348202675581, + -0.20557723939418793 + ], + [ + 0.681755781173706, + -0.7278025150299072, + 0.07424645870923996, + 0.051911864429712296 + ], + [ + 0.0436103418469429, + -0.06087692826986313, + -0.9971921443939209, + -0.04366930201649666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.7285872101783752, + 0.6849215626716614, + -0.0065681845881044865, + -0.20623049139976501 + ], + [ + 0.6834014654159546, + -0.7262582778930664, + 0.07423850148916245, + 0.051477525383234024 + ], + [ + 0.04607735201716423, + -0.05857793241739273, + -0.997218906879425, + -0.04400172457098961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.7302688956260681, + 0.6831275224685669, + -0.006644971203058958, + -0.20628677308559418 + ], + [ + 0.6816902160644531, + -0.7280257344245911, + 0.07264294475317001, + 0.051279354840517044 + ], + [ + 0.04478668421506882, + -0.05757869407534599, + -0.9973358511924744, + -0.04472142085433006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.7300913333892822, + 0.6833089590072632, + -0.007452444173395634, + -0.20620884001255035 + ], + [ + 0.6818923950195312, + -0.7277793288230896, + 0.07321231812238693, + 0.051101408898830414 + ], + [ + 0.0446028970181942, + -0.0585334450006485, + -0.9972885251045227, + -0.045053958892822266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.7293455004692078, + 0.6841413378715515, + -0.002404347760602832, + -0.20649325847625732 + ], + [ + 0.6823302507400513, + -0.7271498441696167, + 0.0753563717007637, + 0.0508921816945076 + ], + [ + 0.04980608820915222, + -0.0566013865172863, + -0.9971537590026855, + -0.04538128152489662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.7313922047615051, + 0.681951642036438, + -0.002720169024541974, + -0.20643946528434753 + ], + [ + 0.6802796721458435, + -0.7293077707290649, + 0.07300537079572678, + 0.05096624419093132 + ], + [ + 0.04780229553580284, + -0.05524603649973869, + -0.9973278641700745, + -0.046139318495988846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.7337244749069214, + 0.6794257760047913, + -0.005389401689171791, + -0.20569461584091187 + ], + [ + 0.6780558824539185, + -0.7316916584968567, + 0.06976745277643204, + 0.05146889388561249 + ], + [ + 0.043458420783281326, + -0.05484439805150032, + -0.9975486993789673, + -0.04655518755316734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.7361271977424622, + 0.6768212914466858, + -0.005447327625006437, + -0.20503361523151398 + ], + [ + 0.6755810379981995, + -0.7342393398284912, + 0.06695450097322464, + 0.0517304353415966 + ], + [ + 0.04131659120321274, + -0.0529671385884285, + -0.997741162776947, + -0.04729421064257622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.7404375076293945, + 0.672089159488678, + -0.006960014346987009, + -0.2039625644683838 + ], + [ + 0.6711940765380859, + -0.7388272881507874, + 0.06027256324887276, + 0.052033450454473495 + ], + [ + 0.03536628559231758, + -0.049299586564302444, + -0.9981576800346375, + -0.04867946356534958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.7470492720603943, + 0.6647078990936279, + -0.008984669111669064, + -0.20161306858062744 + ], + [ + 0.6640728116035461, + -0.7455809712409973, + 0.055823903530836105, + 0.053019892424345016 + ], + [ + 0.030407791957259178, + -0.047669682651758194, + -0.9984002113342285, + -0.049039456993341446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.7543697357177734, + 0.6562145352363586, + -0.017572486773133278, + -0.19912341237068176 + ], + [ + 0.6561336517333984, + -0.7529056072235107, + 0.051203563809394836, + 0.05375537648797035 + ], + [ + 0.02037009969353676, + -0.05015632137656212, + -0.9985336065292358, + -0.04979997128248215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.7612165212631226, + 0.648054301738739, + -0.02397998608648777, + -0.19660153985023499 + ], + [ + 0.6483851671218872, + -0.7598745822906494, + 0.04676796868443489, + 0.05422857403755188 + ], + [ + 0.01208640169352293, + -0.05114881694316864, + -0.9986178874969482, + -0.05074205994606018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.7671988606452942, + 0.6407496333122253, + -0.029084233567118645, + -0.19381795823574066 + ], + [ + 0.641335129737854, + -0.7656310796737671, + 0.04998299852013588, + 0.05462699756026268 + ], + [ + 0.009758791886270046, + -0.05699963867664337, + -0.9983264803886414, + -0.05038321390748024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.7748212814331055, + 0.6308553218841553, + -0.04090968146920204, + -0.19050493836402893 + ], + [ + 0.632180392742157, + -0.7732031345367432, + 0.05004916712641716, + 0.05510841682553291 + ], + [ + -5.77114406041801e-05, + -0.06464146077632904, + -0.9979085326194763, + -0.050568271428346634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.7834263443946838, + 0.6182352304458618, + -0.06346970796585083, + -0.18658871948719025 + ], + [ + 0.6211214065551758, + -0.7823659777641296, + 0.04595338553190231, + 0.05567982420325279 + ], + [ + -0.0212465338408947, + -0.07542348653078079, + -0.9969252347946167, + -0.051386598497629166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.7904953360557556, + 0.606027364730835, + -0.08858851343393326, + -0.18246327340602875 + ], + [ + 0.6107721328735352, + -0.7907731533050537, + 0.0404384583234787, + 0.05632155016064644 + ], + [ + -0.045546602457761765, + -0.08607380837202072, + -0.9952471256256104, + -0.051390450447797775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.7969173789024353, + 0.5940436720848083, + -0.10970314592123032, + -0.1780630499124527 + ], + [ + 0.6003792881965637, + -0.7989478707313538, + 0.035028912127017975, + 0.05656347796320915 + ], + [ + -0.06683839112520218, + -0.09377864748239517, + -0.9933469891548157, + -0.05199126899242401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.8037214279174805, + 0.583459734916687, + -0.11664729565382004, + -0.17340770363807678 + ], + [ + 0.5903047323226929, + -0.80649334192276, + 0.03329865261912346, + 0.05647728964686394 + ], + [ + -0.07464684545993805, + -0.0956202894449234, + -0.9926150441169739, + -0.052722640335559845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.8103411793708801, + 0.5744383335113525, + -0.11561916768550873, + -0.16876910626888275 + ], + [ + 0.5811560153961182, + -0.8131093978881836, + 0.033328860998153687, + 0.05634043365716934 + ], + [ + -0.0748656615614891, + -0.09420052170753479, + -0.9927343130111694, + -0.0523807667195797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.8169475793838501, + 0.5646690130233765, + -0.11724147945642471, + -0.1636529564857483 + ], + [ + 0.5716094970703125, + -0.819793701171875, + 0.03465428203344345, + 0.05638199672102928 + ], + [ + -0.07654562592506409, + -0.09532707184553146, + -0.9924986362457275, + -0.05207543075084686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.8251128196716309, + 0.5501234531402588, + -0.12865856289863586, + -0.1576305329799652 + ], + [ + 0.5584952235221863, + -0.8286010026931763, + 0.0387747697532177, + 0.056688737124204636 + ], + [ + -0.08527569472789764, + -0.10384874790906906, + -0.9909306168556213, + -0.051832783967256546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.8327575922012329, + 0.535053551197052, + -0.14224103093147278, + -0.1510821431875229 + ], + [ + 0.5454392433166504, + -0.8369370698928833, + 0.04508211091160774, + 0.05703173205256462 + ], + [ + -0.09492544829845428, + -0.11512631177902222, + -0.9888048768043518, + -0.05152042210102081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.8388100862503052, + 0.523919939994812, + -0.1480051726102829, + -0.14382411539554596 + ], + [ + 0.5353175401687622, + -0.8432316780090332, + 0.048943448811769485, + 0.05779208615422249 + ], + [ + -0.09916020184755325, + -0.12028402835130692, + -0.9877747893333435, + -0.05174693465232849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.8437710404396057, + 0.5149076581001282, + -0.15139512717723846, + -0.1361294984817505 + ], + [ + 0.5268978476524353, + -0.8483901619911194, + 0.05111519247293472, + 0.058688078075647354 + ], + [ + -0.10212253034114838, + -0.12289928644895554, + -0.9871508479118347, + -0.052128348499536514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.8484721183776855, + 0.5058075189590454, + -0.1557362973690033, + -0.1285141259431839 + ], + [ + 0.5184513330459595, + -0.8534882068634033, + 0.05259385704994202, + 0.058932069689035416 + ], + [ + -0.10631672292947769, + -0.12536612153053284, + -0.9863975048065186, + -0.05196255072951317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.8532170057296753, + 0.4971923530101776, + -0.15754538774490356, + -0.12109030783176422 + ], + [ + 0.5100468993186951, + -0.858519434928894, + 0.05288241058588028, + 0.05924078822135925 + ], + [ + -0.10896304249763489, + -0.1254757046699524, + -0.9860947728157043, + -0.0512697696685791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.8578894138336182, + 0.4881495535373688, + -0.1604236364364624, + -0.11339154839515686 + ], + [ + 0.5010915398597717, + -0.8638938069343567, + 0.05093855410814285, + 0.05976086109876633 + ], + [ + -0.11372336000204086, + -0.12408657371997833, + -0.9857329726219177, + -0.0504734143614769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.8653078079223633, + 0.4746229648590088, + -0.16116899251937866, + -0.10516374558210373 + ], + [ + 0.48806342482566833, + -0.8710593581199646, + 0.055223606526851654, + 0.0603901706635952 + ], + [ + -0.11417736858129501, + -0.12644611299037933, + -0.9853805899620056, + -0.049246761947870255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.8733522295951843, + 0.457202285528183, + -0.16799409687519073, + -0.0969143956899643 + ], + [ + 0.4724186360836029, + -0.8790832757949829, + 0.06350813060998917, + 0.06104687601327896 + ], + [ + -0.11864472925662994, + -0.13482849299907684, + -0.9837401509284973, + -0.046933528035879135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.8801225423812866, + 0.43892449140548706, + -0.18091315031051636, + -0.08873341977596283 + ], + [ + 0.45637935400009155, + -0.8872032165527344, + 0.06773710250854492, + 0.06164051592350006 + ], + [ + -0.13077525794506073, + -0.14218197762966156, + -0.9811636805534363, + -0.04563065245747566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.886198103427887, + 0.4251146614551544, + -0.18420232832431793, + -0.0809725746512413 + ], + [ + 0.4431852698326111, + -0.8937270045280457, + 0.06956208497285843, + 0.06194888427853584 + ], + [ + -0.13505473732948303, + -0.14328154921531677, + -0.9804236888885498, + -0.04432748258113861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.8919470310211182, + 0.41708964109420776, + -0.1745472103357315, + -0.07454708218574524 + ], + [ + 0.4344584047794342, + -0.897528886795044, + 0.07541725039482117, + 0.061715755611658096 + ], + [ + -0.1252054125070572, + -0.14310169219970703, + -0.981756329536438, + -0.04194675385951996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.8955127000808716, + 0.40945398807525635, + -0.17436885833740234, + -0.06779169291257858 + ], + [ + 0.42755505442619324, + -0.9002847075462341, + 0.08175673335790634, + 0.06122223660349846 + ], + [ + -0.12350598722696304, + -0.14776647090911865, + -0.9812804460525513, + -0.03953985497355461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.8999994397163391, + 0.40081754326820374, + -0.1713077276945114, + -0.060768015682697296 + ], + [ + 0.4187338650226593, + -0.9041844606399536, + 0.08433501422405243, + 0.06080389395356178 + ], + [ + -0.1210908442735672, + -0.14763380587100983, + -0.981601357460022, + -0.03774575889110565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9048887491226196, + 0.39243340492248535, + -0.16484041512012482, + -0.05380074679851532 + ], + [ + 0.4092012345790863, + -0.9086536169052124, + 0.08308375626802444, + 0.06047647073864937 + ], + [ + -0.11717800050973892, + -0.14263446629047394, + -0.9828146696090698, + -0.03607034310698509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9080301523208618, + 0.3841583728790283, + -0.16704359650611877, + -0.04686424881219864 + ], + [ + 0.40102463960647583, + -0.9124285578727722, + 0.0815679207444191, + 0.06022541970014572 + ], + [ + -0.12108035385608673, + -0.14105473458766937, + -0.9825696349143982, + -0.03539976477622986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9116178750991821, + 0.372752845287323, + -0.17322850227355957, + -0.03984564170241356 + ], + [ + 0.39031165838241577, + -0.9171584248542786, + 0.08048141002655029, + 0.06003999337553978 + ], + [ + -0.12887829542160034, + -0.14098139107227325, + -0.981587827205658, + -0.03519221022725105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9156739711761475, + 0.36286941170692444, + -0.17282044887542725, + -0.03340241685509682 + ], + [ + 0.3801213204860687, + -0.9215508699417114, + 0.07906811684370041, + 0.06019219383597374 + ], + [ + -0.1305714249610901, + -0.13809336721897125, + -0.9817745685577393, + -0.03538045287132263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9201893210411072, + 0.3547891080379486, + -0.16545794904232025, + -0.027069680392742157 + ], + [ + 0.3708213269710541, + -0.9254290461540222, + 0.0779273509979248, + 0.05990162864327431 + ], + [ + -0.1254718154668808, + -0.13306324183940887, + -0.9831332564353943, + -0.035377319902181625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.924669623374939, + 0.34687474370002747, + -0.157047837972641, + -0.02089286409318447 + ], + [ + 0.361261785030365, + -0.9295247197151184, + 0.07398482412099838, + 0.05943574383854866 + ], + [ + -0.12031637132167816, + -0.12514691054821014, + -0.9848158359527588, + -0.035678375512361526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9283312559127808, + 0.3388293385505676, + -0.1529567688703537, + -0.014875874854624271 + ], + [ + 0.35228395462036133, + -0.9332068562507629, + 0.07085895538330078, + 0.05894651263952255 + ], + [ + -0.11873120814561844, + -0.11966479569673538, + -0.9856892228126526, + -0.03549735248088837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9330641627311707, + 0.32804080843925476, + -0.14758211374282837, + -0.008587213233113289 + ], + [ + 0.3405510485172272, + -0.9377074241638184, + 0.06877309083938599, + 0.05811144784092903 + ], + [ + -0.11582846194505692, + -0.11442895233631134, + -0.9866558313369751, + -0.03549603745341301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9388970136642456, + 0.3129045069217682, + -0.1433984488248825, + -0.0009653811575844884 + ], + [ + 0.3248737156391144, + -0.9432458877563477, + 0.06887844204902649, + 0.057101327925920486 + ], + [ + -0.11370762437582016, + -0.11125615239143372, + -0.9872652292251587, + -0.0348060242831707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9439557194709778, + 0.29701879620552063, + -0.14397010207176208, + 0.00615583173930645 + ], + [ + 0.3096359968185425, + -0.9479300379753113, + 0.07452674955129623, + 0.05594220384955406 + ], + [ + -0.1143377348780632, + -0.11492827534675598, + -0.9867717027664185, + -0.034011196345090866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9484857320785522, + 0.28267112374305725, + -0.1430796980857849, + 0.012605587020516396 + ], + [ + 0.29558897018432617, + -0.9520822167396545, + 0.07852797955274582, + 0.05487998202443123 + ], + [ + -0.1140260398387909, + -0.11677544564008713, + -0.9865908622741699, + -0.033590130507946014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9530745148658752, + 0.2707781493663788, + -0.13538148999214172, + 0.019113674759864807 + ], + [ + 0.28265467286109924, + -0.9560773968696594, + 0.07760386168956757, + 0.05414727330207825 + ], + [ + -0.10842175036668777, + -0.11222847551107407, + -0.9877496957778931, + -0.03360094875097275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9567059874534607, + 0.26142048835754395, + -0.12795674800872803, + 0.024894246831536293 + ], + [ + 0.27226126194000244, + -0.9592245221138, + 0.07590887695550919, + 0.05361921712756157 + ], + [ + -0.1028951108455658, + -0.1074601411819458, + -0.9888705015182495, + -0.033807121217250824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9593726396560669, + 0.25340744853019714, + -0.12405145913362503, + 0.03010387159883976 + ], + [ + 0.2638091444969177, + -0.9615816473960876, + 0.07593090832233429, + 0.05316408351063728 + ], + [ + -0.1000441387295723, + -0.10557194799184799, + -0.989366352558136, + -0.034056514501571655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9613897800445557, + 0.2444515973329544, + -0.12638472020626068, + 0.03518553823232651 + ], + [ + 0.25483211874961853, + -0.9641833901405334, + 0.0735597163438797, + 0.05290575698018074 + ], + [ + -0.10387624800205231, + -0.10292644798755646, + -0.9892501831054688, + -0.03369072824716568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9638775587081909, + 0.23323982954025269, + -0.12860487401485443, + 0.04028167203068733 + ], + [ + 0.24339504539966583, + -0.9674206376075745, + 0.06968635320663452, + 0.052496861666440964 + ], + [ + -0.10816137492656708, + -0.09847089648246765, + -0.9892444610595703, + -0.034115470945835114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.966136634349823, + 0.2241598665714264, + -0.12779830396175385, + 0.04509636387228966 + ], + [ + 0.23421025276184082, + -0.9696795344352722, + 0.0697651207447052, + 0.0518612302839756 + ], + [ + -0.1082848533987999, + -0.09733431041240692, + -0.9893434047698975, + -0.03447943180799484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9677978754043579, + 0.21524366736412048, + -0.1305275559425354, + 0.05096159502863884 + ], + [ + 0.22559604048728943, + -0.971676766872406, + 0.07036136835813522, + 0.05135766789317131 + ], + [ + -0.11168575286865234, + -0.09754208475351334, + -0.9889448285102844, + -0.0333881750702858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9689536690711975, + 0.20543186366558075, + -0.13757365942001343, + 0.056331899017095566 + ], + [ + 0.21646210551261902, + -0.9737392067909241, + 0.0705418735742569, + 0.050699248909950256 + ], + [ + -0.1194693073630333, + -0.09813129156827927, + -0.9879763722419739, + -0.03318574279546738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9710134863853455, + 0.19710269570350647, + -0.1352158933877945, + 0.061227716505527496 + ], + [ + 0.20812448859214783, + -0.9753917455673218, + 0.07276766002178192, + 0.0498151034116745 + ], + [ + -0.11754576116800308, + -0.09880011528730392, + -0.9881404638290405, + -0.032944656908512115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9732145071029663, + 0.18882602453231812, + -0.13114209473133087, + 0.06682286411523819 + ], + [ + 0.1995554268360138, + -0.9770844578742981, + 0.07405149936676025, + 0.04896307364106178 + ], + [ + -0.11415404826402664, + -0.09823811054229736, + -0.9885939955711365, + -0.03179793059825897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9744296669960022, + 0.17779050767421722, + -0.13739511370658875, + 0.07234219461679459 + ], + [ + 0.18921758234500885, + -0.9790631532669067, + 0.07504700124263763, + 0.04812341555953026 + ], + [ + -0.1211758404970169, + -0.09912559390068054, + -0.9876692295074463, + -0.031560491770505905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9769614934921265, + 0.16901621222496033, + -0.1303064078092575, + 0.0774657130241394 + ], + [ + 0.1796085238456726, + -0.9809308052062988, + 0.07426654547452927, + 0.04718051478266716 + ], + [ + -0.11526932567358017, + -0.09595969319343567, + -0.9886884093284607, + -0.031419891864061356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9806569814682007, + 0.16217324137687683, + -0.10959777235984802, + 0.08227720856666565 + ], + [ + 0.17028163373470306, + -0.9829673171043396, + 0.069133460521698, + 0.04642612114548683 + ], + [ + -0.09651943296194077, + -0.08645869791507721, + -0.991568922996521, + -0.031014055013656616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9822703003883362, + 0.15377308428287506, + -0.10723312199115753, + 0.08731130510568619 + ], + [ + 0.16147449612617493, + -0.984584391117096, + 0.0672275647521019, + 0.045517075806856155 + ], + [ + -0.09524226933717728, + -0.08335105329751968, + -0.9919584393501282, + -0.03110349178314209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9831700325012207, + 0.1468583643436432, + -0.10867058485746384, + 0.09239019453525543 + ], + [ + 0.1543724238872528, + -0.9859204888343811, + 0.06426461040973663, + 0.04471332207322121 + ], + [ + -0.0977027639746666, + -0.07995878159999847, + -0.9919983744621277, + -0.03162707760930061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.98486328125, + 0.14149172604084015, + -0.10012225806713104, + 0.09725531935691833 + ], + [ + 0.147626131772995, + -0.987414538860321, + 0.05673626810312271, + 0.044021617621183395 + ], + [ + -0.09083446860313416, + -0.0706581249833107, + -0.9933561682701111, + -0.03238494321703911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9850423336029053, + 0.13221096992492676, + -0.11050738394260406, + 0.10252204537391663 + ], + [ + 0.13889464735984802, + -0.9887722730636597, + 0.055114563554525375, + 0.04322977364063263 + ], + [ + -0.10197988897562027, + -0.06963906437158585, + -0.9923459887504578, + -0.033427536487579346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9849620461463928, + 0.11891791224479675, + -0.12533265352249146, + 0.10816438496112823 + ], + [ + 0.12715964019298553, + -0.9900705218315125, + 0.05992288887500763, + 0.042213331907987595 + ], + [ + -0.11696226894855499, + -0.07495902478694916, + -0.9903034567832947, + -0.03418654203414917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9849821925163269, + 0.1060955822467804, + -0.13621248304843903, + 0.11373354494571686 + ], + [ + 0.11589670926332474, + -0.9910565614700317, + 0.06614276766777039, + 0.04102080687880516 + ], + [ + -0.12797681987285614, + -0.0809360221028328, + -0.9884691834449768, + -0.03470037505030632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9844045639038086, + 0.09409715235233307, + -0.1486383080482483, + 0.11964404582977295 + ], + [ + 0.10525019466876984, + -0.9920472502708435, + 0.06902628391981125, + 0.03928926959633827 + ], + [ + -0.14096103608608246, + -0.08359399437904358, + -0.986479640007019, + -0.03575543686747551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9829865097999573, + 0.08101844787597656, + -0.16484394669532776, + 0.1252337545156479 + ], + [ + 0.09418325126171112, + -0.9928255677223206, + 0.07366770505905151, + 0.0381835512816906 + ], + [ + -0.1576928347349167, + -0.08793990314006805, + -0.9835647344589233, + -0.036850281059741974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9815638661384583, + 0.06716367602348328, + -0.17894533276557922, + 0.13090376555919647 + ], + [ + 0.08261331915855408, + -0.9933392405509949, + 0.08032582700252533, + 0.03691018745303154 + ], + [ + -0.172358438372612, + -0.09362819790840149, + -0.9805744886398315, + -0.03773472458124161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9808624982833862, + 0.05526735261082649, + -0.18669307231903076, + 0.13632231950759888 + ], + [ + 0.07190749794244766, + -0.9939045906066895, + 0.0835643783211708, + 0.03581602871417999 + ], + [ + -0.18093672394752502, + -0.09538979828357697, + -0.9788578748703003, + -0.038876116275787354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9805129170417786, + 0.0450158566236496, + -0.19122755527496338, + 0.14128193259239197 + ], + [ + 0.06244698911905289, + -0.9943252205848694, + 0.08612605184316635, + 0.03497657924890518 + ], + [ + -0.18626534938812256, + -0.0963892936706543, + -0.977759838104248, + -0.040013544261455536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9806125164031982, + 0.039714861661195755, + -0.19189004600048065, + 0.14542782306671143 + ], + [ + 0.05714035406708717, + -0.9946426153182983, + 0.08614545315504074, + 0.034650929272174835 + ], + [ + -0.18744076788425446, + -0.09543997794389725, + -0.9776283502578735, + -0.0410747304558754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9795986413955688, + 0.03675781935453415, + -0.19757376611232758, + 0.14900000393390656 + ], + [ + 0.054301321506500244, + -0.9949747323989868, + 0.08412249386310577, + 0.03460545465350151 + ], + [ + -0.19348876178264618, + -0.0931347981095314, + -0.9766719341278076, + -0.04269832372665405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9783000946044922, + 0.02877732366323471, + -0.2051846981048584, + 0.15265043079853058 + ], + [ + 0.04709095135331154, + -0.9952728748321533, + 0.08493709564208984, + 0.034508492797613144 + ], + [ + -0.20177049934864044, + -0.09275630861520767, + -0.9750307202339172, + -0.04449404031038284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.977922260761261, + 0.02001037262380123, + -0.2080088108778, + 0.1560741513967514 + ], + [ + 0.03781604766845703, + -0.9959163069725037, + 0.0819796770811081, + 0.034430500119924545 + ], + [ + -0.2055189162492752, + -0.08803582191467285, + -0.9746854305267334, + -0.046384286135435104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9775767922401428, + 0.0135206812992692, + -0.2101447731256485, + 0.1590336114168167 + ], + [ + 0.03157876431941986, + -0.9960644841194153, + 0.08281528204679489, + 0.03490802273154259 + ], + [ + -0.20819802582263947, + -0.0875944048166275, + -0.9741564393043518, + -0.04812541976571083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9768645167350769, + 0.00589898694306612, + -0.21377776563167572, + 0.1617787629365921 + ], + [ + 0.026974191889166832, + -0.9950348138809204, + 0.09580244868993759, + 0.03506689518690109 + ], + [ + -0.2121511846780777, + -0.09935249388217926, + -0.9721733331680298, + -0.048797644674777985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9745101928710938, + -0.002195719862356782, + -0.22433249652385712, + 0.16484475135803223 + ], + [ + 0.021493228152394295, + -0.994438648223877, + 0.10310088098049164, + 0.03559574857354164 + ], + [ + -0.22331129014492035, + -0.10529448837041855, + -0.9690434336662292, + -0.05061618611216545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9720675945281982, + -0.006928516551852226, + -0.23459874093532562, + 0.16757328808307648 + ], + [ + 0.01756138540804386, + -0.9946149587631226, + 0.10214062035083771, + 0.03604480251669884 + ], + [ + -0.23404309153556824, + -0.10340746492147446, + -0.9667112827301025, + -0.052779581397771835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9699406623840332, + -0.011103998869657516, + -0.24308818578720093, + 0.17022305727005005 + ], + [ + 0.01370290294289589, + -0.9948809146881104, + 0.10012070089578629, + 0.03632272779941559 + ], + [ + -0.2429555356502533, + -0.10044214874505997, + -0.964823305606842, + -0.05499907210469246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9655968546867371, + -0.016513708978891373, + -0.25951874256134033, + 0.17319922149181366 + ], + [ + 0.009513591416180134, + -0.995070219039917, + 0.09871577471494675, + 0.03621278330683708 + ], + [ + -0.2598695456981659, + -0.09778859466314316, + -0.9606795310974121, + -0.05739382654428482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9601407647132874, + -0.02457055263221264, + -0.2784349024295807, + 0.17626790702342987 + ], + [ + 0.003533856477588415, + -0.9949823021888733, + 0.0999884158372879, + 0.03598150610923767 + ], + [ + -0.27949458360671997, + -0.09698690474033356, + -0.9552362561225891, + -0.06009446829557419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9569436311721802, + -0.0331222265958786, + -0.288377970457077, + 0.17942599952220917 + ], + [ + -0.0043464284390211105, + -0.9949921369552612, + 0.09985876828432083, + 0.0355861596763134 + ], + [ + -0.2902413606643677, + -0.09430579841136932, + -0.9522953033447266, + -0.06264126300811768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9520394206047058, + -0.042641717940568924, + -0.3029894530773163, + 0.18306799232959747 + ], + [ + -0.011866377666592598, + -0.9946419596672058, + 0.10269659012556076, + 0.03465692326426506 + ], + [ + -0.3057451844215393, + -0.09417581558227539, + -0.9474443793296814, + -0.06439869850873947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9444074034690857, + -0.058633800595998764, + -0.3235069513320923, + 0.1871715635061264 + ], + [ + -0.024015624076128006, + -0.9936432242393494, + 0.10998386889696121, + 0.03380504995584488 + ], + [ + -0.3278992474079132, + -0.096100352704525, + -0.9398121237754822, + -0.0669315904378891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9365360140800476, + -0.07604261487722397, + -0.3422248363494873, + 0.19156068563461304 + ], + [ + -0.03678029775619507, + -0.9921169877052307, + 0.11979580670595169, + 0.032953523099422455 + ], + [ + -0.348636656999588, + -0.09960595518350601, + -0.9319501519203186, + -0.06962048262357712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9301458597183228, + -0.08913831412792206, + -0.3562065064907074, + 0.19533832371234894 + ], + [ + -0.04647504538297653, + -0.990864634513855, + 0.12659911811351776, + 0.03158091381192207 + ], + [ + -0.3642372786998749, + -0.10120093822479248, + -0.925791323184967, + -0.07170392572879791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9276282787322998, + -0.09833762049674988, + -0.36032694578170776, + 0.19949394464492798 + ], + [ + -0.0568634569644928, + -0.9906550645828247, + 0.12397217005491257, + 0.03070910833775997 + ], + [ + -0.3691508173942566, + -0.09451065957546234, + -0.9245514869689941, + -0.07436883449554443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9135178923606873, + -0.19295737147331238, + -0.3581235408782959, + 0.20122645795345306 + ], + [ + -0.15603643655776978, + -0.979215145111084, + 0.12957733869552612, + 0.019194575026631355 + ], + [ + -0.37568289041519165, + -0.06249089911580086, + -0.9246389865875244, + -0.0576787069439888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.918186366558075, + -0.1899314969778061, + -0.3476490378379822, + 0.19800911843776703 + ], + [ + -0.15479102730751038, + -0.9798173904418945, + 0.1264815479516983, + 0.019832346588373184 + ], + [ + -0.36465540528297424, + -0.06232067570090294, + -0.9290546774864197, + -0.05501421168446541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9221225380897522, + -0.18860456347465515, + -0.3378141522407532, + 0.19470609724521637 + ], + [ + -0.15452970564365387, + -0.9800065755844116, + 0.12533044815063477, + 0.020273271948099136 + ], + [ + -0.35469797253608704, + -0.06336770951747894, + -0.9328311085700989, + -0.05263550207018852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9292693734169006, + -0.1831977814435959, + -0.3207755982875824, + 0.1910441815853119 + ], + [ + -0.1528831422328949, + -0.9812344312667847, + 0.11749757826328278, + 0.02082863450050354 + ], + [ + -0.33628135919570923, + -0.060145724564790726, + -0.9398390054702759, + -0.05053286626935005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.93415766954422, + -0.17845436930656433, + -0.30903640389442444, + 0.18696974217891693 + ], + [ + -0.15006032586097717, + -0.9821362495422363, + 0.11353519558906555, + 0.021708376705646515 + ], + [ + -0.3237766921520233, + -0.05968567356467247, + -0.9442490339279175, + -0.04733920469880104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9349341988563538, + -0.17792922258377075, + -0.30698415637016296, + 0.18319126963615417 + ], + [ + -0.14833173155784607, + -0.981945812702179, + 0.11738865822553635, + 0.022235983982682228 + ], + [ + -0.32232868671417236, + -0.06421517580747604, + -0.9444472789764404, + -0.04502895101904869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9364405274391174, + -0.17718245089054108, + -0.30279624462127686, + 0.17961111664772034 + ], + [ + -0.14664892852306366, + -0.9817661643028259, + 0.12095177918672562, + 0.02250714600086212 + ], + [ + -0.31870561838150024, + -0.06885940581560135, + -0.9453492164611816, + -0.04290919005870819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.939842164516449, + -0.17531833052635193, + -0.29318967461586, + 0.17590145766735077 + ], + [ + -0.14480046927928925, + -0.9817966818809509, + 0.1229148730635643, + 0.022713175043463707 + ], + [ + -0.30940189957618713, + -0.07306656986474991, + -0.9481201171875, + -0.04097965732216835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9425300359725952, + -0.174275204539299, + -0.2850707471370697, + 0.17224159836769104 + ], + [ + -0.14395399391651154, + -0.9817554950714111, + 0.12423121184110641, + 0.022819677367806435 + ], + [ + -0.3015201687812805, + -0.07605457305908203, + -0.9504216313362122, + -0.03960828110575676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9447734355926514, + -0.17375756800174713, + -0.2778695225715637, + 0.1685284823179245 + ], + [ + -0.1443389356136322, + -0.9818292856216431, + 0.12319695204496384, + 0.022868819534778595 + ], + [ + -0.29422682523727417, + -0.07628581672906876, + -0.9526862502098083, + -0.038599930703639984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9478264451026917, + -0.17173317074775696, + -0.2685753405094147, + 0.1646529734134674 + ], + [ + -0.14347843825817108, + -0.9821471571922302, + 0.12165892124176025, + 0.022852221503853798 + ], + [ + -0.2846733629703522, + -0.07677678018808365, + -0.9555450677871704, + -0.0372576005756855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9507482051849365, + -0.17026720941066742, + -0.25901147723197937, + 0.16069498658180237 + ], + [ + -0.1430521309375763, + -0.9823324680328369, + 0.12066048383712769, + 0.02273157238960266 + ], + [ + -0.27497991919517517, + -0.07766558974981308, + -0.9583079218864441, + -0.035890545696020126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9520365595817566, + -0.17102457582950592, + -0.25372615456581116, + 0.15681961178779602 + ], + [ + -0.14394249022006989, + -0.9820553064346313, + 0.12185210734605789, + 0.022579338401556015 + ], + [ + -0.27001282572746277, + -0.079485684633255, + -0.9595702886581421, + -0.03460175544023514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9536018371582031, + -0.1702197790145874, + -0.24833208322525024, + 0.15350355207920074 + ], + [ + -0.14363887906074524, + -0.9821279644966125, + 0.121624656021595, + 0.02243528515100479 + ], + [ + -0.2645967900753021, + -0.0803113579750061, + -0.96100914478302, + -0.03362596035003662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9567383527755737, + -0.1674194186925888, + -0.23795479536056519, + 0.14954109489917755 + ], + [ + -0.14227747917175293, + -0.982612133026123, + 0.11929169297218323, + 0.02250385656952858 + ], + [ + -0.2537890076637268, + -0.08027532696723938, + -0.9639227390289307, + -0.03228466585278511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9590559601783752, + -0.1653107851743698, + -0.22996531426906586, + 0.14523881673812866 + ], + [ + -0.14071932435035706, + -0.9827962517738342, + 0.11962290108203888, + 0.022662054747343063 + ], + [ + -0.2457839995622635, + -0.08236449211835861, + -0.9658190011978149, + -0.030703093856573105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9604470729827881, + -0.163455531001091, + -0.22544117271900177, + 0.1413007229566574 + ], + [ + -0.13897085189819336, + -0.9829244613647461, + 0.12060923129320145, + 0.02269427292048931 + ], + [ + -0.2413059026002884, + -0.08450902998447418, + -0.9667624831199646, + -0.029357679188251495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9620392322540283, + -0.1623683124780655, + -0.2193559855222702, + 0.13711965084075928 + ], + [ + -0.1384318321943283, + -0.983013391494751, + 0.12050449103116989, + 0.022853128612041473 + ], + [ + -0.23519597947597504, + -0.08556420356035233, + -0.968174397945404, + -0.028014641255140305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9638240933418274, + -0.16141167283058167, + -0.21210695803165436, + 0.1323658972978592 + ], + [ + -0.1379362940788269, + -0.9829903244972229, + 0.12125857174396515, + 0.02379603683948517 + ], + [ + -0.22807163000106812, + -0.08761468529701233, + -0.9696942567825317, + -0.02532864362001419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.966240406036377, + -0.15904223918914795, + -0.20269441604614258, + 0.12773829698562622 + ], + [ + -0.13622386753559113, + -0.9831336140632629, + 0.12202990800142288, + 0.024310505017638206 + ], + [ + -0.2186836153268814, + -0.09029841423034668, + -0.9716088175773621, + -0.023253491148352623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9681119322776794, + -0.15876001119613647, + -0.19378986954689026, + 0.12325277924537659 + ], + [ + -0.13603977859020233, + -0.9827253818511963, + 0.12547490000724792, + 0.02449587732553482 + ], + [ + -0.21036262810230255, + -0.09511062502861023, + -0.9729858636856079, + -0.021537721157073975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9689445495605469, + -0.15913845598697662, + -0.18926535546779633, + 0.1181468814611435 + ], + [ + -0.13588714599609375, + -0.982140839099884, + 0.13013091683387756, + 0.024918003007769585 + ], + [ + -0.2065940648317337, + -0.10037090629339218, + -0.9732649326324463, + -0.019731123000383377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9710483551025391, + -0.15629974007606506, + -0.18065308034420013, + 0.11310271918773651 + ], + [ + -0.13423281908035278, + -0.9825718998908997, + 0.12858447432518005, + 0.025170251727104187 + ], + [ + -0.19760237634181976, + -0.10061217099428177, + -0.9751054048538208, + -0.01840514875948429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9749722480773926, + -0.15181833505630493, + -0.16242004930973053, + 0.10800370573997498 + ], + [ + -0.13264892995357513, + -0.9834967851638794, + 0.12303785979747772, + 0.025264635682106018 + ], + [ + -0.17841899394989014, + -0.09841365367174149, + -0.9790206551551819, + -0.0169663242995739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9780261516571045, + -0.1478491723537445, + -0.1469881385564804, + 0.10368134081363678 + ], + [ + -0.13070383667945862, + -0.9841080904006958, + 0.12019884586334229, + 0.025618374347686768 + ], + [ + -0.1624235212802887, + -0.09834569692611694, + -0.9818078875541687, + -0.015160208567976952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9789554476737976, + -0.14678962528705597, + -0.14177095890045166, + 0.09890979528427124 + ], + [ + -0.12950728833675385, + -0.9837557673454285, + 0.12430798262357712, + 0.025603357702493668 + ], + [ + -0.15771512687206268, + -0.10333160310983658, + -0.9820634126663208, + -0.013798784464597702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.980298638343811, + -0.14495894312858582, + -0.1341695487499237, + 0.09375984966754913 + ], + [ + -0.12809494137763977, + -0.9836218357086182, + 0.12680584192276, + 0.025521811097860336 + ], + [ + -0.15035374462604523, + -0.10712115466594696, + -0.982811689376831, + -0.012684105895459652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.982605516910553, + -0.13950161635875702, + -0.12257949262857437, + 0.08821453899145126 + ], + [ + -0.1244376003742218, + -0.9845747351646423, + 0.12299522012472153, + 0.025617599487304688 + ], + [ + -0.1378467082977295, + -0.10560227930545807, + -0.9848078489303589, + -0.01194179430603981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9838218688964844, + -0.13367240130901337, + -0.1192736104130745, + 0.08371562510728836 + ], + [ + -0.11921139061450958, + -0.9854546189308167, + 0.12111073732376099, + 0.02608233317732811 + ], + [ + -0.13372789323329926, + -0.10493262112140656, + -0.985447108745575, + -0.011738304980099201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9847332835197449, + -0.12973642349243164, + -0.11605513095855713, + 0.07872740179300308 + ], + [ + -0.1156194880604744, + -0.9858871698379517, + 0.12107279896736145, + 0.026320554316043854 + ], + [ + -0.13012482225894928, + -0.10580617934465408, + -0.9858359694480896, + -0.011574311181902885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9870678186416626, + -0.12256252020597458, + -0.10332241654396057, + 0.07403946667909622 + ], + [ + -0.11063342541456223, + -0.9872772097587585, + 0.11421028524637222, + 0.026798203587532043 + ], + [ + -0.11600577086210251, + -0.1013023853302002, + -0.9880690574645996, + -0.01162119209766388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9889781475067139, + -0.1148206889629364, + -0.09347942471504211, + 0.06862886250019073 + ], + [ + -0.1046348512172699, + -0.988693118095398, + 0.10741236060857773, + 0.027227528393268585 + ], + [ + -0.10475562512874603, + -0.09644727408885956, + -0.9898101687431335, + -0.011669328436255455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9899727702140808, + -0.10988254845142365, + -0.08876786381006241, + 0.06321800500154495 + ], + [ + -0.10044611990451813, + -0.9894320964813232, + 0.10456928610801697, + 0.027512796223163605 + ], + [ + -0.09932011365890503, + -0.09460435807704926, + -0.9905480742454529, + -0.011768919415771961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9911544919013977, + -0.10624395310878754, + -0.0795300230383873, + 0.057060811668634415 + ], + [ + -0.09794354438781738, + -0.9899657368659973, + 0.10185711085796356, + 0.02776235342025757 + ], + [ + -0.08955370634794235, + -0.09316667914390564, + -0.9916148781776428, + -0.011161288246512413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9924483299255371, + -0.10059576481580734, + -0.07019128650426865, + 0.05150306224822998 + ], + [ + -0.09340681880712509, + -0.9906823039054871, + 0.09911485016345978, + 0.027963552623987198 + ], + [ + -0.07950779795646667, + -0.09181002527475357, + -0.9925973415374756, + -0.010881680063903332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9936700463294983, + -0.0949036180973053, + -0.06010988727211952, + 0.0462687648832798 + ], + [ + -0.08893106132745743, + -0.9914718866348267, + 0.09526128321886063, + 0.02812569960951805 + ], + [ + -0.0686379075050354, + -0.08931264281272888, + -0.9936357736587524, + -0.010851636528968811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9946140646934509, + -0.09093974530696869, + -0.04972705617547035, + 0.04237749055027962 + ], + [ + -0.08607534319162369, + -0.9919862747192383, + 0.09248946607112885, + 0.028190530836582184 + ], + [ + -0.05773952603340149, + -0.08771105110645294, + -0.9944711923599243, + -0.010646093636751175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9953978061676025, + -0.08635041117668152, + -0.041554439812898636, + 0.03787321224808693 + ], + [ + -0.08234114944934845, + -0.9925257563591003, + 0.09006986767053604, + 0.028250647708773613 + ], + [ + -0.04902142286300659, + -0.0862337127327919, + -0.9950681328773499, + -0.010748142376542091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9961721897125244, + -0.08017945289611816, + -0.03481728211045265, + 0.033057499676942825 + ], + [ + -0.07689937204122543, + -0.9932296276092529, + 0.08707144856452942, + 0.028358956798911095 + ], + [ + -0.041562896221876144, + -0.08406072854995728, + -0.9955934286117554, + -0.01114075817167759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.996802806854248, + -0.07448211312294006, + -0.02892429567873478, + 0.028249088674783707 + ], + [ + -0.07178258895874023, + -0.9937722682952881, + 0.08522845804691315, + 0.028430255129933357 + ], + [ + -0.03509216010570526, + -0.08287970721721649, + -0.9959415197372437, + -0.01163254864513874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 240, + "c2w": [ + [ + 0.9973975419998169, + -0.0685293972492218, + -0.02240133099257946, + 0.023951208218932152 + ], + [ + -0.06648509949445724, + -0.9944196343421936, + 0.08191037178039551, + 0.02880977839231491 + ], + [ + -0.027889592573046684, + -0.08020785450935364, + -0.9963878989219666, + -0.011633964255452156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 241, + "c2w": [ + [ + 0.9980538487434387, + -0.060590844601392746, + -0.014740264974534512, + 0.019075317308306694 + ], + [ + -0.05927063897252083, + -0.9952125549316406, + 0.07771091908216476, + 0.02912977710366249 + ], + [ + -0.019378267228603363, + -0.07668600976467133, + -0.9968669414520264, + -0.012177521362900734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 242, + "c2w": [ + [ + 0.9986259937286377, + -0.05194324627518654, + -0.006933735217899084, + 0.014230592176318169 + ], + [ + -0.05129183828830719, + -0.995953381061554, + 0.07379741221666336, + 0.029891744256019592 + ], + [ + -0.010738953948020935, + -0.07334037125110626, + -0.9972491264343262, + -0.012528162449598312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 243, + "c2w": [ + [ + 0.9991283416748047, + -0.04171062633395195, + 0.001658911001868546, + 0.009044511243700981 + ], + [ + -0.041726239025592804, + -0.9967776536941528, + 0.06850706040859222, + 0.030595410615205765 + ], + [ + -0.0012039070716127753, + -0.0685165673494339, + -0.9976492524147034, + -0.013182383961975574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 244, + "c2w": [ + [ + 0.9995143413543701, + -0.03062492609024048, + 0.005760399159044027, + 0.0038354340940713882 + ], + [ + -0.030951950699090958, + -0.9970938563346863, + 0.06961192935705185, + 0.03126706928014755 + ], + [ + 0.0036117981653660536, + -0.069756418466568, + -0.997557520866394, + -0.013617228716611862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 245, + "c2w": [ + [ + 0.9997141361236572, + -0.023849312216043472, + 0.001706561422906816, + -0.0008645245106890798 + ], + [ + -0.023909663781523705, + -0.9966210722923279, + 0.07857950031757355, + 0.03250580653548241 + ], + [ + -0.00017327189561910927, + -0.07859783619642258, + -0.9969063997268677, + -0.012739025056362152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 246, + "c2w": [ + [ + 0.9998396635055542, + -0.017575515434145927, + 0.0034211997408419847, + -0.00534871406853199 + ], + [ + -0.017796209082007408, + -0.9965031147003174, + 0.08163817971944809, + 0.03328464552760124 + ], + [ + 0.0019744031596928835, + -0.08168597519397736, + -0.9966561794281006, + -0.012679573148488998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 247, + "c2w": [ + [ + 0.9998675584793091, + -0.0125666419044137, + 0.010343252681195736, + -0.009545041248202324 + ], + [ + -0.013346238061785698, + -0.9967758655548096, + 0.07911881804466248, + 0.03393341973423958 + ], + [ + 0.00931564625352621, + -0.07924637943506241, + -0.9968115091323853, + -0.013104481622576714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 248, + "c2w": [ + [ + 0.999840259552002, + -0.008573665283620358, + 0.015684423968195915, + -0.013521451503038406 + ], + [ + -0.009787503629922867, + -0.9968243837356567, + 0.07902751117944717, + 0.03444359451532364 + ], + [ + 0.014957060106098652, + -0.0791683942079544, + -0.9967490434646606, + -0.01354031078517437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 249, + "c2w": [ + [ + 0.9998209476470947, + -0.005709486082196236, + 0.018041331321001053, + -0.01729700341820717 + ], + [ + -0.00718042254447937, + -0.9965611696243286, + 0.08254849165678024, + 0.03559056296944618 + ], + [ + 0.01750798150897026, + -0.08266325294971466, + -0.9964237213134766, + -0.01230526715517044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 250, + "c2w": [ + [ + 0.9996652007102966, + -0.004464228171855211, + 0.025486009195446968, + -0.021007278934121132 + ], + [ + -0.006677091121673584, + -0.9961497783660889, + 0.08741327375173569, + 0.03590628132224083 + ], + [ + 0.0249976497143507, + -0.08755417913198471, + -0.9958460927009583, + -0.011929728090763092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 251, + "c2w": [ + [ + 0.9990067481994629, + -0.0025709900073707104, + 0.04448484629392624, + -0.02480165660381317 + ], + [ + -0.006353232078254223, + -0.9963528513908386, + 0.08509208261966705, + 0.036241669207811356 + ], + [ + 0.04410383105278015, + -0.08529018610715866, + -0.9953795671463013, + -0.011677427217364311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 252, + "c2w": [ + [ + 0.9978293180465698, + -0.0014854682376608253, + 0.06583612412214279, + -0.028545958921313286 + ], + [ + -0.006840749178081751, + -0.9966750144958496, + 0.08119207620620728, + 0.03673148900270462 + ], + [ + 0.06549660861492157, + -0.0814662054181099, + -0.9945217370986938, + -0.011127565987408161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 253, + "c2w": [ + [ + 0.9968226552009583, + 0.0007921324577182531, + 0.07964932918548584, + -0.03235071152448654 + ], + [ + -0.005864085629582405, + -0.9965072274208069, + 0.08330037444829941, + 0.037203412503004074 + ], + [ + 0.07943711429834366, + -0.08350276947021484, + -0.9933363199234009, + -0.010805511847138405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 254, + "c2w": [ + [ + 0.9957349896430969, + 0.0029623345471918583, + 0.09221205115318298, + -0.03633140027523041 + ], + [ + -0.0050756121054291725, + -0.9962118268013, + 0.0868116170167923, + 0.037913333624601364 + ], + [ + 0.09211990237236023, + -0.08690939843654633, + -0.9919479489326477, + -0.010543866083025932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 255, + "c2w": [ + [ + 0.9940014481544495, + 0.010254986584186554, + 0.10888515412807465, + -0.04072537645697594 + ], + [ + 0.0007257998804561794, + -0.9961907863616943, + 0.08719717711210251, + 0.03886687383055687 + ], + [ + 0.1093645915389061, + -0.0865950882434845, + -0.9902225136756897, + -0.010620629414916039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 256, + "c2w": [ + [ + 0.9919446110725403, + 0.022021794691681862, + 0.12474334239959717, + -0.04550236463546753 + ], + [ + 0.01140526495873928, + -0.9962994456291199, + 0.08519019186496735, + 0.040077392011880875 + ], + [ + 0.1261577606201172, + -0.08308122307062149, + -0.9885250329971313, + -0.011193053796887398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 257, + "c2w": [ + [ + 0.9906240701675415, + 0.03587830439209938, + 0.13182072341442108, + -0.05046060308814049 + ], + [ + 0.024416029453277588, + -0.995859682559967, + 0.08756324648857117, + 0.04131966456770897 + ], + [ + 0.13441656529903412, + -0.0835237205028534, + -0.9873985648155212, + -0.01198604516685009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 258, + "c2w": [ + [ + 0.9884012937545776, + 0.05107341334223747, + 0.143018901348114, + -0.05538870394229889 + ], + [ + 0.03737127035856247, + -0.9945917129516602, + 0.09690593928098679, + 0.0425000935792923 + ], + [ + 0.1471947282552719, + -0.0904371589422226, + -0.9849643707275391, + -0.012022800743579865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 259, + "c2w": [ + [ + 0.9850608110427856, + 0.06774254143238068, + 0.15832284092903137, + -0.06084302440285683 + ], + [ + 0.0514054037630558, + -0.9931320548057556, + 0.10510072112083435, + 0.04347839206457138 + ], + [ + 0.16435527801513672, + -0.09539195150136948, + -0.9817778468132019, + -0.011705921031534672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 260, + "c2w": [ + [ + 0.982535719871521, + 0.08280670642852783, + 0.1666329950094223, + -0.06619119644165039 + ], + [ + 0.06494396179914474, + -0.9918145537376404, + 0.10993702709674835, + 0.04452246055006981 + ], + [ + 0.17437255382537842, + -0.09719525277614594, + -0.9798710346221924, + -0.011862379498779774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 261, + "c2w": [ + [ + 0.9804312586784363, + 0.09725607931613922, + 0.17116020619869232, + -0.07094739377498627 + ], + [ + 0.07872459292411804, + -0.9905933141708374, + 0.11192542314529419, + 0.04564625024795532 + ], + [ + 0.18043559789657593, + -0.096260666847229, + -0.9788650870323181, + -0.012443394400179386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 262, + "c2w": [ + [ + 0.9784996509552002, + 0.1094430685043335, + 0.17481592297554016, + -0.07554766535758972 + ], + [ + 0.08989044278860092, + -0.9891596436500549, + 0.11611583828926086, + 0.04650776460766792 + ], + [ + 0.18562893569469452, + -0.09790503233671188, + -0.9777302742004395, + -0.013172568753361702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 263, + "c2w": [ + [ + 0.9770945906639099, + 0.12286045402288437, + 0.17375677824020386, + -0.08016511797904968 + ], + [ + 0.10204582661390305, + -0.9870133996009827, + 0.12406127154827118, + 0.047212645411491394 + ], + [ + 0.18674248456954956, + -0.10348844528198242, + -0.9769428968429565, + -0.01389213465154171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 264, + "c2w": [ + [ + 0.9750120639801025, + 0.13353177905082703, + 0.17754080891609192, + -0.08394905924797058 + ], + [ + 0.11212890595197678, + -0.9857244491577148, + 0.12559644877910614, + 0.04793057218194008 + ], + [ + 0.19177742302417755, + -0.10255059599876404, + -0.976065993309021, + -0.01519097201526165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 265, + "c2w": [ + [ + 0.9703635573387146, + 0.1505313515663147, + 0.18903671205043793, + -0.08866680413484573 + ], + [ + 0.1273426115512848, + -0.9833818078041077, + 0.12939895689487457, + 0.04886080324649811 + ], + [ + 0.2053738534450531, + -0.10149159282445908, + -0.9734069108963013, + -0.016059963032603264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 266, + "c2w": [ + [ + 0.9630537033081055, + 0.17422036826610565, + 0.20536509156227112, + -0.09410807490348816 + ], + [ + 0.1478348970413208, + -0.9793937802314758, + 0.13759595155715942, + 0.0496947318315506 + ], + [ + 0.22510530054569244, + -0.10215216875076294, + -0.968964695930481, + -0.016512516885995865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 267, + "c2w": [ + [ + 0.9576570391654968, + 0.19235703349113464, + 0.21422365307807922, + -0.09863169491291046 + ], + [ + 0.1645263284444809, + -0.9762297868728638, + 0.1410902440547943, + 0.05066179111599922 + ], + [ + 0.2362712174654007, + -0.09987062960863113, + -0.9665411114692688, + -0.0177322831004858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 268, + "c2w": [ + [ + 0.9549993872642517, + 0.20543189346790314, + 0.21394844353199005, + -0.10280675441026688 + ], + [ + 0.1778879314661026, + -0.9738849401473999, + 0.14108151197433472, + 0.0515945665538311 + ], + [ + 0.23734381794929504, + -0.09667391330003738, + -0.9666033387184143, + -0.01955133117735386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 269, + "c2w": [ + [ + 0.9528207182884216, + 0.21473391354084015, + 0.2145274430513382, + -0.10719418525695801 + ], + [ + 0.18748801946640015, + -0.9721822142601013, + 0.14039236307144165, + 0.05269204452633858 + ], + [ + 0.2387067675590515, + -0.09354742616415024, + -0.9665753841400146, + -0.021604664623737335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 270, + "c2w": [ + [ + 0.951039731502533, + 0.22256587445735931, + 0.21444784104824066, + -0.11111675947904587 + ], + [ + 0.19585728645324707, + -0.9707455039024353, + 0.1388997584581375, + 0.053374793380498886 + ], + [ + 0.23908860981464386, + -0.09009800851345062, + -0.9668086767196655, + -0.02352222241461277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 271, + "c2w": [ + [ + 0.9482717514038086, + 0.23395368456840515, + 0.21458406746387482, + -0.11523138731718063 + ], + [ + 0.20714803040027618, + -0.9682119488716125, + 0.14019736647605896, + 0.053877782076597214 + ], + [ + 0.2405625581741333, + -0.08849453926086426, + -0.9665911197662354, + -0.025101523846387863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 272, + "c2w": [ + [ + 0.9433849453926086, + 0.2472401112318039, + 0.22112706303596497, + -0.11933992058038712 + ], + [ + 0.21933495998382568, + -0.9650691747665405, + 0.1432955414056778, + 0.05457845702767372 + ], + [ + 0.24883131682872772, + -0.08668195456266403, + -0.9646601676940918, + -0.0262613445520401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 273, + "c2w": [ + [ + 0.9381481409072876, + 0.2600961923599243, + 0.22853446006774902, + -0.12362436950206757 + ], + [ + 0.23168861865997314, + -0.962092936038971, + 0.14386652410030365, + 0.055209558457136154 + ], + [ + 0.2572905421257019, + -0.08201927691698074, + -0.9628470540046692, + -0.027708441019058228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 274, + "c2w": [ + [ + 0.9323373436927795, + 0.2745187282562256, + 0.2353435605764389, + -0.12814567983150482 + ], + [ + 0.24568778276443481, + -0.9584854245185852, + 0.1447174996137619, + 0.05570366978645325 + ], + [ + 0.26530104875564575, + -0.07710448652505875, + -0.9610776305198669, + -0.029184743762016296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 275, + "c2w": [ + [ + 0.9276173114776611, + 0.2868579626083374, + 0.23924602568149567, + -0.13257235288619995 + ], + [ + 0.2565741539001465, + -0.954810380935669, + 0.15002276003360748, + 0.05593085661530495 + ], + [ + 0.2714698016643524, + -0.0777793675661087, + -0.9592989683151245, + -0.03021041676402092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 276, + "c2w": [ + [ + 0.9242339134216309, + 0.2970614433288574, + 0.23988774418830872, + -0.1371988207101822 + ], + [ + 0.2665122151374817, + -0.951797366142273, + 0.15183207392692566, + 0.05730356276035309 + ], + [ + 0.27342796325683594, + -0.07639534026384354, + -0.9588539600372314, + -0.03067256323993206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 277, + "c2w": [ + [ + 0.9202598333358765, + 0.3078693747520447, + 0.24153321981430054, + -0.14143013954162598 + ], + [ + 0.27740004658699036, + -0.9486166834831238, + 0.15223534405231476, + 0.057779259979724884 + ], + [ + 0.2759910523891449, + -0.07309474796056747, + -0.9583768248558044, + -0.032171621918678284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 278, + "c2w": [ + [ + 0.9150243997573853, + 0.3216722905635834, + 0.24342817068099976, + -0.145722895860672 + ], + [ + 0.2900848388671875, + -0.9440253376960754, + 0.1570570170879364, + 0.058291956782341 + ], + [ + 0.2803232669830322, + -0.07309618592262268, + -0.9571185111999512, + -0.032704394310712814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 279, + "c2w": [ + [ + 0.9095767140388489, + 0.33328041434288025, + 0.24818208813667297, + -0.14976005256175995 + ], + [ + 0.3020189702510834, + -0.9404467940330505, + 0.15602678060531616, + 0.058557987213134766 + ], + [ + 0.28540271520614624, + -0.06696262955665588, + -0.9560655355453491, + -0.03416337072849274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 280, + "c2w": [ + [ + 0.9073668718338013, + 0.34144994616508484, + 0.24514757096767426, + -0.1530892550945282 + ], + [ + 0.31138014793395996, + -0.9377801418304443, + 0.15365828573703766, + 0.058659110218286514 + ], + [ + 0.28236111998558044, + -0.06309034675359726, + -0.957231342792511, + -0.035924721509218216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 281, + "c2w": [ + [ + 0.9048981666564941, + 0.35128113627433777, + 0.24033501744270325, + -0.1557624489068985 + ], + [ + 0.32077860832214355, + -0.9339895844459534, + 0.1573675572872162, + 0.05862945690751076 + ], + [ + 0.27975064516067505, + -0.06530728191137314, + -0.9578489065170288, + -0.03724344074726105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 282, + "c2w": [ + [ + 0.9003169536590576, + 0.3612103760242462, + 0.2428094744682312, + -0.1584484726190567 + ], + [ + 0.33043551445007324, + -0.9303703308105469, + 0.15881888568401337, + 0.05855099856853485 + ], + [ + 0.2832697629928589, + -0.06275446712970734, + -0.9569849371910095, + -0.038073740899562836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 283, + "c2w": [ + [ + 0.8958533406257629, + 0.37114080786705017, + 0.24433840811252594, + -0.16087424755096436 + ], + [ + 0.3397587239742279, + -0.9265184998512268, + 0.16163988411426544, + 0.05835331603884697 + ], + [ + 0.2863752245903015, + -0.06178952381014824, + -0.9561230540275574, + -0.038502857089042664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 284, + "c2w": [ + [ + 0.8924703598022461, + 0.381168007850647, + 0.2412624955177307, + -0.16312004625797272 + ], + [ + 0.34804919362068176, + -0.9220675826072693, + 0.16927237808704376, + 0.057955678552389145 + ], + [ + 0.2869815528392792, + -0.06709935516119003, + -0.9555832147598267, + -0.03844062611460686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 285, + "c2w": [ + [ + 0.8896345496177673, + 0.3889830410480499, + 0.23925423622131348, + -0.16418209671974182 + ], + [ + 0.3551519513130188, + -0.9186627864837646, + 0.1729908436536789, + 0.0581481046974659 + ], + [ + 0.2870844602584839, + -0.06892701983451843, + -0.9554222226142883, + -0.038299258798360825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 286, + "c2w": [ + [ + 0.8904383778572083, + 0.3918682634830475, + 0.23142774403095245, + -0.1654195636510849 + ], + [ + 0.3588920533657074, + -0.9173200130462646, + 0.17239642143249512, + 0.05809246003627777 + ], + [ + 0.27984997630119324, + -0.0704508051276207, + -0.9574553370475769, + -0.0389329195022583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 287, + "c2w": [ + [ + 0.8912554383277893, + 0.3944368362426758, + 0.2237931489944458, + -0.16665546596050262 + ], + [ + 0.36188796162605286, + -0.9159875512123108, + 0.17321628332138062, + 0.05818956717848778 + ], + [ + 0.27331462502479553, + -0.07339190691709518, + -0.9591208100318909, + -0.0394778698682785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 288, + "c2w": [ + [ + 0.8890085816383362, + 0.4007697105407715, + 0.22146639227867126, + -0.16874301433563232 + ], + [ + 0.3675265908241272, + -0.9130308032035828, + 0.1769152581691742, + 0.058078933507204056 + ], + [ + 0.2731079161167145, + -0.07588440179824829, + -0.9589857459068298, + -0.039715733379125595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 289, + "c2w": [ + [ + 0.8841046094894409, + 0.4115827977657318, + 0.2212660014629364, + -0.17166918516159058 + ], + [ + 0.3771041929721832, + -0.9080507755279541, + 0.1823078840970993, + 0.057876769453287125 + ], + [ + 0.27595555782318115, + -0.07773890346288681, + -0.9580215215682983, + -0.03975307568907738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 290, + "c2w": [ + [ + 0.8777130842208862, + 0.42223986983299255, + 0.22656849026679993, + -0.17468398809432983 + ], + [ + 0.38693857192993164, + -0.9034241437911987, + 0.18467099964618683, + 0.05773458629846573 + ], + [ + 0.28266289830207825, + -0.07442005723714828, + -0.9563280344009399, + -0.04045930132269859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 291, + "c2w": [ + [ + 0.8707078695297241, + 0.43353936076164246, + 0.2321883738040924, + -0.17771117389202118 + ], + [ + 0.3967026174068451, + -0.8981858491897583, + 0.18944457173347473, + 0.05746844410896301 + ], + [ + 0.2906799912452698, + -0.07284114509820938, + -0.9540436863899231, + -0.040751975029706955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 292, + "c2w": [ + [ + 0.8643972277641296, + 0.4445270001888275, + 0.23497483134269714, + -0.1804407387971878 + ], + [ + 0.4072936177253723, + -0.8930602073669434, + 0.1911945343017578, + 0.05732912942767143 + ], + [ + 0.2948378026485443, + -0.06956427544355392, + -0.9530118107795715, + -0.04126011207699776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 293, + "c2w": [ + [ + 0.8600305318832397, + 0.4526137709617615, + 0.23555944859981537, + -0.1819717288017273 + ], + [ + 0.4166516959667206, + -0.8894506096839905, + 0.1878269910812378, + 0.05760158970952034 + ], + [ + 0.29453158378601074, + -0.06339069455862045, + -0.9535369873046875, + -0.04267039895057678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 294, + "c2w": [ + [ + 0.8568443655967712, + 0.4589136838912964, + 0.2349807769060135, + -0.18317089974880219 + ], + [ + 0.423061341047287, + -0.8863198161125183, + 0.18829850852489471, + 0.0575719028711319 + ], + [ + 0.2946808934211731, + -0.06193123385310173, + -0.953586757183075, + -0.04345988854765892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 295, + "c2w": [ + [ + 0.8566476702690125, + 0.4599962532520294, + 0.2335769236087799, + -0.18367713689804077 + ], + [ + 0.42341920733451843, + -0.8855544328689575, + 0.1910746693611145, + 0.05742471292614937 + ], + [ + 0.2947387099266052, + -0.06478272378444672, + -0.9533793926239014, + -0.04353269562125206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 296, + "c2w": [ + [ + 0.8586215972900391, + 0.4579368233680725, + 0.23035375773906708, + -0.18349827826023102 + ], + [ + 0.42135700583457947, + -0.8864213228225708, + 0.1916128545999527, + 0.0574430488049984 + ], + [ + 0.29193705320358276, + -0.067461758852005, + -0.9540553689002991, + -0.04357406869530678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 297, + "c2w": [ + [ + 0.8608370423316956, + 0.4547317922115326, + 0.22842638194561005, + -0.18283361196517944 + ], + [ + 0.41810426115989685, + -0.8878976106643677, + 0.19190271198749542, + 0.05750050023198128 + ], + [ + 0.29008349776268005, + -0.06969090551137924, + -0.9544604420661926, + -0.042864859104156494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 298, + "c2w": [ + [ + 0.8608227968215942, + 0.4556647837162018, + 0.2266136258840561, + -0.18272387981414795 + ], + [ + 0.4177394211292267, + -0.8870130777359009, + 0.19672706723213196, + 0.05748274177312851 + ], + [ + 0.2906508445739746, + -0.07468170672655106, + -0.953910231590271, + -0.04236049950122833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 299, + "c2w": [ + [ + 0.8592920899391174, + 0.4581564664840698, + 0.2273978292942047, + -0.18294081091880798 + ], + [ + 0.4193474054336548, + -0.8855990767478943, + 0.199654683470726, + 0.057470209896564484 + ], + [ + 0.2928563952445984, + -0.07620300352573395, + -0.9531150460243225, + -0.04230061173439026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 300, + "c2w": [ + [ + 0.8592991232872009, + 0.4579598009586334, + 0.22776710987091064, + -0.18282410502433777 + ], + [ + 0.4199484586715698, + -0.8859227895736694, + 0.1969367414712906, + 0.05761374160647392 + ], + [ + 0.29197320342063904, + -0.07357712090015411, + -0.9535921812057495, + -0.04251832142472267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 301, + "c2w": [ + [ + 0.8610521554946899, + 0.45703864097595215, + 0.22294579446315765, + -0.18259598314762115 + ], + [ + 0.42106133699417114, + -0.8866168856620789, + 0.1913577914237976, + 0.05762732774019241 + ], + [ + 0.2851254343986511, + -0.07089519500732422, + -0.9558647274971008, + -0.04374294728040695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 302, + "c2w": [ + [ + 0.8629671335220337, + 0.45550060272216797, + 0.21864786744117737, + -0.1823471337556839 + ], + [ + 0.42135101556777954, + -0.8875986337661743, + 0.18609662353992462, + 0.057460106909275055 + ], + [ + 0.2788386642932892, + -0.06846777349710464, + -0.9578941464424133, + -0.04495628923177719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 303, + "c2w": [ + [ + 0.8642264604568481, + 0.45607662200927734, + 0.21238337457180023, + -0.18243975937366486 + ], + [ + 0.42124006152153015, + -0.8867825269699097, + 0.1901935636997223, + 0.05670514330267906 + ], + [ + 0.27508071064949036, + -0.07490593194961548, + -0.9584986567497253, + -0.0440976656973362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 304, + "c2w": [ + [ + 0.8645736575126648, + 0.4585198760032654, + 0.20560142397880554, + -0.1825931817293167 + ], + [ + 0.42215579748153687, + -0.8846871852874756, + 0.19777029752731323, + 0.05615396052598953 + ], + [ + 0.2725745737552643, + -0.08419115096330643, + -0.9584440588951111, + -0.04315003380179405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 305, + "c2w": [ + [ + 0.8649507164955139, + 0.45783790946006775, + 0.20553502440452576, + -0.18238992989063263 + ], + [ + 0.42022791504859924, + -0.8846261501312256, + 0.20210160315036774, + 0.05587339773774147 + ], + [ + 0.27435144782066345, + -0.08843638002872467, + -0.9575543403625488, + -0.041737768799066544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 306, + "c2w": [ + [ + 0.8660615682601929, + 0.45567649602890015, + 0.2056606262922287, + -0.1818036586046219 + ], + [ + 0.4179404377937317, + -0.8856573104858398, + 0.20232880115509033, + 0.055993836373090744 + ], + [ + 0.27434131503105164, + -0.0892753079533577, + -0.9574793577194214, + -0.040986932814121246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 307, + "c2w": [ + [ + 0.868242084980011, + 0.45277804136276245, + 0.2028491497039795, + -0.18092644214630127 + ], + [ + 0.4152047038078308, + -0.8869073987007141, + 0.20248547196388245, + 0.05626353994011879 + ], + [ + 0.27158936858177185, + -0.09158247709274292, + -0.9580458402633667, + -0.0405273400247097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 308, + "c2w": [ + [ + 0.8710963726043701, + 0.4497794210910797, + 0.19720451533794403, + -0.179881751537323 + ], + [ + 0.4125051498413086, + -0.8880016207695007, + 0.20320595800876617, + 0.05647808685898781 + ], + [ + 0.2665157914161682, + -0.09566409140825272, + -0.9590712785720825, + -0.03995930030941963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 309, + "c2w": [ + [ + 0.8738344311714172, + 0.4462166130542755, + 0.19314271211624146, + -0.17849060893058777 + ], + [ + 0.4085824489593506, + -0.8892160058021545, + 0.2058039754629135, + 0.05655067414045334 + ], + [ + 0.26357874274253845, + -0.10092388093471527, + -0.9593438506126404, + -0.037849873304367065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 310, + "c2w": [ + [ + 0.8768126368522644, + 0.441444993019104, + 0.19059360027313232, + -0.17698712646961212 + ], + [ + 0.4032512307167053, + -0.8910024762153625, + 0.20857372879981995, + 0.056670572608709335 + ], + [ + 0.26189321279525757, + -0.10602297633886337, + -0.9592554569244385, + -0.03647216036915779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 311, + "c2w": [ + [ + 0.879732072353363, + 0.435012549161911, + 0.19192594289779663, + -0.17528928816318512 + ], + [ + 0.39680105447769165, + -0.8940956592559814, + 0.2077062875032425, + 0.05698526278138161 + ], + [ + 0.26195499300956726, + -0.10656946897506714, + -0.9591780304908752, + -0.035509757697582245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 312, + "c2w": [ + [ + 0.8833711743354797, + 0.4289921522140503, + 0.1887354850769043, + -0.1732732057571411 + ], + [ + 0.3897590637207031, + -0.8960674405097961, + 0.21248769760131836, + 0.056952718645334244 + ], + [ + 0.260275274515152, + -0.11414413899183273, + -0.9587637186050415, + -0.033489227294921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 313, + "c2w": [ + [ + 0.8877184987068176, + 0.4224480092525482, + 0.1830124855041504, + -0.1712939590215683 + ], + [ + 0.38192474842071533, + -0.8977153301239014, + 0.21963751316070557, + 0.05696606636047363 + ], + [ + 0.2570785582065582, + -0.12507927417755127, + -0.9582618474960327, + -0.031733036041259766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 314, + "c2w": [ + [ + 0.8918512463569641, + 0.4144354462623596, + 0.18123090267181396, + -0.16910392045974731 + ], + [ + 0.37383776903152466, + -0.9009051322937012, + 0.22048857808113098, + 0.05730270966887474 + ], + [ + 0.25465014576911926, + -0.12889204919338226, + -0.9584050178527832, + -0.03079577535390854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 315, + "c2w": [ + [ + 0.8962164521217346, + 0.4056054353713989, + 0.17966730892658234, + -0.16641084849834442 + ], + [ + 0.36529549956321716, + -0.9045493006706238, + 0.21988581120967865, + 0.05750144645571709 + ], + [ + 0.2517048120498657, + -0.1314336210489273, + -0.9588378071784973, + -0.029859088361263275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 316, + "c2w": [ + [ + 0.9000747799873352, + 0.3976413607597351, + 0.17817601561546326, + -0.16382743418216705 + ], + [ + 0.35826459527015686, + -0.9080954790115356, + 0.21681582927703857, + 0.05782368406653404 + ], + [ + 0.24801577627658844, + -0.13131630420684814, + -0.9598146677017212, + -0.029814276844263077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 317, + "c2w": [ + [ + 0.9030221700668335, + 0.3889019191265106, + 0.18250006437301636, + -0.16126124560832977 + ], + [ + 0.35029467940330505, + -0.9125073552131653, + 0.21124373376369476, + 0.05810479447245598 + ], + [ + 0.24868574738502502, + -0.12682896852493286, + -0.9602446556091309, + -0.02991326153278351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 318, + "c2w": [ + [ + 0.9049126505851746, + 0.38122695684432983, + 0.1892065405845642, + -0.1589895784854889 + ], + [ + 0.3419203460216522, + -0.9159237146377563, + 0.21017658710479736, + 0.05804035812616348 + ], + [ + 0.2534237504005432, + -0.12549787759780884, + -0.9591802358627319, + -0.029381219297647476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 319, + "c2w": [ + [ + 0.9059804677963257, + 0.37789079546928406, + 0.19078239798545837, + -0.15698951482772827 + ], + [ + 0.3374280333518982, + -0.9168015718460083, + 0.21358181536197662, + 0.05780043825507164 + ], + [ + 0.25562021136283875, + -0.12912562489509583, + -0.95811527967453, + -0.028689611703157425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 320, + "c2w": [ + [ + 0.9074459671974182, + 0.37501636147499084, + 0.18948499858379364, + -0.15490351617336273 + ], + [ + 0.3346448838710785, + -0.9177746176719666, + 0.21378149092197418, + 0.057711392641067505 + ], + [ + 0.2540760934352875, + -0.1305849701166153, + -0.9583281874656677, + -0.028462201356887817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 321, + "c2w": [ + [ + 0.9098178744316101, + 0.36809930205345154, + 0.19166193902492523, + -0.15256744623184204 + ], + [ + 0.32890334725379944, + -0.9211928844451904, + 0.20790930092334747, + 0.057987116277217865 + ], + [ + 0.25308889150619507, + -0.12612134218215942, + -0.959186851978302, + -0.02876114659011364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 322, + "c2w": [ + [ + 0.9145175814628601, + 0.35713526606559753, + 0.190031498670578, + -0.14935293793678284 + ], + [ + 0.31972458958625793, + -0.9258661866188049, + 0.20136520266532898, + 0.05799488723278046 + ], + [ + 0.24785836040973663, + -0.12339427322149277, + -0.9609058499336243, + -0.029498057439923286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 323, + "c2w": [ + [ + 0.9213213324546814, + 0.34461867809295654, + 0.1800137758255005, + -0.14571045339107513 + ], + [ + 0.3089132606983185, + -0.9299731254577637, + 0.19930538535118103, + 0.05772728845477104 + ], + [ + 0.23609232902526855, + -0.1280156672000885, + -0.9632613658905029, + -0.029918119311332703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 324, + "c2w": [ + [ + 0.9297901391983032, + 0.32789480686187744, + 0.16725817322731018, + -0.1406395137310028 + ], + [ + 0.29444316029548645, + -0.9352253675460815, + 0.19661332666873932, + 0.05741468816995621 + ], + [ + 0.22089256346225739, + -0.13356110453605652, + -0.9661096930503845, + -0.029451394453644753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 325, + "c2w": [ + [ + 0.9387080669403076, + 0.30888059735298157, + 0.15303583443164825, + -0.1360502392053604 + ], + [ + 0.27737703919410706, + -0.9404137134552002, + 0.1966826617717743, + 0.05694160982966423 + ], + [ + 0.20466844737529755, + -0.1421789675951004, + -0.9684503078460693, + -0.029213160276412964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 326, + "c2w": [ + [ + 0.944743275642395, + 0.2940887212753296, + 0.14481694996356964, + -0.1319441795349121 + ], + [ + 0.263623982667923, + -0.9441729784011841, + 0.19758480787277222, + 0.05643147602677345 + ], + [ + 0.1948397159576416, + -0.14848969876766205, + -0.969529926776886, + -0.028828658163547516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 327, + "c2w": [ + [ + 0.948032796382904, + 0.28261926770210266, + 0.1461511254310608, + -0.12838910520076752 + ], + [ + 0.2516394257545471, + -0.947106659412384, + 0.19916480779647827, + 0.05565233156085014 + ], + [ + 0.19470851123332977, + -0.1520373821258545, + -0.9690062999725342, + -0.02727504074573517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 328, + "c2w": [ + [ + 0.9509744048118591, + 0.27456581592559814, + 0.14234225451946259, + -0.12519367039203644 + ], + [ + 0.24352820217609406, + -0.9485002160072327, + 0.2025865912437439, + 0.05508008971810341 + ], + [ + 0.19063502550125122, + -0.15799030661582947, + -0.9688639640808105, + -0.026394139975309372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 329, + "c2w": [ + [ + 0.9538913369178772, + 0.2665127217769623, + 0.13806606829166412, + -0.12158623337745667 + ], + [ + 0.23647314310073853, + -0.9505862593650818, + 0.20116205513477325, + 0.05487888306379318 + ], + [ + 0.18485596776008606, + -0.1592378318309784, + -0.9697791337966919, + -0.025620650500059128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 330, + "c2w": [ + [ + 0.9569336771965027, + 0.2581198811531067, + 0.13286106288433075, + -0.11837340891361237 + ], + [ + 0.2294921725988388, + -0.9528889060020447, + 0.19833330810070038, + 0.054831523448228836 + ], + [ + 0.17779560387134552, + -0.1593012511730194, + -0.9710879921913147, + -0.025653716176748276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 331, + "c2w": [ + [ + 0.959732174873352, + 0.2507026791572571, + 0.12673711776733398, + -0.11559616029262543 + ], + [ + 0.22367265820503235, + -0.9549227952957153, + 0.19517439603805542, + 0.054857466369867325 + ], + [ + 0.16995491087436676, + -0.1589675098657608, + -0.9725454449653625, + -0.02616681531071663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 332, + "c2w": [ + [ + 0.9620985388755798, + 0.2437894493341446, + 0.12220117449760437, + -0.11256319284439087 + ], + [ + 0.2183188498020172, + -0.9570937752723694, + 0.19054752588272095, + 0.05491987243294716 + ], + [ + 0.1634114682674408, + -0.15664668381214142, + -0.9740423560142517, + -0.026194993406534195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 333, + "c2w": [ + [ + 0.96412193775177, + 0.2383560687303543, + 0.1168559268116951, + -0.11005786061286926 + ], + [ + 0.21428023278713226, + -0.9586226344108582, + 0.1874210387468338, + 0.05503392592072487 + ], + [ + 0.15669368207454681, + -0.1556568145751953, + -0.9753040671348572, + -0.02641608938574791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 334, + "c2w": [ + [ + 0.9657559394836426, + 0.2332114428281784, + 0.11370094865560532, + -0.10782833397388458 + ], + [ + 0.21018417179584503, + -0.9601668119430542, + 0.18412582576274872, + 0.0552072674036026 + ], + [ + 0.15211212635040283, + -0.15392246842384338, + -0.9763041138648987, + -0.026681844145059586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 335, + "c2w": [ + [ + 0.9670966863632202, + 0.22852197289466858, + 0.11181119829416275, + -0.10474327951669693 + ], + [ + 0.20575307309627533, + -0.9610422849655151, + 0.18456266820430756, + 0.05524139106273651 + ], + [ + 0.14963191747665405, + -0.15548443794250488, + -0.976439893245697, + -0.026080438867211342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 336, + "c2w": [ + [ + 0.9684507250785828, + 0.2241039127111435, + 0.10899832099676132, + -0.10206492245197296 + ], + [ + 0.20161962509155273, + -0.9616726040840149, + 0.18583695590496063, + 0.05532940849661827 + ], + [ + 0.14646749198436737, + -0.1579977422952652, + -0.9765162467956543, + -0.025593098253011703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 337, + "c2w": [ + [ + 0.9703317880630493, + 0.21846473217010498, + 0.10358274728059769, + -0.09944520890712738 + ], + [ + 0.19706666469573975, + -0.9628430604934692, + 0.1846562772989273, + 0.05557619035243988 + ], + [ + 0.14007481932640076, + -0.15876515209674835, + -0.9773293733596802, + -0.025693945586681366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 338, + "c2w": [ + [ + 0.9725347757339478, + 0.21147403120994568, + 0.09723630547523499, + -0.0965820699930191 + ], + [ + 0.19141437113285065, + -0.9643361568450928, + 0.18280133605003357, + 0.05581708997488022 + ], + [ + 0.1324262171983719, + -0.15916822850704193, + -0.978329598903656, + -0.02604842185974121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 339, + "c2w": [ + [ + 0.974766731262207, + 0.20417667925357819, + 0.0902312695980072, + -0.09272758662700653 + ], + [ + 0.1855185329914093, + -0.9657829403877258, + 0.18123503029346466, + 0.05574845150113106 + ], + [ + 0.12414779514074326, + -0.15992231667041779, + -0.9792916774749756, + -0.025933027267456055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 340, + "c2w": [ + [ + 0.9765439033508301, + 0.19726090133190155, + 0.08631414920091629, + -0.08947741985321045 + ], + [ + 0.17940957844257355, + -0.9670968651771545, + 0.1803768426179886, + 0.05577163025736809 + ], + [ + 0.11905544251203537, + -0.16066031157970428, + -0.9798030853271484, + -0.025993574410676956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 341, + "c2w": [ + [ + 0.9777035117149353, + 0.19219692051410675, + 0.08459410816431046, + -0.08588781207799911 + ], + [ + 0.17476685345172882, + -0.968089759349823, + 0.17960713803768158, + 0.055910754948854446 + ], + [ + 0.1164146289229393, + -0.16081829369068146, + -0.9800944328308105, + -0.025102809071540833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 342, + "c2w": [ + [ + 0.9790675640106201, + 0.18671590089797974, + 0.0810178741812706, + -0.08235539495944977 + ], + [ + 0.1700243502855301, + -0.9690961241722107, + 0.1787300556898117, + 0.0560210756957531 + ], + [ + 0.11188585311174393, + -0.16121380031108856, + -0.9805567860603333, + -0.024753443896770477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 343, + "c2w": [ + [ + 0.9803123474121094, + 0.18233714997768402, + 0.07576826214790344, + -0.07893675565719604 + ], + [ + 0.16648226976394653, + -0.969596803188324, + 0.17934802174568176, + 0.05601806566119194 + ], + [ + 0.10616646707057953, + -0.16320301592350006, + -0.980863630771637, + -0.024597428739070892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 344, + "c2w": [ + [ + 0.9811325669288635, + 0.17783012986183167, + 0.07586361467838287, + -0.07541967183351517 + ], + [ + 0.16213268041610718, + -0.970545768737793, + 0.17819632589817047, + 0.05591819807887077 + ], + [ + 0.10531778633594513, + -0.16253425180912018, + -0.9810661673545837, + -0.024526048451662064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 345, + "c2w": [ + [ + 0.9822573661804199, + 0.17241914570331573, + 0.07377085089683533, + -0.07135406881570816 + ], + [ + 0.15715543925762177, + -0.971418023109436, + 0.17790208756923676, + 0.05640671029686928 + ], + [ + 0.10233605653047562, + -0.16315214335918427, + -0.9812791347503662, + -0.022913990542292595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 346, + "c2w": [ + [ + 0.9836240410804749, + 0.1663152277469635, + 0.06944780051708221, + -0.06727638840675354 + ], + [ + 0.15176859498023987, + -0.9721534252166748, + 0.17856107652187347, + 0.056381870061159134 + ], + [ + 0.09721134603023529, + -0.1650969684123993, + -0.9814748764038086, + -0.022680222988128662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 347, + "c2w": [ + [ + 0.9849777817726135, + 0.15953493118286133, + 0.06608642637729645, + -0.06306654214859009 + ], + [ + 0.14569813013076782, + -0.9732149839401245, + 0.17783315479755402, + 0.0562647245824337 + ], + [ + 0.09268689900636673, + -0.16553303599357605, + -0.9818390607833862, + -0.022746479138731956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 348, + "c2w": [ + [ + 0.9856989979743958, + 0.15400923788547516, + 0.06840087473392487, + -0.05823072791099548 + ], + [ + 0.1399034708738327, + -0.9741625189781189, + 0.17729751765727997, + 0.05735103040933609 + ], + [ + 0.09393902122974396, + -0.16519245505332947, + -0.9817774295806885, + -0.02084888145327568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 349, + "c2w": [ + [ + 0.9858852028846741, + 0.15017540752887726, + 0.0740119069814682, + -0.0541003942489624 + ], + [ + 0.13521401584148407, + -0.9748835563659668, + 0.17697222530841827, + 0.0574139840900898 + ], + [ + 0.09872987121343613, + -0.16446685791015625, + -0.9814291000366211, + -0.020183270797133446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 350, + "c2w": [ + [ + 0.9864799976348877, + 0.1458546370267868, + 0.0747239738702774, + -0.04996783658862114 + ], + [ + 0.13084346055984497, + -0.975516140460968, + 0.1767718344926834, + 0.05752290040254593 + ], + [ + 0.09867743402719498, + -0.16460472345352173, + -0.9814112782478333, + -0.019847437739372253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 351, + "c2w": [ + [ + 0.9872035980224609, + 0.1410241276025772, + 0.07443930208683014, + -0.04552695155143738 + ], + [ + 0.12614919245243073, + -0.9761980772018433, + 0.1764192432165146, + 0.05858129635453224 + ], + [ + 0.09754687547683716, + -0.16477125883102417, + -0.9814963340759277, + -0.018544454127550125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 352, + "c2w": [ + [ + 0.9874743223190308, + 0.13664530217647552, + 0.07888294756412506, + -0.041373301297426224 + ], + [ + 0.12140372395515442, + -0.9773614406585693, + 0.17327938973903656, + 0.05912115052342415 + ], + [ + 0.10077495872974396, + -0.16153226792812347, + -0.9817085862159729, + -0.01828964799642563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 353, + "c2w": [ + [ + 0.9876511693000793, + 0.13617287576198578, + 0.07747361063957214, + -0.0376666858792305 + ], + [ + 0.12156614661216736, + -0.9780365824699402, + 0.16931061446666718, + 0.06029864400625229 + ], + [ + 0.0988275408744812, + -0.15780165791511536, + -0.9825129508972168, + -0.017825376242399216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 354, + "c2w": [ + [ + 0.987832248210907, + 0.13522103428840637, + 0.07682949304580688, + -0.034025903791189194 + ], + [ + 0.12073289602994919, + -0.9781515598297119, + 0.16924266517162323, + 0.06109165772795677 + ], + [ + 0.09803605824708939, + -0.15790751576423645, + -0.9825752377510071, + -0.017316069453954697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 355, + "c2w": [ + [ + 0.988283634185791, + 0.13324148952960968, + 0.0744459256529808, + -0.030362974852323532 + ], + [ + 0.11904741078615189, + -0.978169858455658, + 0.17032761871814728, + 0.06160491332411766 + ], + [ + 0.09551546722650528, + -0.1594693958759308, + -0.9825712442398071, + -0.016852201893925667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 356, + "c2w": [ + [ + 0.988723635673523, + 0.12959027290344238, + 0.07504606992006302, + -0.026662319898605347 + ], + [ + 0.1156061515212059, + -0.9790611863136292, + 0.1675540655851364, + 0.062072400003671646 + ], + [ + 0.09518807381391525, + -0.15698888897895813, + -0.9830024242401123, + -0.0164367463439703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 357, + "c2w": [ + [ + 0.9893244504928589, + 0.1251293569803238, + 0.07469796389341354, + -0.024974916130304337 + ], + [ + 0.11105305701494217, + -0.979245126247406, + 0.1695469468832016, + 0.0625818744301796 + ], + [ + 0.09436291456222534, + -0.1594415009021759, + -0.9826871752738953, + -0.0162863377481699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 358, + "c2w": [ + [ + 0.9903256893157959, + 0.1190040186047554, + 0.07136575132608414, + -0.021572351455688477 + ], + [ + 0.10524120181798935, + -0.9793417453765869, + 0.17266742885112762, + 0.06267247349023819 + ], + [ + 0.090439572930336, + -0.16348636150360107, + -0.9823914170265198, + -0.015481865033507347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 359, + "c2w": [ + [ + 0.9914522171020508, + 0.11201676726341248, + 0.06689394265413284, + -0.017801081761717796 + ], + [ + 0.09902870655059814, + -0.9799026846885681, + 0.1731591671705246, + 0.0627630352973938 + ], + [ + 0.08494628220796585, + -0.16505461931228638, + -0.9826195240020752, + -0.014891121536493301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 360, + "c2w": [ + [ + 0.9927719831466675, + 0.10415980964899063, + 0.05961976945400238, + -0.01387396827340126 + ], + [ + 0.09228591620922089, + -0.9801226258277893, + 0.17562156915664673, + 0.06286981701850891 + ], + [ + 0.07672739773988724, + -0.1688501089811325, + -0.9826507568359375, + -0.01559329591691494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 361, + "c2w": [ + [ + 0.9937602281570435, + 0.09635331481695175, + 0.05618378147482872, + -0.010031264275312424 + ], + [ + 0.08495243638753891, + -0.9802640080451965, + 0.17850935459136963, + 0.06265318393707275 + ], + [ + 0.07227490842342377, + -0.17262256145477295, + -0.9823328256607056, + -0.015085067600011826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 362, + "c2w": [ + [ + 0.9941951036453247, + 0.09043068438768387, + 0.058296170085668564, + -0.006401469931006432 + ], + [ + 0.07890822738409042, + -0.9811686873435974, + 0.17629946768283844, + 0.0625823363661766 + ], + [ + 0.07314125448465347, + -0.17067602276802063, + -0.9826087951660156, + -0.014718601480126381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 363, + "c2w": [ + [ + 0.9947839379310608, + 0.08489297330379486, + 0.056551966816186905, + -0.0016036630840972066 + ], + [ + 0.07384099811315536, + -0.9818077087402344, + 0.1749318242073059, + 0.06134958192706108 + ], + [ + 0.07037363946437836, + -0.16984350979328156, + -0.9829550981521606, + -0.01586971804499626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 364, + "c2w": [ + [ + 0.9954596757888794, + 0.07837580889463425, + 0.05401209741830826, + 0.002461673691868782 + ], + [ + 0.06783805787563324, + -0.9822264909744263, + 0.17501170933246613, + 0.061163123697042465 + ], + [ + 0.06676879525184631, + -0.1705530285835266, + -0.9830837249755859, + -0.016069721430540085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 365, + "c2w": [ + [ + 0.9958153367042542, + 0.07403106987476349, + 0.05358337238430977, + 0.006376413628458977 + ], + [ + 0.0638497993350029, + -0.9830899238586426, + 0.17163145542144775, + 0.061331067234277725 + ], + [ + 0.06538333743810654, + -0.16749195754528046, + -0.9837029576301575, + -0.016251765191555023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 366, + "c2w": [ + [ + 0.995991051197052, + 0.06990725547075272, + 0.05581047758460045, + 0.010383592918515205 + ], + [ + 0.0597519651055336, + -0.9842296242713928, + 0.16649863123893738, + 0.059436533600091934 + ], + [ + 0.06656979024410248, + -0.16249635815620422, + -0.9844609498977661, + -0.018624797463417053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 367, + "c2w": [ + [ + 0.9962994456291199, + 0.06475143134593964, + 0.05652172490954399, + 0.014630505815148354 + ], + [ + 0.05455287918448448, + -0.9845614433288574, + 0.16632115840911865, + 0.059070002287626266 + ], + [ + 0.06641864776611328, + -0.16262224316596985, + -0.9844503998756409, + -0.018809180706739426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 368, + "c2w": [ + [ + 0.9967379570007324, + 0.05742282420396805, + 0.05671002343297005, + 0.01927422732114792 + ], + [ + 0.047291241586208344, + -0.9849653840065002, + 0.16615261137485504, + 0.058848392218351364 + ], + [ + 0.06539836525917053, + -0.1629287302494049, + -0.9844680428504944, + -0.01868196204304695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 369, + "c2w": [ + [ + 0.9973767399787903, + 0.04789680987596512, + 0.05427239090204239, + 0.024800218641757965 + ], + [ + 0.03835491091012955, + -0.9855600595474243, + 0.164925217628479, + 0.0571797639131546 + ], + [ + 0.06138809025287628, + -0.16241097450256348, + -0.9848117232322693, + -0.020304404199123383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 370, + "c2w": [ + [ + 0.9980747103691101, + 0.036941688507795334, + 0.0498221181333065, + 0.030186695978045464 + ], + [ + 0.028192104771733284, + -0.985704779624939, + 0.16610637307167053, + 0.05651995167136192 + ], + [ + 0.055246151983737946, + -0.1643819659948349, + -0.9848484396934509, + -0.020587632432579994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 371, + "c2w": [ + [ + 0.9986037611961365, + 0.02800622209906578, + 0.04479072615504265, + 0.0354744978249073 + ], + [ + 0.0202175360172987, + -0.9859616756439209, + 0.16574309766292572, + 0.056149568408727646 + ], + [ + 0.04880377650260925, + -0.16460612416267395, + -0.9851512908935547, + -0.020896662026643753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 372, + "c2w": [ + [ + 0.998981773853302, + 0.021339990198612213, + 0.03974880278110504, + 0.04209251329302788 + ], + [ + 0.014536244794726372, + -0.9863204956054688, + 0.16419677436351776, + 0.054687388241291046 + ], + [ + 0.04270901903510094, + -0.16345179080963135, + -0.9856263995170593, + -0.022423259913921356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 373, + "c2w": [ + [ + 0.9991263747215271, + 0.016155367717146873, + 0.038541849702596664, + 0.04728173092007637 + ], + [ + 0.00964822992682457, + -0.9865129590034485, + 0.16339845955371857, + 0.054234981536865234 + ], + [ + 0.04066179692745209, + -0.16288384795188904, + -0.9858070015907288, + -0.023026691749691963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 374, + "c2w": [ + [ + 0.9991311430931091, + 0.012446356937289238, + 0.039775144308805466, + 0.05204370245337486 + ], + [ + 0.0058369808830320835, + -0.9867489337921143, + 0.16214951872825623, + 0.05388873070478439 + ], + [ + 0.04126625135540962, + -0.16177646815776825, + -0.9859642386436462, + -0.02357369475066662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 375, + "c2w": [ + [ + 0.9992272853851318, + 0.010128372348845005, + 0.037976834923028946, + 0.05863519385457039 + ], + [ + 0.0038330797106027603, + -0.9867329597473145, + 0.16230633854866028, + 0.05229656398296356 + ], + [ + 0.03911689296364784, + -0.16203534603118896, + -0.9860093593597412, + -0.02453792840242386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 376, + "c2w": [ + [ + 0.9992106556892395, + 0.008797486312687397, + 0.038737714290618896, + 0.06317810714244843 + ], + [ + 0.002469827886670828, + -0.9870403409004211, + 0.16045331954956055, + 0.05179331824183464 + ], + [ + 0.03964727371931076, + -0.16023099422454834, + -0.986283004283905, + -0.025115352123975754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 377, + "c2w": [ + [ + 0.9991382956504822, + 0.007088408339768648, + 0.040895067155361176, + 0.06735549122095108 + ], + [ + 0.0005390446749515831, + -0.98744136095047, + 0.15798500180244446, + 0.051392748951911926 + ], + [ + 0.04150134325027466, + -0.15782682597637177, + -0.9865943193435669, + -0.025664394721388817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 378, + "c2w": [ + [ + 0.9992841482162476, + 0.006302639842033386, + 0.03730236738920212, + 0.07169730961322784 + ], + [ + 0.00037927337689325213, + -0.9876441359519958, + 0.15671293437480927, + 0.050417255610227585 + ], + [ + 0.037829168140888214, + -0.15658660233020782, + -0.9869394898414612, + -0.026852477341890335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 379, + "c2w": [ + [ + 0.999450147151947, + 0.004518469795584679, + 0.03284868970513344, + 0.07586535811424255 + ], + [ + -0.000551300763618201, + -0.9882702231407166, + 0.15271437168121338, + 0.049948789179325104 + ], + [ + 0.033153414726257324, + -0.15264850854873657, + -0.9877243041992188, + -0.027948159724473953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 380, + "c2w": [ + [ + 0.9995731711387634, + 0.0010422528721392155, + 0.02919570915400982, + 0.08013391494750977 + ], + [ + -0.0033164629712700844, + -0.988854706287384, + 0.14884667098522186, + 0.049438223242759705 + ], + [ + 0.029025450348854065, + -0.14887996017932892, + -0.9884291887283325, + -0.02895529940724373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 381, + "c2w": [ + [ + 0.9996899962425232, + -0.0038287919014692307, + 0.02460123971104622, + 0.08500154316425323 + ], + [ + -0.007442716043442488, + -0.9888788461685181, + 0.14853712916374207, + 0.04755350947380066 + ], + [ + 0.02375892736017704, + -0.14867419004440308, + -0.9886007905006409, + -0.028628023341298103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 382, + "c2w": [ + [ + 0.9997919797897339, + -0.009510896168649197, + 0.018041623756289482, + 0.08961936086416245 + ], + [ + -0.012068983167409897, + -0.9889959096908569, + 0.14744986593723297, + 0.04654226079583168 + ], + [ + 0.016440710052847862, + -0.14763693511486053, + -0.9889049530029297, + -0.029362984001636505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 383, + "c2w": [ + [ + 0.9998267292976379, + -0.01618826761841774, + 0.009191954508423805, + 0.09466443210840225 + ], + [ + -0.017354775220155716, + -0.9891886115074158, + 0.14561834931373596, + 0.045213036239147186 + ], + [ + 0.006735268048942089, + -0.14575263857841492, + -0.9892981648445129, + -0.029718248173594475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 384, + "c2w": [ + [ + 0.9997044205665588, + -0.024135680869221687, + 0.0029230748768895864, + 0.0997658222913742 + ], + [ + -0.02430417202413082, + -0.9890722036361694, + 0.14541485905647278, + 0.04389045014977455 + ], + [ + -0.0006185545353218913, + -0.1454429179430008, + -0.9893664717674255, + -0.030246935784816742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + }, + { + "frame_index": 385, + "c2w": [ + [ + 0.9994810223579407, + -0.031469766050577164, + -0.006878850515931845, + 0.1049126386642456 + ], + [ + -0.030149441212415695, + -0.989080548286438, + 0.14425916969776154, + 0.042732466012239456 + ], + [ + -0.011343538761138916, + -0.14397691190242767, + -0.989516019821167, + -0.031270164996385574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 833.5077094184027, + "fy": 834.2801910768072, + "cx": 415.22311740451386, + "cy": 244.7666721573795 + } + } + ] +} diff --git a/dycheck_eval/source/creeper/caption.txt b/dycheck_eval/source/creeper/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..ecce4cea138d56514581ba211a7c96f636882b90 --- /dev/null +++ b/dycheck_eval/source/creeper/caption.txt @@ -0,0 +1 @@ +Vibrant green ivy climbs and sways gently against a perforated metal fence, its leaves catching sunlight as the camera pans slowly to reveal the textured backdrop and the plant's dynamic movement. diff --git a/dycheck_eval/source/creeper/extras/frame_mapping.json b/dycheck_eval/source/creeper/extras/frame_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..154cdaa349873ca75a8a12e974e7e88e276dd198 --- /dev/null +++ b/dycheck_eval/source/creeper/extras/frame_mapping.json @@ -0,0 +1,730 @@ +{ + "original_scene": "creeper", + "source_frame_names": [ + "0_00000", + "0_00001", + "0_00002", + "0_00003", + "0_00004", + "0_00005", + "0_00006", + "0_00007", + "0_00008", + "0_00009", + "0_00010", + "0_00011", + "0_00012", + "0_00013", + "0_00014", + "0_00015", + "0_00016", + "0_00017", + "0_00018", + "0_00019", + "0_00020", + "0_00021", + "0_00022", + "0_00023", + "0_00024", + "0_00025", + "0_00026", + "0_00027", + "0_00028", + "0_00029", + "0_00030", + "0_00031", + "0_00032", + "0_00033", + "0_00034", + "0_00035", + "0_00036", + "0_00037", + "0_00038", + "0_00039", + "0_00040", + "0_00041", + "0_00042", + "0_00043", + "0_00044", + "0_00045", + "0_00046", + "0_00047", + "0_00048", + "0_00049", + "0_00050", + "0_00051", + "0_00052", + "0_00053", + "0_00054", + "0_00055", + "0_00056", + "0_00057", + "0_00058", + "0_00059", + "0_00060", + "0_00061", + "0_00062", + "0_00063", + "0_00064", + "0_00065", + "0_00066", + "0_00067", + "0_00068", + "0_00069", + "0_00070", + "0_00071", + "0_00072", + "0_00073", + "0_00074", + "0_00075", + "0_00076", + "0_00077", + "0_00078", + "0_00079", + "0_00080", + "0_00081", + "0_00082", + "0_00083", + "0_00084", + "0_00085", + "0_00086", + "0_00087", + "0_00088", + "0_00089", + "0_00090", + "0_00091", + "0_00092", + "0_00093", + "0_00094", + "0_00095", + "0_00096", + "0_00097", + "0_00098", + "0_00099", + "0_00100", + "0_00101", + "0_00102", + "0_00103", + "0_00104", + "0_00105", + "0_00106", + "0_00107", + "0_00108", + "0_00109", + "0_00110", + "0_00111", + "0_00112", + "0_00113", + "0_00114", + "0_00115", + "0_00116", + "0_00117", + "0_00118", + "0_00119", + "0_00120", + "0_00121", + "0_00122", + "0_00123", + "0_00124", + "0_00125", + "0_00126", + "0_00127", + "0_00128", + "0_00129", + "0_00130", + "0_00131", + "0_00132", + "0_00133", + "0_00134", + "0_00135", + "0_00136", + "0_00137", + "0_00138", + "0_00139", + "0_00140", + "0_00141", + "0_00142", + "0_00143", + "0_00144", + "0_00145", + "0_00146", + "0_00147", + "0_00148", + "0_00149", + "0_00150", + "0_00151", + "0_00152", + "0_00153", + "0_00154", + "0_00155", + "0_00156", + "0_00157", + "0_00158", + "0_00159", + "0_00160", + "0_00161", + "0_00162", + "0_00163", + "0_00164", + "0_00165", + "0_00166", + "0_00167", + "0_00168", + "0_00169", + "0_00170", + "0_00171", + "0_00172", + "0_00173", + "0_00174", + "0_00175", + "0_00176", + "0_00177", + "0_00178", + "0_00179", + "0_00180", + "0_00181", + "0_00182", + "0_00183", + "0_00184", + "0_00185", + "0_00186", + "0_00187", + "0_00188", + "0_00189", + "0_00190", + "0_00191", + "0_00192", + "0_00193", + "0_00194", + "0_00195", + "0_00196", + "0_00197", + "0_00198", + "0_00199", + "0_00200", + "0_00201", + "0_00202", + "0_00203", + "0_00204", + "0_00205", + "0_00206", + "0_00207", + "0_00208", + "0_00209", + "0_00210", + "0_00211", + "0_00212", + "0_00213", + "0_00214", + "0_00215", + "0_00216", + "0_00217", + "0_00218", + "0_00219", + "0_00220", + "0_00221", + "0_00222", + "0_00223", + "0_00224", + "0_00225", + "0_00226", + "0_00227", + "0_00228", + "0_00229", + "0_00230", + "0_00231", + "0_00232", + "0_00233", + "0_00234", + "0_00235", + "0_00236", + "0_00237", + "0_00238", + "0_00239", + "0_00240", + "0_00241", + "0_00242", + "0_00243", + "0_00244", + "0_00245", + "0_00246", + "0_00247", + "0_00248", + "0_00249", + "0_00250", + "0_00251", + "0_00252", + "0_00253", + "0_00254", + "0_00255", + "0_00256", + "0_00257", + "0_00258", + "0_00259", + "0_00260", + "0_00261", + "0_00262", + "0_00263", + "0_00264", + "0_00265", + "0_00266", + "0_00267", + "0_00268", + "0_00269", + "0_00270", + "0_00271", + "0_00272", + "0_00273", + "0_00274", + "0_00275", + "0_00276", + "0_00277", + "0_00278", + "0_00279", + "0_00280", + "0_00281", + "0_00282", + "0_00283", + "0_00284", + "0_00285", + "0_00286", + "0_00287", + "0_00288", + "0_00289", + "0_00290", + "0_00291", + "0_00292", + "0_00293", + "0_00294", + "0_00295", + "0_00296", + "0_00297", + "0_00298", + "0_00299", + "0_00300", + "0_00301", + "0_00302", + "0_00303", + "0_00304", + "0_00305", + "0_00306", + "0_00307", + "0_00308", + "0_00309", + "0_00310", + "0_00311", + "0_00312", + "0_00313", + "0_00314", + "0_00315", + "0_00316", + "0_00317", + "0_00318", + "0_00319", + "0_00320", + "0_00321", + "0_00322", + "0_00323", + "0_00324", + "0_00325", + "0_00326", + "0_00327", + "0_00328", + "0_00329", + "0_00330", + "0_00331", + "0_00332", + "0_00333", + "0_00334", + "0_00335", + "0_00336", + "0_00337", + "0_00338", + "0_00339", + "0_00340", + "0_00341", + "0_00342", + "0_00343", + "0_00344", + "0_00345", + "0_00346", + "0_00347", + "0_00348", + "0_00349", + "0_00350", + "0_00351", + "0_00352", + "0_00353", + "0_00354", + "0_00355", + "0_00356", + "0_00357", + "0_00358", + "0_00359" + ], + "target_frame_names": null, + "original_time_ids": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268, + 269, + 270, + 271, + 272, + 273, + 274, + 275, + 276, + 277, + 278, + 279, + 280, + 281, + 282, + 283, + 284, + 285, + 286, + 287, + 288, + 289, + 290, + 291, + 292, + 293, + 294, + 295, + 296, + 297, + 298, + 299, + 300, + 301, + 302, + 303, + 304, + 305, + 306, + 307, + 308, + 309, + 310, + 311, + 312, + 313, + 314, + 315, + 316, + 317, + 318, + 319, + 320, + 321, + 322, + 323, + 324, + 325, + 326, + 327, + 328, + 329, + 330, + 331, + 332, + 333, + 334, + 335, + 336, + 337, + 338, + 339, + 340, + 341, + 342, + 343, + 344, + 345, + 346, + 347, + 348, + 349, + 350, + 351, + 352, + 353, + 354, + 355, + 356, + 357, + 358, + 359 + ], + "source_camera_id": 0, + "target_camera_id": null +} diff --git a/dycheck_eval/source/creeper/transforms.json b/dycheck_eval/source/creeper/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..c252f96bdadb987ad477c9bfced6b50e20e7d265 --- /dev/null +++ b/dycheck_eval/source/creeper/transforms.json @@ -0,0 +1,12613 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 360, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.281990291701618e-09, + -1.5119774321448176e-09, + 3.2898078927701135e-08 + ], + [ + 1.281990291701618e-09, + -1.0, + -2.265386633837352e-08, + -1.3939316367839183e-09 + ], + [ + -1.5119774321448176e-09, + 2.265386633837352e-08, + -1.0, + 1.8107755295204697e-09 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999885559082031, + -0.0022239964455366135, + -0.0042363116517663, + -0.001777705387212336 + ], + [ + -0.002200811868533492, + -0.9999825954437256, + 0.005469644442200661, + 4.933262607664801e-05 + ], + [ + -0.004248402547091246, + -0.005460258573293686, + -0.9999760389328003, + 0.0008450913592241704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999637007713318, + -0.00440868129953742, + -0.007289971224963665, + -0.0037062137853354216 + ], + [ + -0.004321875981986523, + -0.9999200701713562, + 0.011880699545145035, + -0.0004021800123155117 + ], + [ + -0.007341767195612192, + -0.011848761700093746, + -0.9999028444290161, + 0.001722501590847969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999257922172546, + -0.005169662646949291, + -0.011032371781766415, + -0.0057237115688622 + ], + [ + -0.005035036243498325, + -0.9999129772186279, + 0.012195946648716927, + -0.0010474449954926968 + ], + [ + -0.011094460263848305, + -0.012139493599534035, + -0.9998647570610046, + 0.0022807735949754715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999133944511414, + -0.0064100055024027824, + -0.011495829559862614, + -0.0076851812191307545 + ], + [ + -0.006322722416371107, + -0.9999510049819946, + 0.007612917572259903, + -0.0018498762510716915 + ], + [ + -0.011544065549969673, + -0.00753957312554121, + -0.9999049305915833, + 0.0023459065705537796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999263286590576, + -0.007910589687526226, + -0.009204412810504436, + -0.009490636177361012 + ], + [ + -0.007889880798757076, + -0.9999662637710571, + 0.002284032292664051, + -0.002670337911695242 + ], + [ + -0.00922217033803463, + -0.002211242215707898, + -0.9999550580978394, + 0.002303125336766243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998043775558472, + -0.01650671288371086, + -0.01089823991060257, + -0.010945645160973072 + ], + [ + -0.016495341435074806, + -0.99986332654953, + 0.001132461242377758, + -0.003750776406377554 + ], + [ + -0.010915443301200867, + -0.000952469534240663, + -0.9999399781227112, + 0.002906026318669319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9995414614677429, + -0.02837779000401497, + -0.010562111623585224, + -0.011506438255310059 + ], + [ + -0.028363944962620735, + -0.9995965957641602, + 0.001458204467780888, + -0.004691287875175476 + ], + [ + -0.010599232278764248, + -0.001157952705398202, + -0.9999431371688843, + 0.003417864441871643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9994848966598511, + -0.03153010085225105, + -0.0059816124849021435, + -0.012763530015945435 + ], + [ + -0.031537722796201706, + -0.9995018839836121, + -0.0011843973770737648, + -0.005117066204547882 + ], + [ + -0.00594128854572773, + 0.0013724337331950665, + -0.9999814033508301, + 0.003467559814453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9994791746139526, + -0.031872428953647614, + -0.005055159796029329, + -0.014456984587013721 + ], + [ + -0.03190894424915314, + -0.9994640350341797, + -0.007315617520362139, + -0.004775510635226965 + ], + [ + -0.004819283727556467, + 0.0074731120839715, + -0.9999604821205139, + 0.0035021472722291946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9991188049316406, + -0.04187992215156555, + -0.0027765471022576094, + -0.015349415130913258 + ], + [ + -0.041906584054231644, + -0.9990677833557129, + -0.01036373246461153, + -0.004579478409141302 + ], + [ + -0.0023399265483021736, + 0.01047095563262701, + -0.999942421913147, + 0.003843890503048897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9989731907844543, + -0.04530119523406029, + -0.0005611138767562807, + -0.01708221063017845 + ], + [ + -0.045304253697395325, + -0.998834490776062, + -0.01665002480149269, + -0.0037724426947534084 + ], + [ + 0.00019380614685360342, + 0.016658350825309753, + -0.9998612403869629, + 0.003952907398343086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9991955757141113, + -0.03968401253223419, + 0.005778891500085592, + -0.018736064434051514 + ], + [ + -0.039538655430078506, + -0.9989439249038696, + -0.023404749110341072, + -0.0016434043645858765 + ], + [ + 0.0067015825770795345, + 0.023157432675361633, + -0.9997093677520752, + 0.004554376006126404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9992005228996277, + -0.036019179970026016, + 0.017349041998386383, + -0.02097797393798828 + ], + [ + -0.035378552973270416, + -0.9987283945083618, + -0.03591607138514519, + 0.0006458386778831482 + ], + [ + 0.018620647490024567, + 0.03527357056736946, + -0.9992042183876038, + 0.004818752408027649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9991790056228638, + -0.020522264763712883, + 0.03493085503578186, + -0.02479129657149315 + ], + [ + -0.01879788376390934, + -0.9986220002174377, + -0.04899775981903076, + 0.003223577979952097 + ], + [ + 0.03588826581835747, + 0.048300907015800476, + -0.9981878995895386, + 0.004686625674366951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9986533522605896, + -0.014973575249314308, + 0.04967150837182999, + -0.0271528922021389 + ], + [ + -0.01212385855615139, + -0.9982900023460388, + -0.057184454053640366, + 0.005997462663799524 + ], + [ + 0.050442829728126526, + 0.056505236774683, + -0.9971272349357605, + 0.004993828013539314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9985438585281372, + -0.01677868887782097, + 0.05127076059579849, + -0.029691031202673912 + ], + [ + -0.013371768407523632, + -0.9977244138717651, + -0.06608467549085617, + 0.00857929140329361 + ], + [ + 0.05226290225982666, + 0.06530286371707916, + -0.9964959025382996, + 0.00503498874604702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9985337853431702, + -0.013154889456927776, + 0.05250910669565201, + -0.033421002328395844 + ], + [ + -0.009229605086147785, + -0.9971925616264343, + -0.07430874556303024, + 0.011491194367408752 + ], + [ + 0.053339213132858276, + 0.07371515780687332, + -0.9958518743515015, + 0.005236899480223656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9981393218040466, + -0.012848316691815853, + 0.059605225920677185, + -0.03723546862602234 + ], + [ + -0.007823536172509193, + -0.9964535236358643, + -0.08378075063228607, + 0.014132987707853317 + ], + [ + 0.060470275580883026, + 0.08315853774547577, + -0.9946999549865723, + 0.005423218011856079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9985029101371765, + -0.01252171490341425, + 0.05324593186378479, + -0.0416712760925293 + ], + [ + -0.00764840841293335, + -0.995843231678009, + -0.09076199680566788, + 0.01681177318096161 + ], + [ + 0.05416109785437584, + 0.09021887183189392, + -0.9944481253623962, + 0.00540943443775177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9989847540855408, + -0.002986128209158778, + 0.04495107755064964, + -0.0471835657954216 + ], + [ + 0.0008985946769826114, + -0.9962814450263977, + -0.08615380525588989, + 0.02003377676010132 + ], + [ + 0.04504119232296944, + 0.08610672503709793, + -0.9952672719955444, + 0.006669348105788231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9992271661758423, + 0.005602829158306122, + 0.038906265050172806, + -0.05207362398505211 + ], + [ + 0.008584209717810154, + -0.9970025420188904, + -0.0768909826874733, + 0.023715728893876076 + ], + [ + 0.038358837366104126, + 0.07716554403305054, + -0.9962801337242126, + 0.008953513577580452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9989420175552368, + 0.01572486199438572, + 0.04321513697504997, + -0.0573711022734642 + ], + [ + 0.01822812296450138, + -0.9981411099433899, + -0.05815573409199715, + 0.028284765779972076 + ], + [ + 0.04222031310200691, + 0.058881938457489014, + -0.9973717331886292, + 0.011619528755545616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9985352754592896, + 0.018019624054431915, + 0.05101556330919266, + -0.06290262192487717 + ], + [ + 0.019570764154195786, + -0.9993561506271362, + -0.030070772394537926, + 0.033029984682798386 + ], + [ + 0.05044085159897804, + 0.03102514147758484, + -0.9982450604438782, + 0.015074212104082108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9987078309059143, + 0.014482901431620121, + 0.0487123504281044, + -0.06845453381538391 + ], + [ + 0.015271994285285473, + -0.9997574687004089, + -0.015866035595536232, + 0.037241291254758835 + ], + [ + 0.04847075045108795, + 0.016589468345046043, + -0.9986868500709534, + 0.017722414806485176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9990658760070801, + 0.007417197339236736, + 0.0425715409219265, + -0.07334133982658386 + ], + [ + 0.00820548553019762, + -0.999797523021698, + -0.018372012302279472, + 0.04188181832432747 + ], + [ + 0.04242665320634842, + 0.018704170361161232, + -0.9989244937896729, + 0.01903395541012287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9984919428825378, + -0.0049391500651836395, + 0.05467534065246582, + -0.07778522372245789 + ], + [ + -0.003445772221311927, + -0.9996193051338196, + -0.027374204248189926, + 0.046663518995046616 + ], + [ + 0.05478973314166069, + 0.027144523337483406, + -0.9981288909912109, + 0.020069049671292305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9979891777038574, + -0.016662321984767914, + 0.0611548013985157, + -0.08225765824317932 + ], + [ + -0.01500024739652872, + -0.9995082020759583, + -0.027537375688552856, + 0.050844188779592514 + ], + [ + 0.061583563685417175, + 0.026564667001366615, + -0.9977483749389648, + 0.021275820210576057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9984735250473022, + -0.021193895488977432, + 0.05100395157933235, + -0.08695554733276367 + ], + [ + -0.01970110833644867, + -0.9993677735328674, + -0.029594996944069862, + 0.054644450545310974 + ], + [ + 0.051598940044641495, + 0.028544986620545387, + -0.9982598423957825, + 0.022560596466064453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9981444478034973, + -0.031207265332341194, + 0.05228526145219803, + -0.09128186106681824 + ], + [ + -0.030025502666831017, + -0.9992789626121521, + -0.02323742024600506, + 0.05791522189974785 + ], + [ + 0.052972741425037384, + 0.021624410524964333, + -0.9983617663383484, + 0.024403052404522896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9981868863105774, + -0.03770284727215767, + 0.046918995678424835, + -0.09594979882240295 + ], + [ + -0.03681030124425888, + -0.999127209186554, + -0.019744213670492172, + 0.06046164408326149 + ], + [ + 0.04762245714664459, + 0.017981313169002533, + -0.9987035393714905, + 0.0254963506013155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9986138939857483, + -0.03794628754258156, + 0.03647463023662567, + -0.10180291533470154 + ], + [ + -0.03709714487195015, + -0.9990310072898865, + -0.023682082071900368, + 0.06184609606862068 + ], + [ + 0.03733793646097183, + 0.022296153008937836, + -0.999053955078125, + 0.026126818731427193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9985657334327698, + -0.04244666174054146, + 0.032630059868097305, + -0.10732373595237732 + ], + [ + -0.04141227900981903, + -0.9986376166343689, + -0.03174828365445137, + 0.06282244622707367 + ], + [ + 0.03393321484327316, + 0.030351463705301285, + -0.9989631175994873, + 0.025297285988926888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9987872242927551, + -0.04030463844537735, + 0.028276823461055756, + -0.11387830972671509 + ], + [ + -0.03902517259120941, + -0.9982500672340393, + -0.04442732781171799, + 0.06321822106838226 + ], + [ + 0.030017968267202377, + 0.043269943445920944, + -0.9986123442649841, + 0.023437008261680603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9992325901985168, + -0.03582940623164177, + 0.015828078612685204, + -0.12131038308143616 + ], + [ + -0.0349339134991169, + -0.9979496598243713, + -0.053628720343112946, + 0.06321601569652557 + ], + [ + 0.017717111855745316, + 0.05303462967276573, + -0.9984354972839355, + 0.02216300554573536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9994791746139526, + -0.030819009989500046, + 0.009570680558681488, + -0.12878665328025818 + ], + [ + -0.030189761891961098, + -0.9977357387542725, + -0.06009934842586517, + 0.06344769895076752 + ], + [ + 0.011401212774217129, + 0.05977910757064819, + -0.9981465339660645, + 0.020877109840512276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9995126724243164, + -0.02827574871480465, + 0.01322412770241499, + -0.13630250096321106 + ], + [ + -0.02745090052485466, + -0.9978881478309631, + -0.05887044966220856, + 0.06340871751308441 + ], + [ + 0.014860806055366993, + 0.05847875028848648, + -0.9981780648231506, + 0.02037750370800495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9994735717773438, + -0.03158023580908775, + 0.007437677588313818, + -0.14306820929050446 + ], + [ + -0.031026000156998634, + -0.9973676800727844, + -0.06553670018911362, + 0.0638699159026146 + ], + [ + 0.009487763978540897, + 0.06527143716812134, + -0.9978224635124207, + 0.019875025376677513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9994816780090332, + -0.032158974558115005, + -0.0014780848287045956, + -0.14992937445640564 + ], + [ + -0.032175883650779724, + -0.9964056611061096, + -0.07836136221885681, + 0.06471715122461319 + ], + [ + 0.0010472489520907402, + 0.07836830615997314, + -0.9969239234924316, + 0.019214676693081856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9994985461235046, + -0.031043756753206253, + 0.006238287314772606, + -0.15722393989562988 + ], + [ + -0.030533641576766968, + -0.99709552526474, + -0.06977246701717377, + 0.06618663668632507 + ], + [ + 0.008386167697608471, + 0.06954700499773026, + -0.997543454170227, + 0.01997046172618866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9996626377105713, + -0.02484063059091568, + 0.007586921565234661, + -0.16488486528396606 + ], + [ + -0.024280231446027756, + -0.9974784255027771, + -0.0666874423623085, + 0.06774269044399261 + ], + [ + 0.009224348701536655, + 0.06648073345422745, + -0.9977450966835022, + 0.019899755716323853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.999744713306427, + -0.020168950781226158, + 0.010184337384998798, + -0.17275942862033844 + ], + [ + -0.019460907205939293, + -0.9976696372032166, + -0.0653955489397049, + 0.06901881098747253 + ], + [ + 0.011479564011096954, + 0.06518065929412842, + -0.9978074431419373, + 0.01920129917562008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9996966123580933, + -0.016370218247175217, + 0.018403783440589905, + -0.1802806556224823 + ], + [ + -0.015185997821390629, + -0.9979142546653748, + -0.06274165958166122, + 0.07031486928462982 + ], + [ + 0.01939249224960804, + 0.062443144619464874, + -0.9978600740432739, + 0.018360497429966927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.999541163444519, + -0.014999253675341606, + 0.026315979659557343, + -0.1872161328792572 + ], + [ + -0.01319303922355175, + -0.9976310133934021, + -0.06751541793346405, + 0.07164808362722397 + ], + [ + 0.02726631797850132, + 0.06713724881410599, + -0.9973711371421814, + 0.016718225553631783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995298981666565, + -0.01339767500758171, + 0.027577349916100502, + -0.19417160749435425 + ], + [ + -0.011237267404794693, + -0.9969634413719177, + -0.07705626636743546, + 0.07256443798542023 + ], + [ + 0.028525983914732933, + 0.07671014964580536, + -0.9966452717781067, + 0.014643818140029907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9994493126869202, + -0.01814289763569832, + 0.027782458811998367, + -0.20026566088199615 + ], + [ + -0.01562606729567051, + -0.9959738850593567, + -0.08827118575572968, + 0.07351592928171158 + ], + [ + 0.02927209995687008, + 0.08778844773769379, + -0.9957089424133301, + 0.012602200731635094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9993147253990173, + -0.015562507323920727, + 0.03358415514230728, + -0.20669642090797424 + ], + [ + -0.01272065844386816, + -0.9964489340782166, + -0.08323279768228531, + 0.07412341237068176 + ], + [ + 0.03476020693778992, + 0.08274854719638824, + -0.9959640502929688, + 0.012724222615361214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9989991188049316, + -0.013136676512658596, + 0.04275786876678467, + -0.21289493143558502 + ], + [ + -0.01054641604423523, + -0.9981275200843811, + -0.06025133281946182, + 0.07459704577922821 + ], + [ + 0.04346930608153343, + 0.059740085154771805, + -0.9972670078277588, + 0.013309722766280174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9986591339111328, + -0.006631672848016024, + 0.05134119838476181, + -0.21983033418655396 + ], + [ + -0.004745997488498688, + -0.999312698841095, + -0.03676348179578781, + 0.07451358437538147 + ], + [ + 0.05154971778392792, + 0.03647052124142647, + -0.9980042576789856, + 0.014302536845207214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9986257553100586, + 0.0068337153643369675, + 0.051960691809654236, + -0.22708424925804138 + ], + [ + 0.007721090689301491, + -0.9998274445533752, + -0.016896311193704605, + 0.07345584034919739 + ], + [ + 0.05183625966310501, + 0.017274284735322, + -0.9985061883926392, + 0.014989065006375313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9984524846076965, + 0.014356774277985096, + 0.053726017475128174, + -0.2337011992931366 + ], + [ + 0.014487323351204395, + -0.9998929500579834, + -0.0020412185695022345, + 0.07197993248701096 + ], + [ + 0.05369096249341965, + 0.0028164058458060026, + -0.9985536336898804, + 0.01514195092022419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9978435039520264, + 0.026049867272377014, + 0.06024733930826187, + -0.24092796444892883 + ], + [ + 0.025341182947158813, + -0.9996007680892944, + 0.012497324496507645, + 0.06996337324380875 + ], + [ + 0.06054884195327759, + -0.010943634435534477, + -0.9981052279472351, + 0.015404732897877693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9974699020385742, + 0.03644523397088051, + 0.06103724613785744, + -0.24740532040596008 + ], + [ + 0.034490589052438736, + -0.998867392539978, + 0.03277721628546715, + 0.06808988749980927 + ], + [ + 0.06216268986463547, + -0.03058907762169838, + -0.9975971579551697, + 0.01556369848549366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9965530633926392, + 0.04385519027709961, + 0.07041794061660767, + -0.2537670433521271 + ], + [ + 0.041358400136232376, + -0.9984762668609619, + 0.03653224557638168, + 0.06647419929504395 + ], + [ + 0.07191276550292969, + -0.033493947237730026, + -0.9968484044075012, + 0.014236437156796455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9960248470306396, + 0.04837711527943611, + 0.07479409128427505, + -0.2580367922782898 + ], + [ + 0.04606969654560089, + -0.9984167218208313, + 0.03227473422884941, + 0.0651528611779213 + ], + [ + 0.0762370228767395, + -0.028700698167085648, + -0.9966765642166138, + 0.012899652123451233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9958251714706421, + 0.048908479511737823, + 0.07707254588603973, + -0.26279959082603455 + ], + [ + 0.04678903520107269, + -0.9984816908836365, + 0.029070299118757248, + 0.06439916789531708 + ], + [ + 0.07837731391191483, + -0.025342784821987152, + -0.9966015815734863, + 0.011814909055829048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9955152273178101, + 0.05028514191508293, + 0.08013001084327698, + -0.2685936987400055 + ], + [ + 0.04945286363363266, + -0.9987002611160278, + 0.012338750995695591, + 0.06371459364891052 + ], + [ + 0.0806463211774826, + -0.008320755325257778, + -0.9967080354690552, + 0.009965049102902412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9938603639602661, + 0.0512007400393486, + 0.09808169305324554, + -0.2738812267780304 + ], + [ + 0.04759605973958969, + -0.9981148838996887, + 0.038747116923332214, + 0.06292655318975449 + ], + [ + 0.09988067299127579, + -0.03384092077612877, + -0.9944237470626831, + 0.011242466047406197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9924603700637817, + 0.0595938116312027, + 0.10710254311561584, + -0.27887871861457825 + ], + [ + 0.05330141633749008, + -0.996732771396637, + 0.0606854073703289, + 0.061623986810445786 + ], + [ + 0.11036908626556396, + -0.05451914295554161, + -0.9923942685127258, + 0.012811766937375069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9922201037406921, + 0.06956913322210312, + 0.10324462503194809, + -0.2843383848667145 + ], + [ + 0.06356007605791092, + -0.9961487650871277, + 0.060396574437618256, + 0.05918106064200401 + ], + [ + 0.10704874247312546, + -0.05336445942521095, + -0.9928206205368042, + 0.013128222897648811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9906448125839233, + 0.07617245614528656, + 0.11322791129350662, + -0.28924667835235596 + ], + [ + 0.06816298514604568, + -0.9949995279312134, + 0.07300539314746857, + 0.05649281665682793 + ], + [ + 0.11822272092103958, + -0.06460446119308472, + -0.9908832907676697, + 0.01377369835972786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9903761744499207, + 0.0742267295718193, + 0.11681350320577621, + -0.2924124300479889 + ], + [ + 0.06812935322523117, + -0.9961395263671875, + 0.055357396602630615, + 0.0545584075152874 + ], + [ + 0.1204715445637703, + -0.046866219490766525, + -0.9916098713874817, + 0.012174399569630623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9910963773727417, + 0.07583879679441452, + 0.10943705588579178, + -0.2955399751663208 + ], + [ + 0.07191619277000427, + -0.9966337084770203, + 0.03936168551445007, + 0.05174831300973892 + ], + [ + 0.11205379664897919, + -0.031140927225351334, + -0.9932140707969666, + 0.01057387888431549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9912558794021606, + 0.0747564509510994, + 0.10873502492904663, + -0.29776450991630554 + ], + [ + 0.07113577425479889, + -0.9967871904373169, + 0.036809831857681274, + 0.049441538751125336 + ], + [ + 0.11113744974136353, + -0.0287530105561018, + -0.9933890104293823, + 0.00955314002931118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9920749664306641, + 0.07047232240438461, + 0.10402348637580872, + -0.29867225885391235 + ], + [ + 0.06901462376117706, + -0.9974612593650818, + 0.017551112920045853, + 0.046845369040966034 + ], + [ + 0.10499626398086548, + -0.010232877917587757, + -0.9944199919700623, + 0.007356137037277222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9927467107772827, + 0.0678589940071106, + 0.09924281388521194, + -0.29853197932243347 + ], + [ + 0.06703954190015793, + -0.9976832270622253, + 0.011572613380849361, + 0.044467173516750336 + ], + [ + 0.09979819506406784, + -0.0048354812897741795, + -0.9949959516525269, + 0.005874237045645714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9940488338470459, + 0.06433389335870743, + 0.08790958672761917, + -0.2972526550292969 + ], + [ + 0.06464391201734543, + -0.9979081749916077, + -0.0006811865605413914, + 0.04254704713821411 + ], + [ + 0.08768186718225479, + 0.006359952036291361, + -0.9961282014846802, + 0.0036879777908325195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9945160746574402, + 0.06075707823038101, + 0.08512518554925919, + -0.2959679663181305 + ], + [ + 0.06168279051780701, + -0.9980614185333252, + -0.00828464049845934, + 0.041029710322618484 + ], + [ + 0.08445680886507034, + 0.013489966280758381, + -0.9963358044624329, + 0.001467110589146614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9951274991035461, + 0.05520666018128395, + 0.08169157058000565, + -0.2927369773387909 + ], + [ + 0.05721017345786095, + -0.9981110692024231, + -0.022389547899365425, + 0.03956736624240875 + ], + [ + 0.0803012028336525, + 0.0269540436565876, + -0.9964061379432678, + -0.0019368176581338048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9957671761512756, + 0.053219038993120193, + 0.07493670284748077, + -0.28884750604629517 + ], + [ + 0.05617746710777283, + -0.9976996779441833, + -0.03793947771191597, + 0.03816040977835655 + ], + [ + 0.07274521887302399, + 0.041988637298345566, + -0.9964662790298462, + -0.006019406020641327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9957814812660217, + 0.04951750487089157, + 0.07724819332361221, + -0.28435179591178894 + ], + [ + 0.05292346328496933, + -0.9976859092712402, + -0.04268430173397064, + 0.0370171032845974 + ], + [ + 0.07495581358671188, + 0.046592481434345245, + -0.9960977435112, + -0.009664056822657585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9959628582000732, + 0.04965393617749214, + 0.07478270679712296, + -0.27953261137008667 + ], + [ + 0.052827976644039154, + -0.9977583289146423, + -0.0410800501704216, + 0.03596409410238266 + ], + [ + 0.07257527858018875, + 0.044864822179079056, + -0.9963533282279968, + -0.01278136670589447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9958288669586182, + 0.0500485934317112, + 0.07628896832466125, + -0.2740408778190613 + ], + [ + 0.05305430665612221, + -0.9978723526000977, + -0.037894073873758316, + 0.035268984735012054 + ], + [ + 0.07423010468482971, + 0.041783470660448074, + -0.9963654279708862, + -0.015498429536819458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9961334466934204, + 0.049496766179800034, + 0.07258258759975433, + -0.26832085847854614 + ], + [ + 0.052476949989795685, + -0.9978309869766235, + -0.0397428497672081, + 0.03460334241390228 + ], + [ + 0.07045800983905792, + 0.043398093432188034, + -0.9965702295303345, + -0.01820811629295349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9965937733650208, + 0.05525507405400276, + 0.06121869757771492, + -0.26314684748649597 + ], + [ + 0.05743570625782013, + -0.9977545738220215, + -0.03445129469037056, + 0.033759064972400665 + ], + [ + 0.05917762964963913, + 0.03785008192062378, + -0.9975296258926392, + -0.02012048102915287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.996593177318573, + 0.06042475625872612, + 0.056132715195417404, + -0.25785329937934875 + ], + [ + 0.06211305037140846, + -0.997652530670166, + -0.028834061697125435, + 0.03303217515349388 + ], + [ + 0.05425865575671196, + 0.032222405076026917, + -0.9980068802833557, + -0.02235652320086956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9963861703872681, + 0.06862573325634003, + 0.05005146190524101, + -0.25261685252189636 + ], + [ + 0.07005676627159119, + -0.997166097164154, + -0.027418427169322968, + 0.03215404227375984 + ], + [ + 0.04802801087498665, + 0.0308257844299078, + -0.9983702301979065, + -0.02412569336593151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9962145686149597, + 0.07921876013278961, + 0.03578954562544823, + -0.2471928596496582 + ], + [ + 0.07983611524105072, + -0.9966769814491272, + -0.01616082340478897, + 0.031403638422489166 + ], + [ + 0.03439037501811981, + 0.018956944346427917, + -0.9992286562919617, + -0.02412775158882141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9958006739616394, + 0.08744916319847107, + 0.027086593210697174, + -0.241125226020813 + ], + [ + 0.08751178532838821, + -0.9961628317832947, + -0.0011326585663482547, + 0.030907079577445984 + ], + [ + 0.026883605867624283, + 0.003498298116028309, + -0.9996324777603149, + -0.023704901337623596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9953498840332031, + 0.09464859217405319, + 0.01789424754679203, + -0.23507922887802124 + ], + [ + 0.09446901082992554, + -0.9954710602760315, + 0.010629689320921898, + 0.03056883066892624 + ], + [ + 0.01881929114460945, + -0.00888980831950903, + -0.9997833967208862, + -0.023220732808113098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9952460527420044, + 0.09663872420787811, + 0.01209315937012434, + -0.2283066213130951 + ], + [ + 0.09638554602861404, + -0.9951428771018982, + 0.02001182548701763, + 0.03059493936598301 + ], + [ + 0.013968339189887047, + -0.018751084804534912, + -0.9997265934944153, + -0.023002831265330315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9954061508178711, + 0.09536653012037277, + 0.008473116904497147, + -0.2210487276315689 + ], + [ + 0.09518881142139435, + -0.9952710270881653, + 0.019357342272996902, + 0.030676506459712982 + ], + [ + 0.010279090143740177, + -0.01846187189221382, + -0.9997767210006714, + -0.023838574066758156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9957221746444702, + 0.09234578907489777, + -0.0030968382488936186, + -0.21292050182819366 + ], + [ + 0.09238109737634659, + -0.9956192970275879, + 0.014418591745197773, + 0.030991405248641968 + ], + [ + -0.0017517757369205356, + -0.01464300137013197, + -0.9998912215232849, + -0.0247387383133173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9957618713378906, + 0.09131020307540894, + -0.010988953523337841, + -0.20492133498191833 + ], + [ + 0.09149865061044693, + -0.9956410527229309, + 0.01807963103055954, + 0.031226763501763344 + ], + [ + -0.009290197864174843, + -0.01900848187506199, + -0.9997761845588684, + -0.025186626240611076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9955803751945496, + 0.09275234490633011, + -0.014722846448421478, + -0.19718387722969055 + ], + [ + 0.09310752898454666, + -0.9953263998031616, + 0.025618212297558784, + 0.031133146956562996 + ], + [ + -0.01227788906544447, + -0.026875797659158707, + -0.9995633959770203, + -0.025648055598139763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9950950741767883, + 0.09654532372951508, + -0.02155882492661476, + -0.18981140851974487 + ], + [ + 0.09716320037841797, + -0.994824230670929, + 0.029732488095760345, + 0.030937112867832184 + ], + [ + -0.018576709553599358, + -0.031681377440690994, + -0.9993253946304321, + -0.026695609092712402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9947109222412109, + 0.09794004261493683, + -0.030950769782066345, + -0.18247777223587036 + ], + [ + 0.0986570343375206, + -0.994865894317627, + 0.02255234122276306, + 0.030644409358501434 + ], + [ + -0.028583088889718056, + -0.025486569851636887, + -0.9992664456367493, + -0.028531357645988464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9942849278450012, + 0.09946058690547943, + -0.03879551589488983, + -0.17531457543373108 + ], + [ + 0.10044857114553452, + -0.9946429133415222, + 0.024403007701039314, + 0.030149096623063087 + ], + [ + -0.03616055101156235, + -0.028160497546195984, + -0.9989491701126099, + -0.02954278700053692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9935756325721741, + 0.10266630351543427, + -0.04761377349495888, + -0.16781675815582275 + ], + [ + 0.10402719676494598, + -0.9942069053649902, + 0.02703719027340412, + 0.028616957366466522 + ], + [ + -0.04456213489174843, + -0.031816620379686356, + -0.9984998106956482, + -0.029693812131881714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9929324388504028, + 0.10555829107761383, + -0.054245997220277786, + -0.1611064374446869 + ], + [ + 0.10706014186143875, + -0.9939239025115967, + 0.025560876354575157, + 0.0270854402333498 + ], + [ + -0.05121823400259018, + -0.031187808141112328, + -0.9982004165649414, + -0.030561579391360283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.992530882358551, + 0.10795936733484268, + -0.056808993220329285, + -0.15470440685749054 + ], + [ + 0.10972534120082855, + -0.9935407042503357, + 0.028935011476278305, + 0.02504139393568039 + ], + [ + -0.053318243473768234, + -0.034952279180288315, + -0.9979656934738159, + -0.0312851183116436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9914426803588867, + 0.11299030482769012, + -0.06538059562444687, + -0.14841844141483307 + ], + [ + 0.11521871387958527, + -0.9928447008132935, + 0.03136900067329407, + 0.02216661348938942 + ], + [ + -0.06136838346719742, + -0.03863363340497017, + -0.9973672032356262, + -0.0317145399749279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9906018376350403, + 0.11660627275705338, + -0.07149133086204529, + -0.1425381302833557 + ], + [ + 0.11910426616668701, + -0.9923748970031738, + 0.03172079846262932, + 0.018992308527231216 + ], + [ + -0.06724735349416733, + -0.03993760421872139, + -0.9969366788864136, + -0.032988131046295166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9901524782180786, + 0.11948107182979584, + -0.07295400649309158, + -0.1368824541568756 + ], + [ + 0.12177381664514542, + -0.9921680092811584, + 0.027816930785775185, + 0.015458798967301846 + ], + [ + -0.06905902922153473, + -0.03642689064145088, + -0.9969472885131836, + -0.035135313868522644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.989895761013031, + 0.12226666510105133, + -0.07181402295827866, + -0.1310829222202301 + ], + [ + 0.12435505539178848, + -0.991913914680481, + 0.02535073459148407, + 0.011800344102084637 + ], + [ + -0.06813377887010574, + -0.03402502089738846, + -0.9970958232879639, + -0.03707565367221832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.98929762840271, + 0.12431202083826065, + -0.07639877498149872, + -0.12522347271442413 + ], + [ + 0.12583521008491516, + -0.9919310212135315, + 0.015439076349139214, + 0.007890217006206512 + ], + [ + -0.07386305183172226, + -0.02488749660551548, + -0.9969577789306641, + -0.040077488869428635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9890750646591187, + 0.125128835439682, + -0.07793156802654266, + -0.11908283084630966 + ], + [ + 0.1262199729681015, + -0.9919594526290894, + 0.009217020124197006, + 0.004053130280226469 + ], + [ + -0.07615163922309875, + -0.01895284466445446, + -0.9969161152839661, + -0.042847078293561935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.988913357257843, + 0.1265234649181366, + -0.07773137092590332, + -0.11241176724433899 + ], + [ + 0.12759177386760712, + -0.9917867183685303, + 0.008914347738027573, + 0.0009399228729307652 + ], + [ + -0.07596506923437119, + -0.018733400851488113, + -0.9969344735145569, + -0.044551536440849304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.988602340221405, + 0.12761329114437103, + -0.0798768550157547, + -0.10626569390296936 + ], + [ + 0.12843933701515198, + -0.9917033910751343, + 0.005269326269626617, + -0.0029604597948491573 + ], + [ + -0.07854171097278595, + -0.01546859834343195, + -0.9967908263206482, + -0.04728744924068451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9888304471969604, + 0.12559674680233002, + -0.08024858683347702, + -0.10002642869949341 + ], + [ + 0.12595131993293762, + -0.9920362234115601, + -0.0006481075542978942, + -0.0067287832498550415 + ], + [ + -0.07969090342521667, + -0.009466547518968582, + -0.9967746734619141, + -0.050388842821121216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9889548420906067, + 0.1256435662508011, + -0.07862552255392075, + -0.09370418637990952 + ], + [ + 0.12572573125362396, + -0.9920572638511658, + -0.003924120217561722, + -0.00981173850595951 + ], + [ + -0.07849406450986862, + -0.006004474125802517, + -0.996896505355835, + -0.05299694463610649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9889044761657715, + 0.125609889626503, + -0.0793098658323288, + -0.08764266967773438 + ], + [ + 0.12515240907669067, + -0.992079496383667, + -0.010732755996286869, + -0.013381240889430046 + ], + [ + -0.08002983033657074, + 0.0006878494168631732, + -0.9967922568321228, + -0.05663985013961792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9887564182281494, + 0.1261599361896515, + -0.0802772119641304, + -0.08157110214233398 + ], + [ + 0.12523464858531952, + -0.9919902682304382, + -0.016478663310408592, + -0.016505951061844826 + ], + [ + -0.08171316236257553, + 0.006239895708858967, + -0.9966363310813904, + -0.06025668978691101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.988937497138977, + 0.12740255892276764, + -0.07596851140260696, + -0.0755479633808136 + ], + [ + 0.12683476507663727, + -0.9918479323387146, + -0.012272353284060955, + -0.01963285729289055 + ], + [ + -0.07691273838281631, + 0.0025011429097503424, + -0.9970346689224243, + -0.06338067352771759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9888521432876587, + 0.12807759642601013, + -0.07594433426856995, + -0.06952235102653503 + ], + [ + 0.1275341659784317, + -0.9917618036270142, + -0.011982831172645092, + -0.022674687206745148 + ], + [ + -0.0768534243106842, + 0.0021637510508298874, + -0.9970400333404541, + -0.06694288551807404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9891862869262695, + 0.1257159262895584, + -0.07553768903017044, + -0.06340014189481735 + ], + [ + 0.12451261281967163, + -0.9920071959495544, + -0.02045242302119732, + -0.025185877457261086 + ], + [ + -0.07750512659549713, + 0.010825861245393753, + -0.9969331622123718, + -0.07087886333465576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9894229173660278, + 0.12354732304811478, + -0.07601570338010788, + -0.05733144283294678 + ], + [ + 0.1219385489821434, + -0.9922107458114624, + -0.025470899417996407, + -0.027823373675346375 + ], + [ + -0.07857046276330948, + 0.015932247042655945, + -0.9967812299728394, + -0.07472458481788635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9888547658920288, + 0.12520825862884521, + -0.0805555209517479, + -0.051683567464351654 + ], + [ + 0.12340084463357925, + -0.9919880032539368, + -0.02705693431198597, + -0.03093513287603855 + ], + [ + -0.08329786360263824, + 0.016814757138490677, + -0.9963828325271606, + -0.07816428691148758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9893322587013245, + 0.12431471049785614, + -0.07594399154186249, + -0.04620974510908127 + ], + [ + 0.1226285919547081, + -0.9920989274978638, + -0.026494048535823822, + -0.033751729875802994 + ], + [ + -0.07863755524158478, + 0.016898512840270996, + -0.9967600107192993, + -0.08159703761339188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9898178577423096, + 0.12206756323575974, + -0.07321247458457947, + -0.040808048099279404 + ], + [ + 0.12006125599145889, + -0.9922754168510437, + -0.031222250312566757, + -0.03723379969596863 + ], + [ + -0.0764581561088562, + 0.022114360705018044, + -0.9968275427818298, + -0.0853952020406723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9902556538581848, + 0.12028300017118454, + -0.07018399238586426, + -0.035527553409338 + ], + [ + 0.11806540191173553, + -0.9923906326293945, + -0.03494805470108986, + -0.04115331545472145 + ], + [ + -0.07385358959436417, + 0.026321204379200935, + -0.9969216585159302, + -0.0891350656747818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.990302324295044, + 0.11892098188400269, + -0.07182669639587402, + -0.030130799859762192 + ], + [ + 0.11608027666807175, + -0.9923292398452759, + -0.04252166301012039, + -0.045078739523887634 + ], + [ + -0.0763324499130249, + 0.03377164155244827, + -0.9965103268623352, + -0.09304790198802948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.989902138710022, + 0.11931642889976501, + -0.07653343677520752, + -0.02478804811835289 + ], + [ + 0.11557505279779434, + -0.9919577836990356, + -0.05159655585885048, + -0.04887447878718376 + ], + [ + -0.08207425475120544, + 0.042230185121297836, + -0.9957311153411865, + -0.09704969823360443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9895468354225159, + 0.1210848018527031, + -0.07832979410886765, + -0.01951858028769493 + ], + [ + 0.11672111600637436, + -0.991464376449585, + -0.05809110775589943, + -0.052446089684963226 + ], + [ + -0.08469514548778534, + 0.04834113270044327, + -0.9952335953712463, + -0.10107041895389557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.989463210105896, + 0.12140178680419922, + -0.07889316231012344, + -0.013778564520180225 + ], + [ + 0.11686374992132187, + -0.9913452863693237, + -0.05981135740876198, + -0.05567137524485588 + ], + [ + -0.08547157049179077, + 0.0499613881111145, + -0.9950871467590332, + -0.10442967712879181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9889265894889832, + 0.12312182784080505, + -0.0828569084405899, + -0.00797137338668108 + ], + [ + 0.11828914284706116, + -0.9911085367202759, + -0.060922231525182724, + -0.0585266537964344 + ], + [ + -0.08962104469537735, + 0.050446540117263794, + -0.9946975708007812, + -0.10794569551944733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9884889721870422, + 0.12463552504777908, + -0.08576450496912003, + -0.0020200281869620085 + ], + [ + 0.11964987218379974, + -0.9909389615058899, + -0.061023157089948654, + -0.06114938110113144 + ], + [ + -0.09259304404258728, + 0.0500590056180954, + -0.9944449067115784, + -0.11156488955020905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9883167147636414, + 0.12400776147842407, + -0.08861226588487625, + 0.004541128873825073 + ], + [ + 0.11901064962148666, + -0.9911007285118103, + -0.05963023751974106, + -0.06293398141860962 + ], + [ + -0.09521829336881638, + 0.04838775470852852, + -0.994279682636261, + -0.11558032035827637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9878935217857361, + 0.12408534437417984, + -0.09310857951641083, + 0.011133584193885326 + ], + [ + 0.1188972070813179, + -0.991130530834198, + -0.05936075747013092, + -0.06471807509660721 + ], + [ + -0.09964855760335922, + 0.047571755945682526, + -0.9938848614692688, + -0.11964638531208038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9874643087387085, + 0.12491625547409058, + -0.09648919105529785, + 0.017743799835443497 + ], + [ + 0.11990144848823547, + -0.9911965131759644, + -0.05615288391709328, + -0.06644963473081589 + ], + [ + -0.10265415906906128, + 0.04387977719306946, + -0.9937487840652466, + -0.12341780960559845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9869559407234192, + 0.12340185791254044, + -0.10339221358299255, + 0.024646315723657608 + ], + [ + 0.11855394393205643, + -0.9915948510169983, + -0.051813654601573944, + -0.06800416111946106 + ], + [ + -0.10891708731651306, + 0.03888024017214775, + -0.9932901859283447, + -0.1271400898694992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9853591322898865, + 0.12361852824687958, + -0.11741334199905396, + 0.03197488188743591 + ], + [ + 0.11873479932546616, + -0.9917775392532349, + -0.04774298146367073, + -0.06900900602340698 + ], + [ + -0.1223498284816742, + 0.03310293331742287, + -0.9919348359107971, + -0.13020968437194824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9833694100379944, + 0.12378013879060745, + -0.13290253281593323, + 0.039114926010370255 + ], + [ + 0.11916400492191315, + -0.9919784665107727, + -0.04217371717095375, + -0.0702008455991745 + ], + [ + -0.13705672323703766, + 0.025635147467255592, + -0.990231454372406, + -0.133226677775383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9823945760726929, + 0.12141503393650055, + -0.14198340475559235, + 0.04660654813051224 + ], + [ + 0.11768346279859543, + -0.9924544095993042, + -0.03442153334617615, + -0.07150403410196304 + ], + [ + -0.14509135484695435, + 0.017106428742408752, + -0.9892703890800476, + -0.13628436625003815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9813745617866516, + 0.11825117468833923, + -0.15139572322368622, + 0.05408808961510658 + ], + [ + 0.11535972356796265, + -0.9929354190826416, + -0.02777286432683468, + -0.07256084680557251 + ], + [ + -0.15361036360263824, + 0.009790613315999508, + -0.988083004951477, + -0.13916872441768646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9801225066184998, + 0.11378079652786255, + -0.16252323985099792, + 0.06180352345108986 + ], + [ + 0.11162430047988892, + -0.993498682975769, + -0.022369584068655968, + -0.07344860583543777 + ], + [ + -0.1640118658542633, + 0.0037833889946341515, + -0.9864510893821716, + -0.1421665996313095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9788390398025513, + 0.10587343573570251, + -0.17511413991451263, + 0.07002514600753784 + ], + [ + 0.10476092994213104, + -0.9943748712539673, + -0.015611512586474419, + -0.07434195280075073 + ], + [ + -0.1757819503545761, + -0.003063961397856474, + -0.984424352645874, + -0.14510801434516907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9772629141807556, + 0.10202758759260178, + -0.18586964905261993, + 0.07909423112869263 + ], + [ + 0.10085159540176392, + -0.9947760701179504, + -0.015796402469277382, + -0.07603038847446442 + ], + [ + -0.1865103393793106, + -0.0033080121502280235, + -0.9824474453926086, + -0.14875324070453644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9756782650947571, + 0.0982430949807167, + -0.19595985114574432, + 0.08752822875976562 + ], + [ + 0.09696579724550247, + -0.9951570630073547, + -0.016125205904245377, + -0.07677244395017624 + ], + [ + -0.19659501314163208, + -0.0032683894969522953, + -0.98047935962677, + -0.1519140750169754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9735512137413025, + 0.09213574975728989, + -0.2090669721364975, + 0.09613353759050369 + ], + [ + 0.09229078143835068, + -0.9956911206245422, + -0.009035110473632812, + -0.07716421037912369 + ], + [ + -0.20899859070777893, + -0.01049881149083376, + -0.9778595566749573, + -0.1542016714811325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9710090756416321, + 0.08668889105319977, + -0.22276990115642548, + 0.10433605313301086 + ], + [ + 0.08887804299592972, + -0.9960424900054932, + -0.00019948086992371827, + -0.07785268872976303 + ], + [ + -0.22190557420253754, + -0.01960565522313118, + -0.974871039390564, + -0.15596382319927216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9695656895637512, + 0.08214473724365234, + -0.23063962161540985, + 0.1128874123096466 + ], + [ + 0.08582083135843277, + -0.9962928891181946, + 0.005934431217610836, + -0.07821868360042572 + ], + [ + -0.22929713129997253, + -0.025547504425048828, + -0.9730211496353149, + -0.15828648209571838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9688464403152466, + 0.07747843116521835, + -0.23523107171058655, + 0.12152808904647827 + ], + [ + 0.08232802152633667, + -0.99654620885849, + 0.010850492864847183, + -0.07852853834629059 + ], + [ + -0.23357795178890228, + -0.02987856976687908, + -0.9718788862228394, + -0.16065040230751038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9671201705932617, + 0.07353051751852036, + -0.24345818161964417, + 0.12911197543144226 + ], + [ + 0.08025117218494415, + -0.9966159462928772, + 0.017788846045732498, + -0.07915906608104706 + ], + [ + -0.24132628738880157, + -0.03674175590276718, + -0.9697482585906982, + -0.16269108653068542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.966190755367279, + 0.07192590087652206, + -0.24759262800216675, + 0.13736069202423096 + ], + [ + 0.07999060302972794, + -0.9965381026268005, + 0.022655289620161057, + -0.07969681918621063 + ], + [ + -0.24510599672794342, + -0.041694413870573044, + -0.9685993194580078, + -0.1652083843946457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9651103019714355, + 0.07141261547803879, + -0.2519172430038452, + 0.14576050639152527 + ], + [ + 0.0801936611533165, + -0.9964720010757446, + 0.02475043013691902, + -0.07993766665458679 + ], + [ + -0.24926099181175232, + -0.04408906400203705, + -0.9674322009086609, + -0.16769586503505707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9621579051017761, + 0.06783042848110199, + -0.26391512155532837, + 0.15497636795043945 + ], + [ + 0.0777449980378151, + -0.9965996146202087, + 0.02729356661438942, + -0.08006489276885986 + ], + [ + -0.26116636395454407, + -0.04677880182862282, + -0.9641596674919128, + -0.16949324309825897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9576247334480286, + 0.06383617222309113, + -0.2808555066585541, + 0.16375669836997986 + ], + [ + 0.07388061285018921, + -0.996945858001709, + 0.02531086467206478, + -0.0799402967095375 + ], + [ + -0.27838197350502014, + -0.044988084584474564, + -0.9594162702560425, + -0.1717865914106369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.952498733997345, + 0.05890990421175957, + -0.29879045486450195, + 0.17236503958702087 + ], + [ + 0.06905148923397064, + -0.9973365068435669, + 0.023489560931921005, + -0.07959049940109253 + ], + [ + -0.29661086201667786, + -0.04300570487976074, + -0.9540296196937561, + -0.1737685203552246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9483466744422913, + 0.058839552104473114, + -0.3117314279079437, + 0.17989474534988403 + ], + [ + 0.06986692547798157, + -0.9972599148750305, + 0.024314971640706062, + -0.07928924262523651 + ], + [ + -0.3094465732574463, + -0.044838737696409225, + -0.949859082698822, + -0.17478138208389282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9457215070724487, + 0.06286913901567459, + -0.31883904337882996, + 0.18698462843894958 + ], + [ + 0.07662878930568695, + -0.9965843558311462, + 0.030783837661147118, + -0.07864459604024887 + ], + [ + -0.31581464409828186, + -0.053545188158750534, + -0.9473088383674622, + -0.17493200302124023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.944797694683075, + 0.06798218935728073, + -0.3205241858959198, + 0.19390028715133667 + ], + [ + 0.0849464163184166, + -0.9956130385398865, + 0.03922704979777336, + -0.07774636149406433 + ], + [ + -0.3164513111114502, + -0.06428900361061096, + -0.9464277625083923, + -0.1744954138994217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9444242119789124, + 0.07238098978996277, + -0.3206617534160614, + 0.20022237300872803 + ], + [ + 0.09163602441549301, + -0.9947594404220581, + 0.04534873366355896, + -0.07704366743564606 + ], + [ + -0.31569889187812805, + -0.07221260666847229, + -0.9461075663566589, + -0.17407837510108948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9417892694473267, + 0.07281114161014557, + -0.3282247483730316, + 0.20743513107299805 + ], + [ + 0.09328671544790268, + -0.9945268630981445, + 0.04705249145627022, + -0.07594580948352814 + ], + [ + -0.3230023980140686, + -0.07493254542350769, + -0.9434270262718201, + -0.17412205040454865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9393539428710938, + 0.07551924884319305, + -0.33453109860420227, + 0.21448294818401337 + ], + [ + 0.0948604866862297, + -0.9946111440658569, + 0.04183552786707878, + -0.07463979721069336 + ], + [ + -0.3295689821243286, + -0.07103215157985687, + -0.9414556622505188, + -0.1746552288532257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9385281205177307, + 0.07509089261293411, + -0.33693674206733704, + 0.2211703062057495 + ], + [ + 0.09429878741502762, + -0.9946999549865723, + 0.04098440334200859, + -0.0737147182226181 + ], + [ + -0.3320733904838562, + -0.07023774087429047, + -0.9406348466873169, + -0.17521166801452637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9373062252998352, + 0.0746411457657814, + -0.3404200077056885, + 0.22793734073638916 + ], + [ + 0.09367095679044724, + -0.9948078393936157, + 0.039788421243429184, + -0.07265997678041458 + ], + [ + -0.33568263053894043, + -0.0691813975572586, + -0.9394312500953674, + -0.17606820166110992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9386983513832092, + 0.07492833584547043, + -0.3364984393119812, + 0.23449628055095673 + ], + [ + 0.09387516230344772, + -0.9947651624679565, + 0.040369756519794464, + -0.0716128945350647 + ], + [ + -0.33171209692955017, + -0.06948386877775192, + -0.9408183097839355, + -0.17693525552749634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9371290802955627, + 0.07426027953624725, + -0.3409903943538666, + 0.2409638911485672 + ], + [ + 0.09091425687074661, + -0.995308518409729, + 0.03309918940067291, + -0.0704399049282074 + ], + [ + -0.3369326889514923, + -0.06201910227537155, + -0.9394838809967041, + -0.17900289595127106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9320966601371765, + 0.07069971412420273, + -0.35524263978004456, + 0.24740411341190338 + ], + [ + 0.08340403437614441, + -0.9963037967681885, + 0.020555615425109863, + -0.06918607652187347 + ], + [ + -0.3524762988090515, + -0.048788491636514664, + -0.9345480799674988, + -0.18085871636867523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9268432259559631, + 0.06715051084756851, + -0.3693947494029999, + 0.2532409131526947 + ], + [ + 0.07646162807941437, + -0.9970161318778992, + 0.010606003925204277, + -0.06793972104787827 + ], + [ + -0.3675802946090698, + -0.03807462751865387, + -0.9292120337486267, + -0.18220467865467072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9267963767051697, + 0.07155022025108337, + -0.3686855733394623, + 0.25787869095802307 + ], + [ + 0.08066114783287048, + -0.9966978430747986, + 0.009337246417999268, + -0.06652984768152237 + ], + [ + -0.3668000400066376, + -0.0383923277258873, + -0.9295072555541992, + -0.18234647810459137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9208073019981384, + 0.07791894674301147, + -0.382155179977417, + 0.26175448298454285 + ], + [ + 0.08799399435520172, + -0.9960809946060181, + 0.008928132243454456, + -0.06521348655223846 + ], + [ + -0.37996184825897217, + -0.041848450899124146, + -0.9240550398826599, + -0.1811274141073227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9140346646308899, + 0.08458501845598221, + -0.3967190086841583, + 0.26514142751693726 + ], + [ + 0.09542421996593475, + -0.9954075217247009, + 0.007623748853802681, + -0.06361620128154755 + ], + [ + -0.3942522406578064, + -0.04482497274875641, + -0.9179084300994873, + -0.17965812981128693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9086949229240417, + 0.09013841301202774, + -0.4076133072376251, + 0.26860031485557556 + ], + [ + 0.10258428752422333, + -0.9946860074996948, + 0.008729850873351097, + -0.06172346696257591 + ], + [ + -0.4046603739261627, + -0.049747493118047714, + -0.9131128787994385, + -0.1780281513929367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9021716713905334, + 0.09345026314258575, + -0.421133428812027, + 0.2721758186817169 + ], + [ + 0.10529177635908127, + -0.994429349899292, + 0.004895305261015892, + -0.05953114852309227 + ], + [ + -0.41832995414733887, + -0.04875829443335533, + -0.9069854617118835, + -0.17676500976085663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.8986209630966187, + 0.09509057551622391, + -0.4282968044281006, + 0.2760162949562073 + ], + [ + 0.10476159304380417, + -0.9944968819618225, + -0.0009953759144991636, + -0.05686359852552414 + ], + [ + -0.42603448033332825, + -0.043974585831165314, + -0.9036375880241394, + -0.17609605193138123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.8980034589767456, + 0.0952436551451683, + -0.42955607175827026, + 0.28075477480888367 + ], + [ + 0.10405479371547699, + -0.9945670962333679, + -0.0029906148556619883, + -0.05386080965399742 + ], + [ + -0.4275071620941162, + -0.04201178625226021, + -0.9030352234840393, + -0.1761876791715622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.8987752199172974, + 0.09756430983543396, + -0.4274158179759979, + 0.2851678729057312 + ], + [ + 0.10478457063436508, + -0.9944726228713989, + -0.0066615683026611805, + -0.050832729786634445 + ], + [ + -0.4257032573223114, + -0.03879933059215546, + -0.9040306210517883, + -0.17606554925441742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.8983529210090637, + 0.10096998512744904, + -0.42751264572143555, + 0.28941643238067627 + ], + [ + 0.10694196075201035, + -0.9942140579223633, + -0.010091284289956093, + -0.047808267176151276 + ], + [ + -0.42605799436569214, + -0.03665350750088692, + -0.9039530158042908, + -0.17579978704452515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.896700382232666, + 0.10355744510889053, + -0.43035364151000977, + 0.2937006950378418 + ], + [ + 0.10738248378038406, + -0.9940974712371826, + -0.015466999262571335, + -0.04453204944729805 + ], + [ + -0.42941519618034363, + -0.03234317898750305, + -0.9025278687477112, + -0.17668843269348145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.8924753069877625, + 0.10299135744571686, + -0.43918171525001526, + 0.29819566011428833 + ], + [ + 0.10478562861680984, + -0.9942890405654907, + -0.020229876041412354, + -0.04142708703875542 + ], + [ + -0.438757061958313, + -0.02796526625752449, + -0.8981704711914062, + -0.17696556448936462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.8863236904144287, + 0.10702096670866013, + -0.450529545545578, + 0.30242449045181274 + ], + [ + 0.10556106269359589, + -0.9940057396888733, + -0.028451383113861084, + -0.038449689745903015 + ], + [ + -0.45087385177612305, + -0.02234124206006527, + -0.8923080563545227, + -0.17705123126506805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.8862089514732361, + 0.11535711586475372, + -0.448694109916687, + 0.30751287937164307 + ], + [ + 0.11202216893434525, + -0.9931213855743408, + -0.034073472023010254, + -0.035350438207387924 + ], + [ + -0.44953832030296326, + -0.020067468285560608, + -0.8930355906486511, + -0.17670400440692902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.8878960609436035, + 0.12533028423786163, + -0.44264307618141174, + 0.31129804253578186 + ], + [ + 0.11967035382986069, + -0.9919740557670593, + -0.04082194343209267, + -0.03253526613116264 + ], + [ + -0.44420668482780457, + -0.016725609079003334, + -0.8957682251930237, + -0.17685645818710327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.8803467154502869, + 0.13933810591697693, + -0.4534032642841339, + 0.3141738474369049 + ], + [ + 0.1264571249485016, + -0.990229070186615, + -0.05877888947725296, + -0.030104663223028183 + ], + [ + -0.4571632444858551, + -0.005590269807726145, + -0.8893652558326721, + -0.17802532017230988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.8827058672904968, + 0.14833052456378937, + -0.4459017813205719, + 0.3187565207481384 + ], + [ + 0.13339467346668243, + -0.9889354109764099, + -0.06490452587604523, + -0.027370717376470566 + ], + [ + -0.4505953788757324, + -0.002189320046454668, + -0.8927255868911743, + -0.1788521260023117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.8844844698905945, + 0.15854543447494507, + -0.43880587816238403, + 0.3224528431892395 + ], + [ + 0.14048774540424347, + -0.9873457551002502, + -0.07356313616037369, + -0.02483285218477249 + ], + [ + -0.4449162483215332, + 0.0034186039119958878, + -0.8955656886100769, + -0.18005870282649994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.8840876817703247, + 0.16706126928329468, + -0.4364396333694458, + 0.32609009742736816 + ], + [ + 0.14753419160842896, + -0.9859336018562317, + -0.07854045182466507, + -0.022177690640091896 + ], + [ + -0.4434215724468231, + 0.005046878941357136, + -0.8962989449501038, + -0.18055544793605804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.8857508897781372, + 0.1718674749135971, + -0.4311692714691162, + 0.3299673795700073 + ], + [ + 0.1553986370563507, + -0.9851181507110596, + -0.07344051450490952, + -0.018949072808027267 + ], + [ + -0.43737471103668213, + -0.0019531149882823229, + -0.8992772698402405, + -0.17964528501033783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.8757941722869873, + 0.17769023776054382, + -0.4487880766391754, + 0.33340734243392944 + ], + [ + 0.16000430285930634, + -0.9840782284736633, + -0.0773867666721344, + -0.015844039618968964 + ], + [ + -0.4553934335708618, + -0.004033140372484922, + -0.8902811408042908, + -0.17889566719532013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.8698948621749878, + 0.18539884686470032, + -0.45706692337989807, + 0.33693110942840576 + ], + [ + 0.16603337228298187, + -0.9826550483703613, + -0.08259517699480057, + -0.012589044868946075 + ], + [ + -0.46445217728614807, + -0.004039247054606676, + -0.8855890035629272, + -0.17824777960777283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.8632321953773499, + 0.19379585981369019, + -0.46612587571144104, + 0.3404961824417114 + ], + [ + 0.1692320853471756, + -0.9810382723808289, + -0.09446926414966583, + -0.009432751685380936 + ], + [ + -0.475595086812973, + 0.0026654547546058893, + -0.8796603083610535, + -0.17883621156215668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.8491824269294739, + 0.2036200910806656, + -0.487265944480896, + 0.34344783425331116 + ], + [ + 0.16689829528331757, + -0.9788647890090942, + -0.11818894743919373, + -0.006918139755725861 + ], + [ + -0.5010331273078918, + 0.019040120765566826, + -0.8652186393737793, + -0.18010136485099792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.8482850193977356, + 0.22207146883010864, + -0.4807252585887909, + 0.3453267812728882 + ], + [ + 0.18224042654037476, + -0.9747913479804993, + -0.1287253350019455, + -0.004337286110967398 + ], + [ + -0.4971930682659149, + 0.021588200703263283, + -0.8673713207244873, + -0.17966000735759735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.8554131984710693, + 0.2401658296585083, + -0.4588993787765503, + 0.3475480079650879 + ], + [ + 0.20188766717910767, + -0.9705273509025574, + -0.13159778714179993, + -0.001592633780092001 + ], + [ + -0.47697970271110535, + 0.019924353808164597, + -0.8786884546279907, + -0.17857779562473297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.8537850379943848, + 0.2540050446987152, + -0.4544585347175598, + 0.34851309657096863 + ], + [ + 0.21718861162662506, + -0.9670953750610352, + -0.13249771296977997, + 0.0012794979847967625 + ], + [ + -0.4731598496437073, + 0.014421346597373486, + -0.8808585405349731, + -0.17735745012760162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.8630902171134949, + 0.2641340494155884, + -0.43047472834587097, + 0.3493528366088867 + ], + [ + 0.23742647469043732, + -0.9644832611083984, + -0.11576151847839355, + 0.004592387471348047 + ], + [ + -0.4457622170448303, + -0.002293465891852975, + -0.8951484560966492, + -0.17544855177402496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.8684585690498352, + 0.2692294418811798, + -0.41628745198249817, + 0.3508261442184448 + ], + [ + 0.2488819807767868, + -0.9629793167114258, + -0.10357913374900818, + 0.007811699062585831 + ], + [ + -0.4287627637386322, + -0.013652263209223747, + -0.9033139944076538, + -0.174514502286911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.8668937683105469, + 0.265389621257782, + -0.4219757914543152, + 0.35268720984458923 + ], + [ + 0.24875067174434662, + -0.9638797044754028, + -0.09517908096313477, + 0.010966039262712002 + ], + [ + -0.43199342489242554, + -0.022456610575318336, + -0.9015971422195435, + -0.17392809689044952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.8651285767555237, + 0.25513124465942383, + -0.43181079626083374, + 0.35472047328948975 + ], + [ + 0.24235163629055023, + -0.9664181470870972, + -0.08544977009296417, + 0.013442899100482464 + ], + [ + -0.4391106963157654, + -0.030725009739398956, + -0.8979074358940125, + -0.17412252724170685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.8588154911994934, + 0.23848004639148712, + -0.45339086651802063, + 0.3584621548652649 + ], + [ + 0.23137253522872925, + -0.9701937437057495, + -0.07204719632863998, + 0.01572909578680992 + ], + [ + -0.4570588171482086, + -0.043026942759752274, + -0.8883951306343079, + -0.17605234682559967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.8582533001899719, + 0.22872109711170197, + -0.4594430923461914, + 0.36135751008987427 + ], + [ + 0.22502420842647552, + -0.9722709059715271, + -0.06366642564535141, + 0.016648374497890472 + ], + [ + -0.4612649977207184, + -0.048743896186351776, + -0.8859224915504456, + -0.17806825041770935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.8593874573707581, + 0.2278517335653305, + -0.4577518701553345, + 0.36355462670326233 + ], + [ + 0.22245192527770996, + -0.9726712703704834, + -0.06652609258890152, + 0.01681065373122692 + ], + [ + -0.46040019392967224, + -0.04465609788894653, + -0.8865875601768494, + -0.1808454543352127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.8505721092224121, + 0.22407235205173492, + -0.47572964429855347, + 0.36667728424072266 + ], + [ + 0.21144786477088928, + -0.97404944896698, + -0.08073051273822784, + 0.016411807388067245 + ], + [ + -0.4814736843109131, + -0.03192489221692085, + -0.8758789300918579, + -0.18460677564144135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.8424530029296875, + 0.21380184590816498, + -0.4945317804813385, + 0.37001609802246094 + ], + [ + 0.19837838411331177, + -0.9764997959136963, + -0.08422714471817017, + 0.015948377549648285 + ], + [ + -0.5009180903434753, + -0.027147002518177032, + -0.8650688529014587, + -0.18794898688793182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.8285667896270752, + 0.2012946903705597, + -0.5224533677101135, + 0.37394973635673523 + ], + [ + 0.18663758039474487, + -0.97906494140625, + -0.08122996985912323, + 0.015206780284643173 + ], + [ + -0.5278669595718384, + -0.03020498715341091, + -0.8487898111343384, + -0.19052211940288544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.806897759437561, + 0.19316715002059937, + -0.5582135915756226, + 0.3770413398742676 + ], + [ + 0.1719457060098648, + -0.9809045195579529, + -0.0908898115158081, + 0.013617913238704205 + ], + [ + -0.5651111602783203, + -0.022643644362688065, + -0.8247039914131165, + -0.1944659799337387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.7893116474151611, + 0.19557005167007446, + -0.5820133090019226, + 0.3793008029460907 + ], + [ + 0.16643163561820984, + -0.9805758595466614, + -0.10378599166870117, + 0.011398643255233765 + ], + [ + -0.5910056233406067, + -0.014945934526622295, + -0.8065289855003357, + -0.19814103841781616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.761974036693573, + 0.19331328570842743, + -0.6180821061134338, + 0.3821551203727722 + ], + [ + 0.1625489443540573, + -0.9809455871582031, + -0.1064126044511795, + 0.009385388344526291 + ], + [ + -0.6268758773803711, + -0.019384954124689102, + -0.7788779139518738, + -0.200152188539505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.7414751052856445, + 0.19348236918449402, + -0.6424789428710938, + 0.3849203586578369 + ], + [ + 0.16267439723014832, + -0.9807924628257751, + -0.10762535780668259, + 0.0070599899627268314 + ], + [ + -0.6509621143341064, + -0.02471335045993328, + -0.7587078213691711, + -0.20197619497776031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.7361727356910706, + 0.1963891088962555, + -0.6476735472679138, + 0.38772815465927124 + ], + [ + 0.1748514175415039, + -0.9796739220619202, + -0.09831564873456955, + 0.0053619928658008575 + ], + [ + -0.6538169980049133, + -0.04086934030056, + -0.7555481791496277, + -0.202851802110672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.7272737622261047, + 0.19721055030822754, + -0.6574046015739441, + 0.3914988934993744 + ], + [ + 0.18590641021728516, + -0.9786271452903748, + -0.08790741860866547, + 0.0037702717818319798 + ], + [ + -0.6606903076171875, + -0.058282967656850815, + -0.7483925819396973, + -0.20361806452274323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.7189774513244629, + 0.19860248267650604, + -0.6660544276237488, + 0.3953235447406769 + ], + [ + 0.19184184074401855, + -0.9777841567993164, + -0.08446818590164185, + 0.001926178578287363 + ], + [ + -0.6680330634117126, + -0.0670463815331459, + -0.7411050200462341, + -0.20564334094524384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.7111641764640808, + 0.201406329870224, + -0.6735584139823914, + 0.39903464913368225 + ], + [ + 0.19817112386226654, + -0.9766634702682495, + -0.08280497789382935, + 5.475720172398724e-06 + ], + [ + -0.6745173931121826, + -0.07459190487861633, + -0.7344810366630554, + -0.20850853621959686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.7017685770988464, + 0.2056250423192978, + -0.6820844411849976, + 0.4026072323322296 + ], + [ + 0.2060469537973404, + -0.9751031398773193, + -0.08196689188480377, + -0.0018318644724786282 + ], + [ + -0.6819571256637573, + -0.08301963657140732, + -0.7266651391983032, + -0.21176649630069733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.6915247440338135, + 0.21168252825737, + -0.6906403303146362, + 0.40585312247276306 + ], + [ + 0.21676713228225708, + -0.9728459715843201, + -0.08113434910774231, + -0.003886894788593054 + ], + [ + -0.6890613436698914, + -0.09360171854496002, + -0.7186328172683716, + -0.21514146029949188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.6779274940490723, + 0.2134334295988083, + -0.7034631967544556, + 0.4088939130306244 + ], + [ + 0.2229185700416565, + -0.9715533256530762, + -0.0799463763833046, + -0.006479205098003149 + ], + [ + -0.7005152702331543, + -0.10261716693639755, + -0.7062209844589233, + -0.21884788572788239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.6712214350700378, + 0.21560098230838776, + -0.7092093825340271, + 0.41150736808776855 + ], + [ + 0.23314040899276733, + -0.9696148633956909, + -0.07411220669746399, + -0.009147084318101406 + ], + [ + -0.7036386132240295, + -0.11559966951608658, + -0.7010915875434875, + -0.22302955389022827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.667271614074707, + 0.22021092474460602, + -0.7115165591239929, + 0.41382890939712524 + ], + [ + 0.24118252098560333, + -0.9677064418792725, + -0.07331563532352448, + -0.012165389023721218 + ], + [ + -0.7046840786933899, + -0.12268391251564026, + -0.6988340616226196, + -0.22779856622219086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.656787097454071, + 0.2182486355304718, + -0.7218020558357239, + 0.41650888323783875 + ], + [ + 0.23703157901763916, + -0.9684345126152039, + -0.07714056968688965, + -0.015517760068178177 + ], + [ + -0.7158538699150085, + -0.12042495608329773, + -0.6877871155738831, + -0.23295681178569794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.6507167220115662, + 0.2171427607536316, + -0.7276102900505066, + 0.4191470742225647 + ], + [ + 0.2348833978176117, + -0.9688029289245605, + -0.07906153053045273, + -0.018832003697752953 + ], + [ + -0.7220786213874817, + -0.11945691704750061, + -0.6814194917678833, + -0.237504780292511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.6467429399490356, + 0.21827392280101776, + -0.7308078408241272, + 0.4219888150691986 + ], + [ + 0.2347714751958847, + -0.9686247110366821, + -0.08153816312551498, + -0.02203313820064068 + ], + [ + -0.7256761789321899, + -0.1188386008143425, + -0.6776956915855408, + -0.24313314259052277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.6359951496124268, + 0.2180517613887787, + -0.7402456402778625, + 0.42476966977119446 + ], + [ + 0.23474621772766113, + -0.9684560894966125, + -0.0835886150598526, + -0.025105392560362816 + ], + [ + -0.73512202501297, + -0.12060791254043579, + -0.6671201586723328, + -0.24700145423412323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.6275544166564941, + 0.21930931508541107, + -0.7470467686653137, + 0.42702168226242065 + ], + [ + 0.23731759190559387, + -0.9677293300628662, + -0.08473680168390274, + -0.027257811278104782 + ], + [ + -0.7415226101875305, + -0.1241103857755661, + -0.6593487858772278, + -0.24961252510547638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.6261682510375977, + 0.22197560966014862, + -0.7474223375320435, + 0.4296281337738037 + ], + [ + 0.24471314251422882, + -0.9661290645599365, + -0.08191549777984619, + -0.02927168644964695 + ], + [ + -0.7402896881103516, + -0.1316111832857132, + -0.6592797040939331, + -0.25259044766426086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.6252164244651794, + 0.21932868659496307, + -0.7489989399909973, + 0.4326353371143341 + ], + [ + 0.25003930926322937, + -0.9654051065444946, + -0.0739818811416626, + -0.030655940994620323 + ], + [ + -0.7393137216567993, + -0.14102450013160706, + -0.658427894115448, + -0.2551364004611969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.627819299697876, + 0.21508586406707764, + -0.7480514645576477, + 0.4358561933040619 + ], + [ + 0.250333696603775, + -0.9657970070838928, + -0.06759556382894516, + -0.03153340518474579 + ], + [ + -0.7370047569274902, + -0.14482469856739044, + -0.6601892113685608, + -0.2574865520000458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.6309500336647034, + 0.21154557168483734, + -0.7464251518249512, + 0.4399094879627228 + ], + [ + 0.2514050602912903, + -0.9659421443939209, + -0.06124759092926979, + -0.03234038129448891 + ], + [ + -0.7339601516723633, + -0.14901089668273926, + -0.6626448631286621, + -0.2609568238258362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.6308609247207642, + 0.20909154415130615, + -0.7471915483474731, + 0.4435006380081177 + ], + [ + 0.25668609142303467, + -0.9650225639343262, + -0.05332613363862038, + -0.03197067230939865 + ], + [ + -0.7322067618370056, + -0.15815229713916779, + -0.6624659299850464, + -0.26335060596466064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.62001633644104, + 0.20611822605133057, + -0.7570304274559021, + 0.4476572275161743 + ], + [ + 0.2633146643638611, + -0.9635791182518005, + -0.046698033809661865, + -0.031190574169158936 + ], + [ + -0.739084005355835, + -0.17038366198539734, + -0.651708722114563, + -0.26633408665657043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.6069809794425964, + 0.20628805458545685, + -0.7674759030342102, + 0.451606810092926 + ], + [ + 0.2681930363178253, + -0.9622408151626587, + -0.04653007164597511, + -0.029816197231411934 + ], + [ + -0.7480952739715576, + -0.1775888353586197, + -0.6393869519233704, + -0.26919838786125183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.5935781002044678, + 0.20808018743991852, + -0.7774108648300171, + 0.4554271399974823 + ], + [ + 0.27457278966903687, + -0.9603967070579529, + -0.047412674874067307, + -0.028349168598651886 + ], + [ + -0.7564885020256042, + -0.18531276285648346, + -0.6272035837173462, + -0.27191758155822754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.5857473015785217, + 0.20932810008525848, + -0.7829954028129578, + 0.45929601788520813 + ], + [ + 0.2841944992542267, + -0.9577814340591431, + -0.04345415160059929, + -0.02650086209177971 + ], + [ + -0.7590346336364746, + -0.19706983864307404, + -0.6205077767372131, + -0.27443602681159973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.5831323266029358, + 0.21046088635921478, + -0.7846419215202332, + 0.4632858335971832 + ], + [ + 0.2932926118373871, + -0.9552570581436157, + -0.038254186511039734, + -0.024361727759242058 + ], + [ + -0.7575857639312744, + -0.20782242715358734, + -0.6187678575515747, + -0.2770904004573822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.5799816250801086, + 0.20873674750328064, + -0.7874327301979065, + 0.4675777554512024 + ], + [ + 0.2973034083843231, + -0.9541788697242737, + -0.03396059572696686, + -0.021949848160147667 + ], + [ + -0.7584404945373535, + -0.21440990269184113, + -0.6154643893241882, + -0.27988025546073914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.5793332457542419, + 0.2069259136915207, + -0.7883873581886292, + 0.4719460904598236 + ], + [ + 0.3009990155696869, + -0.9531835317611694, + -0.02899542823433876, + -0.019321534782648087 + ], + [ + -0.7574777603149414, + -0.22050581872463226, + -0.6144953966140747, + -0.2825353741645813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.5807928442955017, + 0.20709308981895447, + -0.7872688174247742, + 0.47561588883399963 + ], + [ + 0.3061538636684418, + -0.9516672492027283, + -0.024479229003190994, + -0.015653051435947418 + ], + [ + -0.7542874217033386, + -0.22680804133415222, + -0.6161238551139832, + -0.28533726930618286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.5803084373474121, + 0.21092957258224487, + -0.7866071462631226, + 0.479654997587204 + ], + [ + 0.32116708159446716, + -0.9468705058097839, + -0.016967838630080223, + -0.01187173742800951 + ], + [ + -0.7483941316604614, + -0.2427857518196106, + -0.6172205805778503, + -0.28735536336898804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.5698915123939514, + 0.2150348573923111, + -0.7930849194526672, + 0.48351526260375977 + ], + [ + 0.3347996175289154, + -0.9421718716621399, + -0.014879032969474792, + -0.00797544326633215 + ], + [ + -0.7504218220710754, + -0.25704509019851685, + -0.6089293360710144, + -0.28960514068603516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.5644389390945435, + 0.22031007707118988, + -0.7955326437950134, + 0.4858837425708771 + ], + [ + 0.3423739969730377, + -0.9394056797027588, + -0.017235396429896355, + -0.0036740205250680447 + ], + [ + -0.7511249780654907, + -0.26264137029647827, + -0.6056655645370483, + -0.29179686307907104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.559809148311615, + 0.22155043482780457, + -0.798454225063324, + 0.4887688457965851 + ], + [ + 0.3455163538455963, + -0.9382383823394775, + -0.018089840188622475, + 0.00043750135228037834 + ], + [ + -0.7531481981277466, + -0.2657521367073059, + -0.6017836928367615, + -0.29375168681144714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.5497815608978271, + 0.22281083464622498, + -0.8050438165664673, + 0.4914306700229645 + ], + [ + 0.346773624420166, + -0.9376741647720337, + -0.02269965037703514, + 0.004744159523397684 + ], + [ + -0.7599264979362488, + -0.26668810844421387, + -0.5927808880805969, + -0.29567205905914307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.5348495841026306, + 0.2239101231098175, + -0.8147392868995667, + 0.4925888478755951 + ], + [ + 0.35159945487976074, + -0.9357792735099792, + -0.02636134810745716, + 0.010188276879489422 + ], + [ + -0.768318772315979, + -0.27236253023147583, + -0.579227864742279, + -0.2975485920906067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.5168669819831848, + 0.22424402832984924, + -0.8261737823486328, + 0.4949238896369934 + ], + [ + 0.35440611839294434, + -0.9345460534095764, + -0.03193705528974533, + 0.015440798364579678 + ], + [ + -0.7792591452598572, + -0.2762938141822815, + -0.5625094771385193, + -0.2989099621772766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.507743239402771, + 0.22416402399539948, + -0.8318336606025696, + 0.4973483383655548 + ], + [ + 0.35946813225746155, + -0.9326117634773254, + -0.03190597891807556, + 0.02100990153849125 + ], + [ + -0.7829300165176392, + -0.28281766176223755, + -0.554107129573822, + -0.2996152639389038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.5053238868713379, + 0.22208483517169952, + -0.8338621258735657, + 0.4985586702823639 + ], + [ + 0.362548828125, + -0.9315322041511536, + -0.02839149720966816, + 0.027472741901874542 + ], + [ + -0.7830747961997986, + -0.28796881437301636, + -0.5512421131134033, + -0.2996252179145813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.5024823546409607, + 0.21816805005073547, + -0.8366087079048157, + 0.5007579922676086 + ], + [ + 0.3640008866786957, + -0.9310846924781799, + -0.024179643020033836, + 0.03378581255674362 + ], + [ + -0.7842288017272949, + -0.29237648844718933, + -0.5472670197486877, + -0.29960304498672485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.4985368251800537, + 0.21448387205600739, + -0.8399152755737305, + 0.5028693079948425 + ], + [ + 0.3649190366268158, + -0.9308003187179565, + -0.021092677488923073, + 0.0404190756380558 + ], + [ + -0.7863174080848694, + -0.295985609292984, + -0.5423074960708618, + -0.2995731234550476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.4955967962741852, + 0.20740987360477448, + -0.8434245586395264, + 0.5051171183586121 + ], + [ + 0.36334821581840515, + -0.9315232634544373, + -0.01557094231247902, + 0.04736354574561119 + ], + [ + -0.7888991832733154, + -0.2987399101257324, + -0.5370219349861145, + -0.2997128367424011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.499112606048584, + 0.19901452958583832, + -0.8433740735054016, + 0.5078202486038208 + ], + [ + 0.3627241849899292, + -0.931881844997406, + -0.005238235462456942, + 0.05436781793832779 + ], + [ + -0.7869674563407898, + -0.3032976984977722, + -0.5373013615608215, + -0.29961925745010376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.5061848163604736, + 0.19058868288993835, + -0.8411021828651428, + 0.5104243755340576 + ], + [ + 0.36112165451049805, + -0.9324992299079895, + 0.006028412841260433, + 0.06107295677065849 + ], + [ + -0.7831782102584839, + -0.3067916929721832, + -0.5408426523208618, + -0.2998504936695099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.5205978155136108, + 0.18803229928016663, + -0.8328395485877991, + 0.5122441649436951 + ], + [ + 0.36218100786209106, + -0.9319707751274109, + 0.015981528908014297, + 0.06806919723749161 + ], + [ + -0.7731770873069763, + -0.30995863676071167, + -0.55328369140625, + -0.3006070554256439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.534108579158783, + 0.18360450863838196, + -0.8252378106117249, + 0.5143277645111084 + ], + [ + 0.3611683249473572, + -0.9321277737617493, + 0.026368457823991776, + 0.07403518259525299 + ], + [ + -0.7643856406211853, + -0.3121333718299866, + -0.5641695857048035, + -0.30101239681243896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.5406613945960999, + 0.18004022538661957, + -0.8217486143112183, + 0.5159863829612732 + ], + [ + 0.35979729890823364, + -0.9324668049812317, + 0.03242715075612068, + 0.07901392877101898 + ], + [ + -0.7604151368141174, + -0.31319504976272583, + -0.5689268112182617, + -0.3013421893119812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.5531434416770935, + 0.18291518092155457, + -0.8127572536468506, + 0.5164154171943665 + ], + [ + 0.36138826608657837, + -0.931709885597229, + 0.0362662710249424, + 0.08303461223840714 + ], + [ + -0.7506203055381775, + -0.31378138065338135, + -0.581472635269165, + -0.3013882637023926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.5646185874938965, + 0.1844424456357956, + -0.80447918176651, + 0.516963541507721 + ], + [ + 0.3596969544887543, + -0.9322658181190491, + 0.03871101886034012, + 0.08629351109266281 + ], + [ + -0.7428485155105591, + -0.31122568249702454, + -0.5927180051803589, + -0.3012439012527466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.5766718983650208, + 0.18291626870632172, + -0.7962356209754944, + 0.5173541903495789 + ], + [ + 0.356938898563385, + -0.9330834150314331, + 0.044158391654491425, + 0.08868323266506195 + ], + [ + -0.7348769903182983, + -0.30967235565185547, + -0.6033729314804077, + -0.3004585802555084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.5893611311912537, + 0.18298271298408508, + -0.7868740558624268, + 0.5169063806533813 + ], + [ + 0.3510136902332306, + -0.9352683424949646, + 0.0454149954020977, + 0.09073919802904129 + ], + [ + -0.727628231048584, + -0.30296939611434937, + -0.6154402494430542, + -0.3001323938369751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.5967304110527039, + 0.18598483502864838, + -0.7805910706520081, + 0.5160301923751831 + ], + [ + 0.3438953757286072, + -0.9381826519966125, + 0.03936130553483963, + 0.09158430248498917 + ], + [ + -0.7250164151191711, + -0.2919297516345978, + -0.6238014698028564, + -0.29968148469924927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 240, + "c2w": [ + [ + 0.611172616481781, + 0.18734745681285858, + -0.7690051794052124, + 0.5146255493164062 + ], + [ + 0.3398933410644531, + -0.9395595788955688, + 0.04123430326581001, + 0.09201809018850327 + ], + [ + -0.7148010730743408, + -0.28658100962638855, + -0.6379112601280212, + -0.2981216311454773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 241, + "c2w": [ + [ + 0.6241275072097778, + 0.18597713112831116, + -0.7588658332824707, + 0.5124263763427734 + ], + [ + 0.3368724584579468, + -0.9403966665267944, + 0.04659467563033104, + 0.0927567109465599 + ], + [ + -0.7049693465232849, + -0.2847220301628113, + -0.6495779752731323, + -0.29648369550704956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 242, + "c2w": [ + [ + 0.6331033110618591, + 0.184444397687912, + -0.7517715096473694, + 0.5096127390861511 + ], + [ + 0.3356822729110718, + -0.940542459487915, + 0.05193568393588066, + 0.09232423454523087 + ], + [ + -0.6974937915802002, + -0.28523701429367065, + -0.6573752760887146, + -0.29424750804901123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 243, + "c2w": [ + [ + 0.6417771577835083, + 0.18406151235103607, + -0.7444753050804138, + 0.5062437057495117 + ], + [ + 0.33786913752555847, + -0.9393406510353088, + 0.05902174487709999, + 0.09120400995016098 + ], + [ + -0.6884522438049316, + -0.28941404819488525, + -0.6650360822677612, + -0.2913813591003418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 244, + "c2w": [ + [ + 0.6460574269294739, + 0.1827833205461502, + -0.7410802841186523, + 0.5023316740989685 + ], + [ + 0.3399093747138977, + -0.9382147789001465, + 0.06492006033658981, + 0.08947353810071945 + ], + [ + -0.6834262013435364, + -0.29384222626686096, + -0.6682704091072083, + -0.2890262007713318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 245, + "c2w": [ + [ + 0.6441754102706909, + 0.18233118951320648, + -0.7428279519081116, + 0.4980250298976898 + ], + [ + 0.3418903052806854, + -0.9373912811279297, + 0.06639714539051056, + 0.08704963326454163 + ], + [ + -0.684214174747467, + -0.29673707485198975, + -0.6661816835403442, + -0.2869226634502411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 246, + "c2w": [ + [ + 0.6408485770225525, + 0.18134751915931702, + -0.7459397912025452, + 0.49360477924346924 + ], + [ + 0.34104013442993164, + -0.9377986788749695, + 0.06500208377838135, + 0.08443422615528107 + ], + [ + -0.6877533793449402, + -0.29605191946029663, + -0.6628337502479553, + -0.28525227308273315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 247, + "c2w": [ + [ + 0.6344645619392395, + 0.1796366423368454, + -0.7517880797386169, + 0.4893774092197418 + ], + [ + 0.34061020612716675, + -0.9380708932876587, + 0.06330667436122894, + 0.08197987079620361 + ], + [ + -0.6938583254814148, + -0.29623255133628845, + -0.6563588380813599, + -0.28339844942092896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 248, + "c2w": [ + [ + 0.6321660280227661, + 0.17878998816013336, + -0.753923237323761, + 0.48458945751190186 + ], + [ + 0.340093195438385, + -0.938302218914032, + 0.06265401840209961, + 0.07904476672410965 + ], + [ + -0.6962059736251831, + -0.29601192474365234, + -0.6539680361747742, + -0.28139740228652954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 249, + "c2w": [ + [ + 0.6329378485679626, + 0.1778365969657898, + -0.7535010576248169, + 0.47975805401802063 + ], + [ + 0.33846959471702576, + -0.9388844966888428, + 0.06272342801094055, + 0.07608673721551895 + ], + [ + -0.696295976638794, + -0.29473721981048584, + -0.6544477939605713, + -0.2792687714099884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 250, + "c2w": [ + [ + 0.6254917979240417, + 0.17800116539001465, + -0.7596548795700073, + 0.47517529129981995 + ], + [ + 0.33728551864624023, + -0.9396421909332275, + 0.05754182115197182, + 0.07354746758937836 + ], + [ + -0.7035612463951111, + -0.2922125458717346, + -0.6477757096290588, + -0.27690210938453674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 251, + "c2w": [ + [ + 0.6203726530075073, + 0.17781879007816315, + -0.763883650302887, + 0.47067391872406006 + ], + [ + 0.33655017614364624, + -0.9400878548622131, + 0.05448637530207634, + 0.07073963433504105 + ], + [ + -0.7084290385246277, + -0.2908870279788971, + -0.6430497765541077, + -0.2740749716758728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 252, + "c2w": [ + [ + 0.6210406422615051, + 0.17734356224536896, + -0.7634512186050415, + 0.46612444519996643 + ], + [ + 0.33451297879219055, + -0.9408679604530334, + 0.053558457642793655, + 0.06795985251665115 + ], + [ + -0.7088086009025574, + -0.2886463403701782, + -0.6436409950256348, + -0.2711242139339447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 253, + "c2w": [ + [ + 0.6106998324394226, + 0.1790774166584015, + -0.7713475227355957, + 0.4565966725349426 + ], + [ + 0.32859352231025696, + -0.943576991558075, + 0.041095178574323654, + 0.06343889236450195 + ], + [ + -0.7204665541648865, + -0.27855661511421204, + -0.635085940361023, + -0.2649216055870056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 254, + "c2w": [ + [ + 0.6106998324394226, + 0.1790774166584015, + -0.7713475227355957, + 0.4565966725349426 + ], + [ + 0.32859352231025696, + -0.943576991558075, + 0.041095178574323654, + 0.06343889236450195 + ], + [ + -0.7204665541648865, + -0.27855661511421204, + -0.635085940361023, + -0.2649216055870056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 255, + "c2w": [ + [ + 0.60732501745224, + 0.1769230216741562, + -0.7745027542114258, + 0.4524337351322174 + ], + [ + 0.32668811082839966, + -0.9442653656005859, + 0.040469296276569366, + 0.0613875575363636 + ], + [ + -0.7241762280464172, + -0.27759885787963867, + -0.6312746405601501, + -0.26100194454193115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 256, + "c2w": [ + [ + 0.6044326424598694, + 0.17402395606040955, + -0.7774167656898499, + 0.44917207956314087 + ], + [ + 0.32551607489585876, + -0.9446194767951965, + 0.04163292795419693, + 0.05982406809926033 + ], + [ + -0.7271178960800171, + -0.27822595834732056, + -0.6276064515113831, + -0.25693249702453613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 257, + "c2w": [ + [ + 0.6060089468955994, + 0.17105650901794434, + -0.7768480181694031, + 0.4454437792301178 + ], + [ + 0.3238028287887573, + -0.9450777173042297, + 0.04449482634663582, + 0.05783400312066078 + ], + [ + -0.7265706062316895, + -0.27850985527038574, + -0.6281141638755798, + -0.25291934609413147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 258, + "c2w": [ + [ + 0.603883683681488, + 0.16765663027763367, + -0.7792404890060425, + 0.4417678713798523 + ], + [ + 0.3207816183567047, + -0.9460816383361816, + 0.04504118859767914, + 0.055525247007608414 + ], + [ + -0.7296736836433411, + -0.2771656811237335, + -0.6251044273376465, + -0.24933694303035736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 259, + "c2w": [ + [ + 0.5972728729248047, + 0.16666409373283386, + -0.7845305800437927, + 0.4389388859272003 + ], + [ + 0.3173562288284302, + -0.9474483132362366, + 0.040333230048418045, + 0.052824389189481735 + ], + [ + -0.7365800142288208, + -0.27306559681892395, + -0.6187770366668701, + -0.24643312394618988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 260, + "c2w": [ + [ + 0.5976055264472961, + 0.16643819212913513, + -0.7843251824378967, + 0.43532440066337585 + ], + [ + 0.31292685866355896, + -0.9490548968315125, + 0.037035468965768814, + 0.04993946850299835 + ], + [ + -0.7382035255432129, + -0.26756900548934937, + -0.6192434430122375, + -0.24433633685112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 261, + "c2w": [ + [ + 0.6026435494422913, + 0.16484850645065308, + -0.7807981371879578, + 0.4316944181919098 + ], + [ + 0.3095554709434509, + -0.950108528137207, + 0.038329530507326126, + 0.04689347371459007 + ], + [ + -0.7355244159698486, + -0.2647993862628937, + -0.6236065626144409, + -0.24206648766994476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 262, + "c2w": [ + [ + 0.6071929335594177, + 0.16393506526947021, + -0.777458667755127, + 0.42823493480682373 + ], + [ + 0.30654776096343994, + -0.9510611891746521, + 0.03887198492884636, + 0.043692171573638916 + ], + [ + -0.7330383062362671, + -0.26193103194236755, + -0.6277316212654114, + -0.23959651589393616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 263, + "c2w": [ + [ + 0.6097579598426819, + 0.16405540704727173, + -0.7754231095314026, + 0.42465803027153015 + ], + [ + 0.3046857416629791, + -0.951684832572937, + 0.03824431449174881, + 0.040462445467710495 + ], + [ + -0.7316842079162598, + -0.259580135345459, + -0.6302827596664429, + -0.23724223673343658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 264, + "c2w": [ + [ + 0.6121556758880615, + 0.16497531533241272, + -0.7733359932899475, + 0.42113420367240906 + ], + [ + 0.3035625219345093, + -0.9520856142044067, + 0.037185512483119965, + 0.037081263959407806 + ], + [ + -0.7301473617553711, + -0.2575191259384155, + -0.6329049468040466, + -0.2350059151649475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 265, + "c2w": [ + [ + 0.613990306854248, + 0.1673547774553299, + -0.7713677883148193, + 0.4176599979400635 + ], + [ + 0.3015572726726532, + -0.9528663754463196, + 0.03329996019601822, + 0.033506594598293304 + ], + [ + -0.729437530040741, + -0.25305742025375366, + -0.6355177760124207, + -0.23317722976207733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 266, + "c2w": [ + [ + 0.619357705116272, + 0.16848692297935486, + -0.7668169140815735, + 0.4121684730052948 + ], + [ + 0.2987500727176666, + -0.9538038372993469, + 0.031728170812129974, + 0.028181524947285652 + ], + [ + -0.7260470986366272, + -0.24873770773410797, + -0.6410812139511108, + -0.22975288331508636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 267, + "c2w": [ + [ + 0.6275043487548828, + 0.16561584174633026, + -0.7607954740524292, + 0.4083702862262726 + ], + [ + 0.2971181273460388, + -0.9541093707084656, + 0.037365224212408066, + 0.024830982089042664 + ], + [ + -0.7196937799453735, + -0.24949295818805695, + -0.647915244102478, + -0.2264626920223236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 268, + "c2w": [ + [ + 0.6363529562950134, + 0.16358044743537903, + -0.7538543343544006, + 0.4042872488498688 + ], + [ + 0.2951206862926483, + -0.9545366764068604, + 0.04199402034282684, + 0.02159455418586731 + ], + [ + -0.7127122282981873, + -0.24920101463794708, + -0.6556981801986694, + -0.2233215719461441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 269, + "c2w": [ + [ + 0.64605313539505, + 0.16235266625881195, + -0.7458263635635376, + 0.39991191029548645 + ], + [ + 0.2952803671360016, + -0.9542007446289062, + 0.048067204654216766, + 0.018365155905485153 + ], + [ + -0.7038642168045044, + -0.25128185749053955, + -0.6644039750099182, + -0.21994729340076447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 270, + "c2w": [ + [ + 0.6555925607681274, + 0.15995022654533386, + -0.7379798889160156, + 0.39551621675491333 + ], + [ + 0.29279226064682007, + -0.9546958208084106, + 0.05318386107683182, + 0.014974682591855526 + ], + [ + -0.6960395574569702, + -0.25094175338745117, + -0.6727237105369568, + -0.2166185826063156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 271, + "c2w": [ + [ + 0.6692093014717102, + 0.16029879450798035, + -0.7255778312683105, + 0.39076370000839233 + ], + [ + 0.2893984019756317, + -0.9555807709693909, + 0.0558033213019371, + 0.01180017739534378 + ], + [ + -0.6844030022621155, + -0.24732516705989838, + -0.6858737468719482, + -0.21398985385894775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 272, + "c2w": [ + [ + 0.6896997690200806, + 0.15926125645637512, + -0.7063639760017395, + 0.38578441739082336 + ], + [ + 0.285140722990036, + -0.9564279913902283, + 0.06277158856391907, + 0.009014311246573925 + ], + [ + -0.6655891537666321, + -0.24470669031143188, + -0.7050600647926331, + -0.21138013899326324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 273, + "c2w": [ + [ + 0.7013980746269226, + 0.15777164697647095, + -0.6950891017913818, + 0.38072118163108826 + ], + [ + 0.2827029824256897, + -0.9567872285842896, + 0.06809691339731216, + 0.005996758583933115 + ], + [ + -0.6543086171150208, + -0.2442668080329895, + -0.7156912684440613, + -0.2079719752073288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 274, + "c2w": [ + [ + 0.7087069153785706, + 0.15823157131671906, + -0.6875298619270325, + 0.3752817213535309 + ], + [ + 0.28153368830680847, + -0.956997811794281, + 0.06995712220668793, + 0.003912653308361769 + ], + [ + -0.646895170211792, + -0.24314191937446594, + -0.7227784395217896, + -0.20466269552707672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 275, + "c2w": [ + [ + 0.7195059657096863, + 0.15879666805267334, + -0.6760878562927246, + 0.36941829323768616 + ], + [ + 0.280169278383255, + -0.957144021987915, + 0.0733516737818718, + 0.0023682923056185246 + ], + [ + -0.6354654431343079, + -0.2421960085630417, + -0.7331607937812805, + -0.20134411752223969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 276, + "c2w": [ + [ + 0.7293339967727661, + 0.1593293398618698, + -0.6653465628623962, + 0.3631749153137207 + ], + [ + 0.2799558639526367, + -0.9568598866462708, + 0.07774214446544647, + 0.0007694512605667114 + ], + [ + -0.6242568492889404, + -0.2429676502943039, + -0.7424756288528442, + -0.1971343457698822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 277, + "c2w": [ + [ + 0.7312146425247192, + 0.15956752002239227, + -0.6632219552993774, + 0.3566981554031372 + ], + [ + 0.2806084454059601, + -0.9565461277961731, + 0.07923638075590134, + -0.00019064312800765038 + ], + [ + -0.6217588186264038, + -0.2440444678068161, + -0.7442165613174438, + -0.19309501349925995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 278, + "c2w": [ + [ + 0.7318711876869202, + 0.16488558053970337, + -0.66119384765625, + 0.34985727071762085 + ], + [ + 0.28301990032196045, + -0.9561910629272461, + 0.07482220977544785, + -0.0006057857535779476 + ], + [ + -0.619890570640564, + -0.24189123511314392, + -0.7464746236801147, + -0.18960155546665192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 279, + "c2w": [ + [ + 0.731158971786499, + 0.16952188313007355, + -0.6608092784881592, + 0.34296536445617676 + ], + [ + 0.2846800684928894, + -0.956084132194519, + 0.06971634924411774, + -0.0008283942006528378 + ], + [ + -0.6199707984924316, + -0.23909296095371246, + -0.7473089694976807, + -0.18619923293590546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 280, + "c2w": [ + [ + 0.7296163439750671, + 0.171957328915596, + -0.6618841886520386, + 0.33608829975128174 + ], + [ + 0.2842267155647278, + -0.9565649628639221, + 0.06479700654745102, + -0.0010289736092090607 + ], + [ + -0.6219928860664368, + -0.23540212213993073, + -0.7468003034591675, + -0.182857483625412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 281, + "c2w": [ + [ + 0.7281017899513245, + 0.17513707280158997, + -0.6627177596092224, + 0.3285865783691406 + ], + [ + 0.2846832871437073, + -0.9567464590072632, + 0.05992990732192993, + -0.0010171313770115376 + ], + [ + -0.623556911945343, + -0.23229973018169403, + -0.7464674115180969, + -0.1799740344285965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 282, + "c2w": [ + [ + 0.7279312610626221, + 0.17479568719863892, + -0.6629951000213623, + 0.321116179227829 + ], + [ + 0.2818526029586792, + -0.9577661752700806, + 0.05694751814007759, + -0.0010001896880567074 + ], + [ + -0.6250401139259338, + -0.22832079231739044, + -0.7464545965194702, + -0.17649705708026886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 283, + "c2w": [ + [ + 0.7310550808906555, + 0.17346343398094177, + -0.6599006652832031, + 0.3132432997226715 + ], + [ + 0.27845826745033264, + -0.9587877988815308, + 0.056453511118888855, + -0.0008628321811556816 + ], + [ + -0.6229121088981628, + -0.22502543032169342, + -0.7492290139198303, + -0.17314377427101135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 284, + "c2w": [ + [ + 0.7332419157028198, + 0.17070771753787994, + -0.6581907868385315, + 0.3053499162197113 + ], + [ + 0.27539709210395813, + -0.9595839381217957, + 0.05792287737131119, + -0.0006713238544762135 + ], + [ + -0.6217014789581299, + -0.22373531758785248, + -0.7506195902824402, + -0.169975146651268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 285, + "c2w": [ + [ + 0.7357656955718994, + 0.1660400629043579, + -0.6565665006637573, + 0.29763221740722656 + ], + [ + 0.2698296010494232, + -0.9610785245895386, + 0.05932959169149399, + -0.0005113673396408558 + ], + [ + -0.6211608648300171, + -0.22081375122070312, + -0.7519311308860779, + -0.16675888001918793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 286, + "c2w": [ + [ + 0.7428993582725525, + 0.1619613915681839, + -0.6495144963264465, + 0.29003310203552246 + ], + [ + 0.26239949464797974, + -0.9630939364433289, + 0.05997156724333763, + -0.0004172264598309994 + ], + [ + -0.6158303618431091, + -0.21498511731624603, + -0.757980465888977, + -0.16401012241840363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 287, + "c2w": [ + [ + 0.7443333864212036, + 0.15744660794734955, + -0.6489825248718262, + 0.28265514969825745 + ], + [ + 0.25203830003738403, + -0.9661717414855957, + 0.054670300334692, + -0.0003240681253373623 + ], + [ + -0.6184209585189819, + -0.2042613923549652, + -0.7588365077972412, + -0.16273410618305206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 288, + "c2w": [ + [ + 0.7440632581710815, + 0.1499306559562683, + -0.6510688662528992, + 0.2755057215690613 + ], + [ + 0.23897092044353485, + -0.9697495698928833, + 0.049786292016506195, + -0.0005346317775547504 + ], + [ + -0.6239092350006104, + -0.19263066351413727, + -0.7573841214179993, + -0.1616891771554947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 289, + "c2w": [ + [ + 0.750901460647583, + 0.14423693716526031, + -0.6444708704948425, + 0.26815250515937805 + ], + [ + 0.22722850739955902, + -0.9727039337158203, + 0.047056253999471664, + -0.001022083219140768 + ], + [ + -0.6200920939445496, + -0.181776762008667, + -0.7631795406341553, + -0.16069678962230682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 290, + "c2w": [ + [ + 0.7582876086235046, + 0.1376228779554367, + -0.63722825050354, + 0.2605482339859009 + ], + [ + 0.21565566956996918, + -0.9753867983818054, + 0.04597017541527748, + -0.0016930443234741688 + ], + [ + -0.6152174472808838, + -0.17228050529956818, + -0.7693029046058655, + -0.15979056060314178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 291, + "c2w": [ + [ + 0.7652784585952759, + 0.13125193119049072, + -0.6301760077476501, + 0.2528645396232605 + ], + [ + 0.20550942420959473, + -0.9775753021240234, + 0.045960620045661926, + -0.0027859038673341274 + ], + [ + -0.6100121140480042, + -0.16467978060245514, + -0.7750908732414246, + -0.15828187763690948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 292, + "c2w": [ + [ + 0.7732391953468323, + 0.12544353306293488, + -0.6215827465057373, + 0.24504931271076202 + ], + [ + 0.19654302299022675, + -0.9793754816055298, + 0.046845633536577225, + -0.004224119242280722 + ], + [ + -0.6028863787651062, + -0.15839062631130219, + -0.7819465398788452, + -0.15656910836696625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 293, + "c2w": [ + [ + 0.7786208391189575, + 0.11939042061567307, + -0.6160321235656738, + 0.23718316853046417 + ], + [ + 0.18699634075164795, + -0.9812748432159424, + 0.04617360979318619, + -0.005895195063203573 + ], + [ + -0.5989841222763062, + -0.1511474847793579, + -0.7863666415214539, + -0.15496475994586945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 294, + "c2w": [ + [ + 0.7871086001396179, + 0.11401041597127914, + -0.6061862111091614, + 0.2288212925195694 + ], + [ + 0.1773674488067627, + -0.983096718788147, + 0.04540548101067543, + -0.008090555667877197 + ], + [ + -0.5907629728317261, + -0.14325673878192902, + -0.7940255999565125, + -0.15321271121501923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 295, + "c2w": [ + [ + 0.7942841053009033, + 0.10690537095069885, + -0.5980669260025024, + 0.2208576500415802 + ], + [ + 0.16609695553779602, + -0.9851047396659851, + 0.04450200870633125, + -0.01052568294107914 + ], + [ + -0.5844010710716248, + -0.13468433916568756, + -0.8002097010612488, + -0.15198807418346405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 296, + "c2w": [ + [ + 0.8003795742988586, + 0.10058017075061798, + -0.5909959673881531, + 0.212865948677063 + ], + [ + 0.15768375992774963, + -0.9864329695701599, + 0.04567080736160278, + -0.013183391653001308 + ], + [ + -0.578384280204773, + -0.12974444031715393, + -0.805380642414093, + -0.15016500651836395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 297, + "c2w": [ + [ + 0.8107448816299438, + 0.09478852897882462, + -0.5776745080947876, + 0.2047855108976364 + ], + [ + 0.15206250548362732, + -0.987030565738678, + 0.051455844193696976, + -0.016229234635829926 + ], + [ + -0.5653049945831299, + -0.1295602023601532, + -0.8146437406539917, + -0.14764289557933807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 298, + "c2w": [ + [ + 0.8177536129951477, + 0.08727128058671951, + -0.5689136981964111, + 0.19669434428215027 + ], + [ + 0.14285412430763245, + -0.9882839918136597, + 0.0537351593375206, + -0.018707390874624252 + ], + [ + -0.5575587749481201, + -0.12521378695964813, + -0.8206398487091064, + -0.14539583027362823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 299, + "c2w": [ + [ + 0.8217365145683289, + 0.07952339202165604, + -0.5642917156219482, + 0.188910111784935 + ], + [ + 0.1337290108203888, + -0.9894739985466003, + 0.05529706925153732, + -0.020649021491408348 + ], + [ + -0.553954541683197, + -0.12090179324150085, + -0.8237214684486389, + -0.1430400162935257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 300, + "c2w": [ + [ + 0.8281593918800354, + 0.06901553273200989, + -0.5562273263931274, + 0.18160885572433472 + ], + [ + 0.12109778821468353, + -0.9909829497337341, + 0.05734175443649292, + -0.023138264194130898 + ], + [ + -0.5472543835639954, + -0.11484601348638535, + -0.8290494680404663, + -0.1401546448469162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 301, + "c2w": [ + [ + 0.831160843372345, + 0.05822760984301567, + -0.5529748201370239, + 0.1742311418056488 + ], + [ + 0.10959967970848083, + -0.9921472072601318, + 0.060264233499765396, + -0.024673353880643845 + ], + [ + -0.5451233983039856, + -0.11069513857364655, + -0.8310157060623169, + -0.13750065863132477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 302, + "c2w": [ + [ + 0.8379111886024475, + 0.04890720546245575, + -0.5436109900474548, + 0.16713669896125793 + ], + [ + 0.09866689890623093, + -0.9931411743164062, + 0.06273297965526581, + -0.02595396898686886 + ], + [ + -0.5368143916130066, + -0.10620107501745224, + -0.8369896411895752, + -0.13487471640110016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 303, + "c2w": [ + [ + 0.8492404818534851, + 0.03469023108482361, + -0.5268654227256775, + 0.16096341609954834 + ], + [ + 0.08138638734817505, + -0.9945146441459656, + 0.06570306420326233, + -0.0279008187353611 + ], + [ + -0.5216960906982422, + -0.0986773744225502, + -0.8474054336547852, + -0.13240955770015717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 304, + "c2w": [ + [ + 0.8598719239234924, + 0.022224554792046547, + -0.5100258588790894, + 0.15429267287254333 + ], + [ + 0.06618475168943405, + -0.9954735636711121, + 0.06820527464151382, + -0.02906261943280697 + ], + [ + -0.5062013864517212, + -0.09240373224020004, + -0.8574506640434265, + -0.13021256029605865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 305, + "c2w": [ + [ + 0.8708300590515137, + 0.01168317161500454, + -0.49144530296325684, + 0.14776581525802612 + ], + [ + 0.05205636844038963, + -0.9962880611419678, + 0.06855787336826324, + -0.029916413128376007 + ], + [ + -0.4888201355934143, + -0.08528511971235275, + -0.8682057857513428, + -0.1281053125858307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 306, + "c2w": [ + [ + 0.876179039478302, + -0.00010814874985953793, + -0.48198574781417847, + 0.1422249972820282 + ], + [ + 0.03714030236005783, + -0.9970115423202515, + 0.06773930788040161, + -0.03049670159816742 + ], + [ + -0.48055267333984375, + -0.07725285738706589, + -0.8735566139221191, + -0.12560918927192688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 307, + "c2w": [ + [ + 0.8790871500968933, + -0.007314593996852636, + -0.47660499811172485, + 0.1359265148639679 + ], + [ + 0.027434149757027626, + -0.9974483847618103, + 0.06590979546308517, + -0.030617885291576385 + ], + [ + -0.4758709967136383, + -0.07101570069789886, + -0.8766433596611023, + -0.12306417524814606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 308, + "c2w": [ + [ + 0.8878812789916992, + -0.012203594669699669, + -0.45991072058677673, + 0.12939079105854034 + ], + [ + 0.01937291771173477, + -0.9977697730064392, + 0.06387593597173691, + -0.0302590262144804 + ], + [ + -0.45966455340385437, + -0.06562406569719315, + -0.885664701461792, + -0.12029571086168289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 309, + "c2w": [ + [ + 0.9006686210632324, + -0.018585549667477608, + -0.43410903215408325, + 0.1237478256225586 + ], + [ + 0.010490931570529938, + -0.9978633522987366, + 0.06448769569396973, + -0.029617657884955406 + ], + [ + -0.43438005447387695, + -0.06263624876737595, + -0.8985491991043091, + -0.11743901669979095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 310, + "c2w": [ + [ + 0.9128598570823669, + -0.027532968670129776, + -0.4073435962200165, + 0.11777982115745544 + ], + [ + 0.00032988155726343393, + -0.9976734519004822, + 0.06817352026700974, + -0.028687886893749237 + ], + [ + -0.4082728922367096, + -0.06236724182963371, + -0.9107269644737244, + -0.11440780758857727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 311, + "c2w": [ + [ + 0.9232345223426819, + -0.03871975466609001, + -0.382281094789505, + 0.11215413361787796 + ], + [ + -0.011926732026040554, + -0.9973180890083313, + 0.07221058011054993, + -0.0274554044008255 + ], + [ + -0.3840518295764923, + -0.06210793927311897, + -0.9212203025817871, + -0.11153904348611832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 312, + "c2w": [ + [ + 0.9303320646286011, + -0.04967952519655228, + -0.36333757638931274, + 0.10733172297477722 + ], + [ + -0.024913432076573372, + -0.9970545172691345, + 0.07253703474998474, + -0.02606807090342045 + ], + [ + -0.36587095260620117, + -0.05843154340982437, + -0.9288294911384583, + -0.10889597237110138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 313, + "c2w": [ + [ + 0.9358551502227783, + -0.06014413759112358, + -0.3472144305706024, + 0.1021808385848999 + ], + [ + -0.037553250789642334, + -0.9967380166053772, + 0.07143580913543701, + -0.02443094551563263 + ], + [ + -0.35037827491760254, + -0.053814541548490524, + -0.935060977935791, + -0.10677604377269745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 314, + "c2w": [ + [ + 0.9418596029281616, + -0.06974733620882034, + -0.32868796586990356, + 0.09679947048425674 + ], + [ + -0.05119046941399574, + -0.9965851902961731, + 0.06478766351938248, + -0.022693684324622154 + ], + [ + -0.3320843279361725, + -0.04419519007205963, + -0.942213773727417, + -0.1054016724228859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 315, + "c2w": [ + [ + 0.9441179037094116, + -0.07837267220020294, + -0.3201548159122467, + 0.0926450788974762 + ], + [ + -0.06374412775039673, + -0.9963973760604858, + 0.0559365376830101, + -0.021051844581961632 + ], + [ + -0.3233853280544281, + -0.03240269795060158, + -0.9457124471664429, + -0.10426215827465057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 316, + "c2w": [ + [ + 0.9513591527938843, + -0.08453608304262161, + -0.2962590157985687, + 0.08702129870653152 + ], + [ + -0.07612332701683044, + -0.9963021874427795, + 0.039839670062065125, + -0.01949983835220337 + ], + [ + -0.2985313832759857, + -0.015349614433944225, + -0.9542763829231262, + -0.10354847460985184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 317, + "c2w": [ + [ + 0.958416759967804, + -0.09479150176048279, + -0.2691689431667328, + 0.08139610290527344 + ], + [ + -0.09004608541727066, + -0.9954870939254761, + 0.029951609671115875, + -0.017831027507781982 + ], + [ + -0.2707933783531189, + -0.004468515049666166, + -0.962627112865448, + -0.10243625938892365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 318, + "c2w": [ + [ + 0.9623062610626221, + -0.10584516823291779, + -0.25052639842033386, + 0.07707574963569641 + ], + [ + -0.1020328477025032, + -0.9943813681602478, + 0.0281950943171978, + -0.016495762392878532 + ], + [ + -0.25210312008857727, + -0.0015703918179497123, + -0.9676991105079651, + -0.0997486412525177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 319, + "c2w": [ + [ + 0.962914764881134, + -0.11292340606451035, + -0.24503766000270844, + 0.07141965627670288 + ], + [ + -0.10981957614421844, + -0.9936025142669678, + 0.026339149102568626, + -0.014620762318372726 + ], + [ + -0.24644434452056885, + 0.0015475780237466097, + -0.9691557288169861, + -0.09828406572341919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 320, + "c2w": [ + [ + 0.9596555829048157, + -0.11603178828954697, + -0.2561206817626953, + 0.06542474776506424 + ], + [ + -0.11224879324436188, + -0.9932453632354736, + 0.02939184382557869, + -0.012509754858911037 + ], + [ + -0.2578010559082031, + 0.0005431887111626565, + -0.9661978483200073, + -0.09679925441741943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 321, + "c2w": [ + [ + 0.9611592888832092, + -0.11199905723333359, + -0.25224795937538147, + 0.05930260568857193 + ], + [ + -0.10880094766616821, + -0.9937065839767456, + 0.026637107133865356, + -0.011069882661104202 + ], + [ + -0.25364381074905396, + 0.0018423160072416067, + -0.9672959446907043, + -0.09448272734880447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 322, + "c2w": [ + [ + 0.9619541168212891, + -0.11006402969360352, + -0.25006037950515747, + 0.0529823936522007 + ], + [ + -0.1070728749036789, + -0.9939221143722534, + 0.025577351450920105, + -0.009789577685296535 + ], + [ + -0.25135570764541626, + 0.0021704446990042925, + -0.9678923487663269, + -0.09233124554157257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 323, + "c2w": [ + [ + 0.9611806273460388, + -0.11036337912082672, + -0.25288674235343933, + 0.046039290726184845 + ], + [ + -0.10666459798812866, + -0.9938912987709045, + 0.028333839029073715, + -0.00826968252658844 + ], + [ + -0.2544689476490021, + -0.00025987564004026353, + -0.9670808911323547, + -0.09058371931314468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 324, + "c2w": [ + [ + 0.9645485877990723, + -0.10606127977371216, + -0.24165478348731995, + 0.03974071517586708 + ], + [ + -0.10157693922519684, + -0.9943453073501587, + 0.030976565554738045, + -0.007250373717397451 + ], + [ + -0.24357371032238007, + -0.005331849213689566, + -0.9698677062988281, + -0.08760254085063934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 325, + "c2w": [ + [ + 0.9667062163352966, + -0.10345824807882309, + -0.2340415120124817, + 0.032935742288827896 + ], + [ + -0.09897767007350922, + -0.9946115612983704, + 0.030842548236250877, + -0.0053501552902162075 + ], + [ + -0.23597131669521332, + -0.006650798954069614, + -0.971737265586853, + -0.08547048270702362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 326, + "c2w": [ + [ + 0.9655748605728149, + -0.10790280997753143, + -0.23669013381004333, + 0.02617565169930458 + ], + [ + -0.10643494874238968, + -0.9941379427909851, + 0.01900951936841011, + -0.003695936407893896 + ], + [ + -0.2373538315296173, + 0.0068369898945093155, + -0.971399188041687, + -0.08438663184642792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 327, + "c2w": [ + [ + 0.9676492810249329, + -0.10689910501241684, + -0.2285332977771759, + 0.019763890653848648 + ], + [ + -0.11227146536111832, + -0.9936210513114929, + -0.010598897933959961, + -0.0025670393370091915 + ], + [ + -0.2259424924850464, + 0.03591378405690193, + -0.973478376865387, + -0.08371703326702118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 328, + "c2w": [ + [ + 0.9671457409858704, + -0.1022019013762474, + -0.2327742725610733, + 0.013340801000595093 + ], + [ + -0.11550679802894592, + -0.9923216104507446, + -0.04422636330127716, + -0.001473892480134964 + ], + [ + -0.22646692395210266, + 0.06966035068035126, + -0.9715246558189392, + -0.08357402682304382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 329, + "c2w": [ + [ + 0.96769118309021, + -0.08989424258470535, + -0.23556900024414062, + 0.006904694717377424 + ], + [ + -0.1083289310336113, + -0.9918888211250305, + -0.0664936974644661, + 0.0007509873248636723 + ], + [ + -0.22768084704875946, + 0.08986429870128632, + -0.9695802330970764, + -0.08362086117267609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 330, + "c2w": [ + [ + 0.967459499835968, + -0.08259578049182892, + -0.23916539549827576, + 0.0010420382022857666 + ], + [ + -0.1030433177947998, + -0.9919000267982483, + -0.07427278906106949, + 0.002326488494873047 + ], + [ + -0.23109352588653564, + 0.09650030732154846, + -0.9681339859962463, + -0.08227923512458801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 331, + "c2w": [ + [ + 0.968776285648346, + -0.07803397625684738, + -0.23533645272254944, + -0.004470792133361101 + ], + [ + -0.09838070720434189, + -0.992244303226471, + -0.0759768858551979, + 0.004161814693361521 + ], + [ + -0.22758246958255768, + 0.09675717353820801, + -0.9689397811889648, + -0.08031167089939117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 332, + "c2w": [ + [ + 0.9717852473258972, + -0.07829554378986359, + -0.22249318659305573, + -0.009916507638990879 + ], + [ + -0.09798140078783035, + -0.9920598268508911, + -0.07884743809700012, + 0.0063365185633301735 + ], + [ + -0.21455314755439758, + 0.09842297434806824, + -0.9717406630516052, + -0.07883131504058838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 333, + "c2w": [ + [ + 0.974250078201294, + -0.08416566997766495, + -0.20917204022407532, + -0.01520740706473589 + ], + [ + -0.10313767939805984, + -0.991322934627533, + -0.0814952701330185, + 0.008012994192540646 + ], + [ + -0.20049792528152466, + 0.10097029060125351, + -0.9744770526885986, + -0.07706908881664276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 334, + "c2w": [ + [ + 0.9769049286842346, + -0.090086929500103, + -0.19375531375408173, + -0.02029954455792904 + ], + [ + -0.10775130987167358, + -0.9907379746437073, + -0.08263123780488968, + 0.00999249517917633 + ], + [ + -0.18451674282550812, + 0.10160025209188461, + -0.9775637984275818, + -0.07519084960222244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 335, + "c2w": [ + [ + 0.9799884557723999, + -0.09586891531944275, + -0.17444691061973572, + -0.025565942749381065 + ], + [ + -0.11166632175445557, + -0.9902653694152832, + -0.08309713751077652, + 0.012053437530994415 + ], + [ + -0.1647823005914688, + 0.10091408342123032, + -0.9811539649963379, + -0.07330165058374405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 336, + "c2w": [ + [ + 0.9823877811431885, + -0.1013655960559845, + -0.15696915984153748, + -0.030337750911712646 + ], + [ + -0.11525481939315796, + -0.9899417161941528, + -0.08204729110002518, + 0.01431192085146904 + ], + [ + -0.14707355201244354, + 0.09869370609521866, + -0.9841894507408142, + -0.07101619243621826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 337, + "c2w": [ + [ + 0.9843526482582092, + -0.1066674217581749, + -0.14025673270225525, + -0.03501152619719505 + ], + [ + -0.11896258592605591, + -0.9894740581512451, + -0.08239523321390152, + 0.016758376732468605 + ], + [ + -0.12999150156974792, + 0.09779126942157745, + -0.9866808652877808, + -0.06862561404705048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 338, + "c2w": [ + [ + 0.9868779182434082, + -0.1091514453291893, + -0.11898728460073471, + -0.039384450763463974 + ], + [ + -0.11938275396823883, + -0.9894118905067444, + -0.08253371715545654, + 0.01942257024347782 + ], + [ + -0.10871876031160355, + 0.09565573185682297, + -0.9894595742225647, + -0.06657145917415619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 339, + "c2w": [ + [ + 0.989802896976471, + -0.1046101301908493, + -0.09667964279651642, + -0.04309317097067833 + ], + [ + -0.11236204952001572, + -0.9905580282211304, + -0.07854684442281723, + 0.02224339358508587 + ], + [ + -0.08754999935626984, + 0.08860901743173599, + -0.9922114014625549, + -0.06409884989261627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 340, + "c2w": [ + [ + 0.9911181330680847, + -0.09945489466190338, + -0.08828151226043701, + -0.04698663949966431 + ], + [ + -0.10614233464002609, + -0.9915491342544556, + -0.07459287345409393, + 0.025184236466884613 + ], + [ + -0.08011683821678162, + 0.08330074697732925, + -0.9932987093925476, + -0.06192469596862793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 341, + "c2w": [ + [ + 0.9907287955284119, + -0.10000663995742798, + -0.09195178002119064, + -0.05060660466551781 + ], + [ + -0.10681688785552979, + -0.9916403293609619, + -0.07238523662090302, + 0.028196970000863075 + ], + [ + -0.08394408971071243, + 0.08153613656759262, + -0.9931290149688721, + -0.060630664229393005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 342, + "c2w": [ + [ + 0.9914389252662659, + -0.10058180242776871, + -0.08325934410095215, + -0.054278161376714706 + ], + [ + -0.10681833326816559, + -0.9915074706077576, + -0.07418093085289001, + 0.02948296256363392 + ], + [ + -0.07509100437164307, + 0.08243948966264725, + -0.9937630891799927, + -0.05752800405025482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 343, + "c2w": [ + [ + 0.9924951195716858, + -0.09837210923433304, + -0.07263825833797455, + -0.05850424990057945 + ], + [ + -0.10347022861242294, + -0.9921581745147705, + -0.07011456042528152, + 0.03180278465151787 + ], + [ + -0.06517132371664047, + 0.07710425555706024, + -0.9948907494544983, + -0.055428341031074524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 344, + "c2w": [ + [ + 0.9939303398132324, + -0.09600278735160828, + -0.05372116342186928, + -0.06265434622764587 + ], + [ + -0.09947614371776581, + -0.9928338527679443, + -0.06622222065925598, + 0.034087348729372025 + ], + [ + -0.046978674829006195, + 0.07116424292325974, + -0.9963576793670654, + -0.053523704409599304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 345, + "c2w": [ + [ + 0.9950745105743408, + -0.0938088521361351, + -0.032040201127529144, + -0.06679597496986389 + ], + [ + -0.0957864299416542, + -0.9931386709213257, + -0.06708580255508423, + 0.03552668169140816 + ], + [ + -0.025527119636535645, + 0.06982439011335373, + -0.9972326159477234, + -0.05060200393199921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 346, + "c2w": [ + [ + 0.9951333999633789, + -0.09602320194244385, + -0.022114843130111694, + -0.07066777348518372 + ], + [ + -0.09730404615402222, + -0.9930052757263184, + -0.06687642633914948, + 0.03765500709414482 + ], + [ + -0.015538467094302177, + 0.0687028244137764, + -0.9975161552429199, + -0.048406586050987244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 347, + "c2w": [ + [ + 0.9946672916412354, + -0.10240460187196732, + -0.012260084971785545, + -0.07360902428627014 + ], + [ + -0.10301700234413147, + -0.9921821355819702, + -0.07044238597154617, + 0.04034283384680748 + ], + [ + -0.0049506123177707195, + 0.07132973521947861, + -0.9974405169487, + -0.047350987792015076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 348, + "c2w": [ + [ + 0.9943110942840576, + -0.10647711902856827, + -0.002846615156158805, + -0.07705235481262207 + ], + [ + -0.1063939779996872, + -0.991550624370575, + -0.0742139220237732, + 0.042442865669727325 + ], + [ + 0.005079520866274834, + 0.07409458607435226, + -0.997238278388977, + -0.04503503441810608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 349, + "c2w": [ + [ + 0.9937808513641357, + -0.11112643033266068, + 0.0071112122386693954, + -0.08034595847129822 + ], + [ + -0.1102684810757637, + -0.990980863571167, + -0.07614295184612274, + 0.04518488422036171 + ], + [ + 0.015508569777011871, + 0.07488526403903961, + -0.9970715641975403, + -0.04376135766506195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 350, + "c2w": [ + [ + 0.9929072856903076, + -0.11844372004270554, + 0.010305752977728844, + -0.08285403251647949 + ], + [ + -0.11719860881567001, + -0.9896621704101562, + -0.0826638787984848, + 0.04773881286382675 + ], + [ + 0.019990231841802597, + 0.08086974918842316, + -0.9965242147445679, + -0.04344898462295532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 351, + "c2w": [ + [ + 0.9924176335334778, + -0.12191631644964218, + 0.015607519075274467, + -0.08639499545097351 + ], + [ + -0.12006436288356781, + -0.9887552261352539, + -0.08914944529533386, + 0.0497988723218441 + ], + [ + 0.026300787925720215, + 0.08659958094358444, + -0.9958959817886353, + -0.04237191379070282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 352, + "c2w": [ + [ + 0.99172443151474, + -0.1252465546131134, + 0.028213024139404297, + -0.08973029255867004 + ], + [ + -0.12200771272182465, + -0.9878236651420593, + -0.09653261303901672, + 0.051630567759275436 + ], + [ + 0.0399598702788353, + 0.09229154884815216, + -0.9949299097061157, + -0.0425138920545578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 353, + "c2w": [ + [ + 0.9911723136901855, + -0.12787726521492004, + 0.0349985770881176, + -0.09273961186408997 + ], + [ + -0.12391602247953415, + -0.9874012470245361, + -0.0984053760766983, + 0.05328764393925667 + ], + [ + 0.04714145138859749, + 0.09319979697465897, + -0.9945307970046997, + -0.042637601494789124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 354, + "c2w": [ + [ + 0.99055415391922, + -0.12766440212726593, + 0.0500422827899456, + -0.09693434089422226 + ], + [ + -0.12230166047811508, + -0.9875853061676025, + -0.09857794642448425, + 0.054826900362968445 + ], + [ + 0.062005914747714996, + 0.09152653813362122, + -0.9938703179359436, + -0.04176558181643486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 355, + "c2w": [ + [ + 0.9894135594367981, + -0.13506539165973663, + 0.053085971623659134, + -0.10016748309135437 + ], + [ + -0.12941516935825348, + -0.9866965413093567, + -0.0983954668045044, + 0.055952463299036026 + ], + [ + 0.06566956639289856, + 0.09048368036746979, + -0.9937304258346558, + -0.04170767962932587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 356, + "c2w": [ + [ + 0.9887197613716125, + -0.13953903317451477, + 0.05442492291331291, + -0.10318037867546082 + ], + [ + -0.1342979520559311, + -0.986815333366394, + -0.09033014625310898, + 0.057355429977178574 + ], + [ + 0.06631192564964294, + 0.08200204372406006, + -0.9944236278533936, + -0.04055614769458771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 357, + "c2w": [ + [ + 0.9881672859191895, + -0.1348697990179062, + 0.07304492592811584, + -0.1074024960398674 + ], + [ + -0.12944459915161133, + -0.9887819290161133, + -0.07452819496393204, + 0.05885372683405876 + ], + [ + 0.08227710425853729, + 0.0641910582780838, + -0.9945400953292847, + -0.037879522889852524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 358, + "c2w": [ + [ + 0.9880762696266174, + -0.13308972120285034, + 0.07741085439920425, + -0.11095777153968811 + ], + [ + -0.1284652203321457, + -0.9897770881652832, + -0.06195154786109924, + 0.06006532534956932 + ], + [ + 0.08486460894346237, + 0.05126824975013733, + -0.9950726628303528, + -0.03616206347942352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + }, + { + "frame_index": 359, + "c2w": [ + [ + 0.9883819222450256, + -0.13108639419078827, + 0.0769253745675087, + -0.11403444409370422 + ], + [ + -0.1269347220659256, + -0.9902947545051575, + -0.05660272762179375, + 0.06099160388112068 + ], + [ + 0.08359864354133606, + 0.046180613338947296, + -0.9954288601875305, + -0.03559975326061249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 832.7079047309027, + "fy": 833.4796451430723, + "cx": 414.9471001519097, + "cy": 246.32438347138554 + } + } + ] +} diff --git a/dycheck_eval/source/haru-sit/caption.txt b/dycheck_eval/source/haru-sit/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..307e80222b1980df307a368ad27bb80a28e68e6f --- /dev/null +++ b/dycheck_eval/source/haru-sit/caption.txt @@ -0,0 +1 @@ +A black and white dog wearing a red collar sits attentively on a patterned rug, then turns and walks toward a doorway, revealing a glimpse of a person's legs in the background. diff --git a/dycheck_eval/source/haru-sit/extras/frame_mapping.json b/dycheck_eval/source/haru-sit/extras/frame_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..952fdb2ebfe13dff5c8a21e4ef039b4e38dab45e --- /dev/null +++ b/dycheck_eval/source/haru-sit/extras/frame_mapping.json @@ -0,0 +1,410 @@ +{ + "original_scene": "haru-sit", + "source_frame_names": [ + "0_00000", + "0_00001", + "0_00002", + "0_00003", + "0_00004", + "0_00005", + "0_00006", + "0_00007", + "0_00008", + "0_00009", + "0_00010", + "0_00011", + "0_00012", + "0_00013", + "0_00014", + "0_00015", + "0_00016", + "0_00017", + "0_00018", + "0_00019", + "0_00020", + "0_00021", + "0_00022", + "0_00023", + "0_00024", + "0_00025", + "0_00026", + "0_00027", + "0_00028", + "0_00029", + "0_00030", + "0_00031", + "0_00032", + "0_00033", + "0_00034", + "0_00035", + "0_00036", + "0_00037", + "0_00038", + "0_00039", + "0_00040", + "0_00041", + "0_00042", + "0_00043", + "0_00044", + "0_00045", + "0_00046", + "0_00047", + "0_00048", + "0_00049", + "0_00050", + "0_00051", + "0_00052", + "0_00053", + "0_00054", + "0_00055", + "0_00056", + "0_00057", + "0_00058", + "0_00059", + "0_00060", + "0_00061", + "0_00062", + "0_00063", + "0_00064", + "0_00065", + "0_00066", + "0_00067", + "0_00068", + "0_00069", + "0_00070", + "0_00071", + "0_00072", + "0_00073", + "0_00074", + "0_00075", + "0_00076", + "0_00077", + "0_00078", + "0_00079", + "0_00080", + "0_00081", + "0_00082", + "0_00083", + "0_00084", + "0_00085", + "0_00086", + "0_00087", + "0_00088", + "0_00089", + "0_00090", + "0_00091", + "0_00092", + "0_00093", + "0_00094", + "0_00095", + "0_00096", + "0_00097", + "0_00098", + "0_00099", + "0_00100", + "0_00101", + "0_00102", + "0_00103", + "0_00104", + "0_00105", + "0_00106", + "0_00107", + "0_00108", + "0_00109", + "0_00110", + "0_00111", + "0_00112", + "0_00113", + "0_00114", + "0_00115", + "0_00116", + "0_00117", + "0_00118", + "0_00119", + "0_00120", + "0_00121", + "0_00122", + "0_00123", + "0_00124", + "0_00125", + "0_00126", + "0_00127", + "0_00128", + "0_00129", + "0_00130", + "0_00131", + "0_00132", + "0_00133", + "0_00134", + "0_00135", + "0_00136", + "0_00137", + "0_00138", + "0_00139", + "0_00140", + "0_00141", + "0_00142", + "0_00143", + "0_00144", + "0_00145", + "0_00146", + "0_00147", + "0_00148", + "0_00149", + "0_00150", + "0_00151", + "0_00152", + "0_00153", + "0_00154", + "0_00155", + "0_00156", + "0_00157", + "0_00158", + "0_00159", + "0_00160", + "0_00161", + "0_00162", + "0_00163", + "0_00164", + "0_00165", + "0_00166", + "0_00167", + "0_00168", + "0_00169", + "0_00170", + "0_00171", + "0_00172", + "0_00173", + "0_00174", + "0_00175", + "0_00176", + "0_00177", + "0_00178", + "0_00179", + "0_00180", + "0_00181", + "0_00182", + "0_00183", + "0_00184", + "0_00185", + "0_00186", + "0_00187", + "0_00188", + "0_00189", + "0_00190", + "0_00191", + "0_00192", + "0_00193", + "0_00194", + "0_00195", + "0_00196", + "0_00197", + "0_00198", + "0_00199" + ], + "target_frame_names": null, + "original_time_ids": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199 + ], + "source_camera_id": 0, + "target_camera_id": null +} diff --git a/dycheck_eval/source/haru-sit/transforms.json b/dycheck_eval/source/haru-sit/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1f1c7680e2a1e6e02cb0c8f0a3d1f5a68b893332 --- /dev/null +++ b/dycheck_eval/source/haru-sit/transforms.json @@ -0,0 +1,7013 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 200, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9993064403533936, + -0.025938622653484344, + 0.026717502623796463, + -0.1791817545890808 + ], + [ + -0.026374345645308495, + -0.9995226860046387, + 0.016087299212813377, + 0.20603907108306885 + ], + [ + 0.026287466287612915, + -0.016780799254775047, + -0.999513566493988, + -0.3041303753852844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9997548460960388, + -0.018421437591314316, + 0.012283798307180405, + -0.17309202253818512 + ], + [ + -0.01858179271221161, + -0.9997419118881226, + 0.013070488348603249, + 0.20588450133800507 + ], + [ + 0.01203985046595335, + -0.01329553872346878, + -0.9998391270637512, + -0.30898985266685486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999408721923828, + -0.010458039119839668, + -0.002981009194627404, + -0.16569632291793823 + ], + [ + -0.010432027280330658, + -0.9999085068702698, + 0.008611840195953846, + 0.20542770624160767 + ], + [ + -0.0030707994010299444, + -0.008580232970416546, + -0.9999584555625916, + -0.3145254850387573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998169541358948, + -0.0017687621293589473, + -0.019051235169172287, + -0.1586606353521347 + ], + [ + -0.0017196718836203218, + -0.9999951720237732, + 0.002592825796455145, + 0.2043921798467636 + ], + [ + -0.01905572973191738, + -0.002559589222073555, + -0.9998151659965515, + -0.3205764591693878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9993019104003906, + 0.008050438016653061, + -0.03648174926638603, + -0.1515980362892151 + ], + [ + 0.007885467261075974, + -0.9999580383300781, + -0.0046636611223220825, + 0.2029678225517273 + ], + [ + -0.03651776537299156, + 0.004372729919850826, + -0.9993234276771545, + -0.3271979093551636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.998218834400177, + 0.019613569602370262, + -0.056342583149671555, + -0.14435645937919617 + ], + [ + 0.018936732783913612, + -0.9997422695159912, + -0.012521826662123203, + 0.20135056972503662 + ], + [ + -0.05657365918159485, + 0.011432578787207603, + -0.9983329772949219, + -0.33446359634399414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9964514374732971, + 0.03272954374551773, + -0.0775456503033638, + -0.13689348101615906 + ], + [ + 0.03126119077205658, + -0.9993096590042114, + -0.020074503496289253, + 0.19960540533065796 + ], + [ + -0.07814914733171463, + 0.017579099163413048, + -0.9967866539955139, + -0.34225428104400635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9940258860588074, + 0.04740435630083084, + -0.09831264615058899, + -0.12924855947494507 + ], + [ + 0.04490413889288902, + -0.9986129403114319, + -0.027491172775626183, + 0.19781607389450073 + ], + [ + -0.09947948902845383, + 0.022912291809916496, + -0.9947757720947266, + -0.3503532409667969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9911569952964783, + 0.06311411410570145, + -0.11672388017177582, + -0.12079742550849915 + ], + [ + 0.05953652784228325, + -0.997650682926178, + -0.03389018028974533, + 0.1958180069923401 + ], + [ + -0.11858860403299332, + 0.026641154661774635, + -0.9925860166549683, + -0.35812509059906006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9880253076553345, + 0.08008779585361481, + -0.13187865912914276, + -0.11278149485588074 + ], + [ + 0.07552925497293472, + -0.9963719248771667, + -0.03922102972865105, + 0.19402945041656494 + ], + [ + -0.134541317820549, + 0.02879067324101925, + -0.990489661693573, + -0.36614787578582764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9843693971633911, + 0.09892704337835312, + -0.14570631086826324, + -0.10500667989253998 + ], + [ + 0.09361579269170761, + -0.9946843385696411, + -0.042885296046733856, + 0.19249878823757172 + ], + [ + -0.149174302816391, + 0.028574561700224876, + -0.9883979558944702, + -0.37425926327705383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9798294305801392, + 0.11856147646903992, + -0.1608646959066391, + -0.09749375283718109 + ], + [ + 0.11272530257701874, + -0.9926081895828247, + -0.044966474175453186, + 0.19120775163173676 + ], + [ + -0.16500690579414368, + 0.025925951078534126, + -0.9859516024589539, + -0.3824675381183624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9743655920028687, + 0.13776129484176636, + -0.17785820364952087, + -0.09031844139099121 + ], + [ + 0.13134557008743286, + -0.9902021288871765, + -0.04741376265883446, + 0.19010865688323975 + ], + [ + -0.18264734745025635, + 0.022837452590465546, + -0.9829131960868835, + -0.39067089557647705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9680721163749695, + 0.15689553320407867, + -0.1954997330904007, + -0.08350913226604462 + ], + [ + 0.14961205422878265, + -0.9873986840248108, + -0.05157643184065819, + 0.1893467754125595 + ], + [ + -0.201128289103508, + 0.020680591464042664, + -0.9793465733528137, + -0.39878955483436584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9613533020019531, + 0.17600195109844208, + -0.2117147594690323, + -0.07686206698417664 + ], + [ + 0.16759948432445526, + -0.9841976165771484, + -0.057144712656736374, + 0.18899446725845337 + ], + [ + -0.21842673420906067, + 0.019452974200248718, + -0.9756594300270081, + -0.406505823135376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9545589685440063, + 0.19546514749526978, + -0.22496788203716278, + -0.07050421833992004 + ], + [ + 0.18596555292606354, + -0.9805419445037842, + -0.06288321316242218, + 0.18925195932388306 + ], + [ + -0.23288191854953766, + 0.018189460039138794, + -0.9723349213600159, + -0.4139455556869507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9473266005516052, + 0.2140912413597107, + -0.23819589614868164, + -0.06436172127723694 + ], + [ + 0.20384787023067474, + -0.9766978025436401, + -0.06713775545358658, + 0.19011318683624268 + ], + [ + -0.24701902270317078, + 0.015045651234686375, + -0.968893826007843, + -0.4212937355041504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9392744898796082, + 0.23084832727909088, + -0.25391435623168945, + -0.05846746265888214 + ], + [ + 0.22010193765163422, + -0.9729363322257996, + -0.07035671919584274, + 0.19148997962474823 + ], + [ + -0.26328423619270325, + 0.010197225958108902, + -0.9646643996238708, + -0.428751140832901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9299065470695496, + 0.24831320345401764, + -0.27131977677345276, + -0.05278310552239418 + ], + [ + 0.23603709042072296, + -0.9686463475227356, + -0.07752933353185654, + 0.19350621104240417 + ], + [ + -0.2820644676685333, + 0.008053501136600971, + -0.9593616724014282, + -0.43604108691215515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9190014004707336, + 0.2674679756164551, + -0.2896503508090973, + -0.04725067317485809 + ], + [ + 0.25280147790908813, + -0.9635388255119324, + -0.08766034245491028, + 0.1963159292936325 + ], + [ + -0.30253568291664124, + 0.007335943635553122, + -0.9531098008155823, + -0.44291070103645325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9071245193481445, + 0.2870304584503174, + -0.3077963888645172, + -0.0416422039270401 + ], + [ + 0.26954925060272217, + -0.9578979015350342, + -0.09886769950389862, + 0.19959168136119843 + ], + [ + -0.3232155740261078, + 0.006719021126627922, + -0.9463015198707581, + -0.4489578306674957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.8956870436668396, + 0.30407407879829407, + -0.3244744837284088, + -0.03629377484321594 + ], + [ + 0.28396591544151306, + -0.9526332020759583, + -0.1088728979229927, + 0.20365560054779053 + ], + [ + -0.342210590839386, + 0.0053763482719659805, + -0.9396079182624817, + -0.4541909694671631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.8865704536437988, + 0.31705591082572937, + -0.3368506133556366, + -0.03115096688270569 + ], + [ + 0.29462361335754395, + -0.9483952522277832, + -0.11723218858242035, + 0.20824146270751953 + ], + [ + -0.3566366732120514, + 0.004690449219197035, + -0.9342314004898071, + -0.4581644535064697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.8801886439323425, + 0.327347993850708, + -0.3436731994152069, + -0.026051640510559082 + ], + [ + 0.3024614453315735, + -0.9448822140693665, + -0.12535803020000458, + 0.21329545974731445 + ], + [ + -0.36576637625694275, + 0.006390822120010853, + -0.9306847453117371, + -0.4607861042022705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.8758400678634644, + 0.33463481068611145, + -0.34774085879325867, + -0.02089187502861023 + ], + [ + 0.30836525559425354, + -0.9423236846923828, + -0.13014189898967743, + 0.2187429666519165 + ], + [ + -0.3712344467639923, + 0.006752290762960911, + -0.9285145998001099, + -0.46245741844177246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.8723512887954712, + 0.3394920527935028, + -0.3517788350582123, + -0.015442686155438423 + ], + [ + 0.3133697509765625, + -0.9406015276908875, + -0.1306452602148056, + 0.22474198043346405 + ], + [ + -0.37523674964904785, + 0.003731707576662302, + -0.9269214868545532, + -0.46340659260749817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.8685383200645447, + 0.34407907724380493, + -0.35672223567962646, + -0.010111507028341293 + ], + [ + 0.3193199038505554, + -0.9389371275901794, + -0.1281866878271103, + 0.23118987679481506 + ], + [ + -0.37904611229896545, + -0.0025734584778547287, + -0.9253742098808289, + -0.4642501175403595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.8637847900390625, + 0.3502657115459442, + -0.3622013330459595, + -0.004901912063360214 + ], + [ + 0.3275909721851349, + -0.9365841746330261, + -0.12447568029165268, + 0.23824849724769592 + ], + [ + -0.3828316032886505, + -0.011133684776723385, + -0.9237510561943054, + -0.46500101685523987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.8578761219978333, + 0.35735267400741577, + -0.3692527413368225, + 0.00013107061386108398 + ], + [ + 0.3377789258956909, + -0.9336919188499451, + -0.11884768307209015, + 0.24591481685638428 + ], + [ + -0.38723886013031006, + -0.022769207134842873, + -0.9216982126235962, + -0.46572625637054443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.8516404628753662, + 0.3632970154285431, + -0.3777880370616913, + 0.005050033330917358 + ], + [ + 0.34860098361968994, + -0.930873692035675, + -0.10932301729917526, + 0.25402742624282837 + ], + [ + -0.3913896679878235, + -0.03859337791800499, + -0.9194154143333435, + -0.46630215644836426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.846644937992096, + 0.36838123202323914, + -0.3840411901473999, + 0.010092152282595634 + ], + [ + 0.3592112064361572, + -0.9280633330345154, + -0.09831436723470688, + 0.262380987405777 + ], + [ + -0.3926317095756531, + -0.05471453815698624, + -0.9180667996406555, + -0.46629467606544495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.843392014503479, + 0.3735315501689911, + -0.3862176239490509, + 0.015134019777178764 + ], + [ + 0.369293212890625, + -0.9251095056533813, + -0.08828867226839066, + 0.27083149552345276 + ], + [ + -0.39027222990989685, + -0.06816559284925461, + -0.9181726574897766, + -0.46557191014289856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8415383100509644, + 0.3783535361289978, + -0.3855670094490051, + 0.02065715193748474 + ], + [ + 0.3781597316265106, + -0.9223049879074097, + -0.07967863976955414, + 0.27911651134490967 + ], + [ + -0.38575708866119385, + -0.07875329256057739, + -0.9192330241203308, + -0.46427273750305176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8402935266494751, + 0.38249635696411133, + -0.3841918110847473, + 0.026378333568572998 + ], + [ + 0.38579824566841125, + -0.9197763800621033, + -0.07191033661365509, + 0.28711795806884766 + ], + [ + -0.38087597489356995, + -0.087794728577137, + -0.9204485416412354, + -0.46286141872406006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.839159369468689, + 0.38609778881073, + -0.38306668400764465, + 0.032156094908714294 + ], + [ + 0.39214587211608887, + -0.9175494909286499, + -0.0657612755894661, + 0.29473480582237244 + ], + [ + -0.3768729269504547, + -0.09503383189439774, + -0.9213768839836121, + -0.46165838837623596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8376060128211975, + 0.3890765309333801, + -0.38345229625701904, + 0.03785407543182373 + ], + [ + 0.39730221033096313, + -0.9156438708305359, + -0.06121446564793587, + 0.301871120929718 + ], + [ + -0.37492287158966064, + -0.10107284039258957, + -0.9215297698974609, + -0.46095144748687744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8354519009590149, + 0.39020833373069763, + -0.38698527216911316, + 0.04331444203853607 + ], + [ + 0.40109050273895264, + -0.9143229722976685, + -0.05603473633527756, + 0.30847984552383423 + ], + [ + -0.37569475173950195, + -0.10840179026126862, + -0.9203817248344421, + -0.4609872102737427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8326707482337952, + 0.38972973823547363, + -0.3934083878993988, + 0.047286927700042725 + ], + [ + 0.40361711382865906, + -0.9135220646858215, + -0.05070193484425545, + 0.3148030638694763 + ], + [ + -0.3791472911834717, + -0.11656834185123444, + -0.9179646968841553, + -0.46208834648132324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8301757574081421, + 0.39022505283355713, + -0.39816156029701233, + 0.05199378728866577 + ], + [ + 0.4058063328266144, + -0.9126781821250916, + -0.04837062582373619, + 0.3202821612358093 + ], + [ + -0.3822687864303589, + -0.12142036110162735, + -0.9160391092300415, + -0.46335041522979736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8282745480537415, + 0.3933967649936676, + -0.39899903535842896, + 0.057019248604774475 + ], + [ + 0.4088246822357178, + -0.9112538695335388, + -0.04978768154978752, + 0.3250884413719177 + ], + [ + -0.38317570090293884, + -0.12188277393579483, + -0.9155986905097961, + -0.4646914005279541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8260603547096252, + 0.3982347846031189, + -0.3987898528575897, + 0.06208831071853638 + ], + [ + 0.41281840205192566, + -0.9092763662338257, + -0.05289139598608017, + 0.3292253613471985 + ], + [ + -0.38367336988449097, + -0.1209363043308258, + -0.9155157804489136, + -0.4664788246154785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8224883079528809, + 0.40319016575813293, + -0.40118661522865295, + 0.06700296700000763 + ], + [ + 0.41700083017349243, + -0.9071325063705444, + -0.05675314739346504, + 0.3325720429420471 + ], + [ + -0.3868117332458496, + -0.1206163614988327, + -0.9142364859580994, + -0.469113826751709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8170941472053528, + 0.4077363610267639, + -0.4075637459754944, + 0.07171081006526947 + ], + [ + 0.4204711616039276, + -0.905146598815918, + -0.06255873292684555, + 0.3350597321987152 + ], + [ + -0.39441242814064026, + -0.12025243043899536, + -0.9110313653945923, + -0.47273197770118713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8099914789199829, + 0.41172078251838684, + -0.41761207580566406, + 0.07551349699497223 + ], + [ + 0.42277416586875916, + -0.9034712910652161, + -0.07072221487760544, + 0.3375649154186249 + ], + [ + -0.4064183235168457, + -0.11927121132612228, + -0.9058689475059509, + -0.47812536358833313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8011420369148254, + 0.4153696894645691, + -0.4308589696884155, + 0.0796022117137909 + ], + [ + 0.4242923855781555, + -0.9019331336021423, + -0.08057674765586853, + 0.3388387858867645 + ], + [ + -0.4220751225948334, + -0.11825676262378693, + -0.8988147377967834, + -0.48367980122566223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.7915292978286743, + 0.41866451501846313, + -0.445198118686676, + 0.08380866050720215 + ], + [ + 0.42525622248649597, + -0.9005101919174194, + -0.09076617658138275, + 0.339309424161911 + ], + [ + -0.4389060437679291, + -0.11747917532920837, + -0.8908199071884155, + -0.4895665943622589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.7823600172996521, + 0.4215960204601288, + -0.4584425389766693, + 0.08816570043563843 + ], + [ + 0.4256560504436493, + -0.899276614189148, + -0.10059088468551636, + 0.339081346988678 + ], + [ + -0.4546753764152527, + -0.116440549492836, + -0.8830129504203796, + -0.4956768751144409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7740509510040283, + 0.42527449131011963, + -0.46902745962142944, + 0.0926477462053299 + ], + [ + 0.4258536994457245, + -0.8979138135910034, + -0.11135253310203552, + 0.338210791349411 + ], + [ + -0.46850162744522095, + -0.11354455351829529, + -0.8761357665061951, + -0.5019496083259583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.7666326761245728, + 0.4297942817211151, + -0.47702324390411377, + 0.0971524566411972 + ], + [ + 0.42636141180992126, + -0.896247148513794, + -0.12229867279529572, + 0.33675700426101685 + ], + [ + -0.48009398579597473, + -0.10962613672018051, + -0.87034010887146, + -0.5084398984909058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7595119476318359, + 0.43517130613327026, + -0.4834951162338257, + 0.10163941979408264 + ], + [ + 0.4278130829334259, + -0.8940768837928772, + -0.1326744109392166, + 0.3348456025123596 + ], + [ + -0.49001792073249817, + -0.10607773810625076, + -0.8652340769767761, + -0.5152326822280884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7529293894767761, + 0.4413250982761383, + -0.48819002509117126, + 0.10659436881542206 + ], + [ + 0.43014106154441833, + -0.8914486765861511, + -0.14247077703475952, + 0.3337194323539734 + ], + [ + -0.4980722963809967, + -0.10272014141082764, + -0.8610299229621887, + -0.5236750841140747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7474162578582764, + 0.448413610458374, + -0.4901980757713318, + 0.11129090189933777 + ], + [ + 0.433994859457016, + -0.8882089257240295, + -0.15077602863311768, + 0.3319832980632782 + ], + [ + -0.5030083060264587, + -0.10005099326372147, + -0.8584709763526917, + -0.5310892462730408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7433497309684753, + 0.45637252926826477, + -0.4890350103378296, + 0.11588124930858612 + ], + [ + 0.43938368558883667, + -0.8843937516212463, + -0.15744735300540924, + 0.3302587866783142 + ], + [ + -0.5043541789054871, + -0.09783555567264557, + -0.8579365015029907, + -0.5377864837646484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7402451038360596, + 0.4654528796672821, + -0.4851709008216858, + 0.12037649750709534 + ], + [ + 0.44522103667259216, + -0.8800827264785767, + -0.16502301394939423, + 0.3286678194999695 + ], + [ + -0.5038009881973267, + -0.09385080635547638, + -0.8587063550949097, + -0.54383385181427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7369198799133301, + 0.47549909353256226, + -0.48046818375587463, + 0.1247471272945404 + ], + [ + 0.4498324394226074, + -0.8754969835281372, + -0.17651018500328064, + 0.3271937072277069 + ], + [ + -0.5045788884162903, + -0.08605631440877914, + -0.8590660691261292, + -0.5493863224983215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7326207160949707, + 0.4846400320529938, + -0.4779026508331299, + 0.12889732420444489 + ], + [ + 0.45209062099456787, + -0.8713694214820862, + -0.19060271978378296, + 0.32586830854415894 + ], + [ + -0.5088034868240356, + -0.07641580700874329, + -0.8574845194816589, + -0.5547031164169312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7276195883750916, + 0.49158352613449097, + -0.4784509837627411, + 0.13210581243038177 + ], + [ + 0.4517489969730377, + -0.8682551383972168, + -0.20507532358169556, + 0.32482561469078064 + ], + [ + -0.5162291526794434, + -0.06692293286323547, + -0.8538318276405334, + -0.5600795149803162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7216845750808716, + 0.49692222476005554, + -0.4819125235080719, + 0.13538303971290588 + ], + [ + 0.4497148394584656, + -0.8658251166343689, + -0.2193249762058258, + 0.32417041063308716 + ], + [ + -0.5262393951416016, + -0.05843975394964218, + -0.8483259081840515, + -0.565086841583252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7149369120597839, + 0.5011933445930481, + -0.48751452565193176, + 0.138344869017601 + ], + [ + 0.4467165768146515, + -0.863817036151886, + -0.23294730484485626, + 0.3241197466850281 + ], + [ + -0.5378749966621399, + -0.05123818293213844, + -0.8414660692214966, + -0.5696609020233154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7089055776596069, + 0.5039799809455872, + -0.49341368675231934, + 0.14088962972164154 + ], + [ + 0.4433016777038574, + -0.8625048995018005, + -0.24406734108924866, + 0.3248959183692932 + ], + [ + -0.5485767722129822, + -0.045710429549217224, + -0.8348497152328491, + -0.5736658573150635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7048922777175903, + 0.5051170587539673, + -0.4979795515537262, + 0.14299803972244263 + ], + [ + 0.4406861364841461, + -0.8619868159294128, + -0.250548392534256, + 0.3266560435295105 + ], + [ + -0.5558080673217773, + -0.042843047529459, + -0.8302059173583984, + -0.5770539045333862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7021468877792358, + 0.5059553384780884, + -0.5009979605674744, + 0.14456458389759064 + ], + [ + 0.44070860743522644, + -0.8614559173583984, + -0.252328485250473, + 0.32947927713394165 + ], + [ + -0.5592545866966248, + -0.0436224602162838, + -0.827847421169281, + -0.5800572633743286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7004486322402954, + 0.5069582462310791, + -0.5023595094680786, + 0.14576254785060883 + ], + [ + 0.4441739320755005, + -0.8605986833572388, + -0.24915741384029388, + 0.3332537114620209 + ], + [ + -0.5586423277854919, + -0.048613034188747406, + -0.8279827833175659, + -0.5828493237495422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.6993623971939087, + 0.5091323852539062, + -0.5016736388206482, + 0.14638851583003998 + ], + [ + 0.4507289230823517, + -0.8588665723800659, + -0.2432934045791626, + 0.33783823251724243 + ], + [ + -0.554739236831665, + -0.05596856400370598, + -0.830139696598053, + -0.5853554010391235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.6985576748847961, + 0.5124109387397766, + -0.4994518756866455, + 0.1466667801141739 + ], + [ + 0.45891737937927246, + -0.8563637137413025, + -0.23671922087669373, + 0.3430255055427551 + ], + [ + -0.5490099787712097, + -0.06384512037038803, + -0.8333737850189209, + -0.5876398086547852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.6973768472671509, + 0.5163299441337585, + -0.49706026911735535, + 0.14674900472164154 + ], + [ + 0.4673454463481903, + -0.8534134030342102, + -0.23081111907958984, + 0.34865137934684753 + ], + [ + -0.543372631072998, + -0.071336530148983, + -0.836455225944519, + -0.5898496508598328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.6952004432678223, + 0.5201100707054138, + -0.49616721272468567, + 0.14672107994556427 + ], + [ + 0.47465720772743225, + -0.8505263328552246, + -0.22650712728500366, + 0.3546159863471985 + ], + [ + -0.539811909198761, + -0.07804150879383087, + -0.8381602764129639, + -0.5921595096588135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.6913667917251587, + 0.5233291983604431, + -0.4981350600719452, + 0.14661839604377747 + ], + [ + 0.4801439642906189, + -0.8479819893836975, + -0.22447353601455688, + 0.36095112562179565 + ], + [ + -0.5398830771446228, + -0.08398298919200897, + -0.8375399112701416, + -0.594738245010376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.6852517127990723, + 0.5257734656333923, + -0.5039765238761902, + 0.14597757160663605 + ], + [ + 0.4836965501308441, + -0.8458778858184814, + -0.22478482127189636, + 0.36701637506484985 + ], + [ + -0.5444885492324829, + -0.08973752707242966, + -0.8339540958404541, + -0.5963810682296753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.6768524646759033, + 0.5270372629165649, + -0.5139089822769165, + 0.1455661505460739 + ], + [ + 0.4856211543083191, + -0.8443604707717896, + -0.22633488476276398, + 0.37393829226493835 + ], + [ + -0.5532113313674927, + -0.09636975824832916, + -0.8274479508399963, + -0.5990292429924011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.6674017906188965, + 0.5276976227760315, + -0.525461733341217, + 0.1452820897102356 + ], + [ + 0.48674896359443665, + -0.8431307077407837, + -0.228486567735672, + 0.38143986463546753 + ], + [ + -0.5636047124862671, + -0.10327558219432831, + -0.8195632100105286, + -0.6018229722976685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.6578819751739502, + 0.5294396281242371, + -0.5356164574623108, + 0.14521147310733795 + ], + [ + 0.48812684416770935, + -0.8413472175598145, + -0.23209278285503387, + 0.3893962502479553 + ], + [ + -0.5735185146331787, + -0.10875912755727768, + -0.8119408488273621, + -0.6043015718460083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6483308672904968, + 0.5324887633323669, + -0.5441716909408569, + 0.1454002857208252 + ], + [ + 0.4908508360385895, + -0.8387017250061035, + -0.23589159548282623, + 0.3977682292461395 + ], + [ + -0.5820073485374451, + -0.11417132616043091, + -0.8051287531852722, + -0.6064252257347107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6384555101394653, + 0.5368112921714783, + -0.5515507459640503, + 0.14578422904014587 + ], + [ + 0.4955505430698395, + -0.8350270390510559, + -0.2390805035829544, + 0.4069594740867615 + ], + [ + -0.5889009237289429, + -0.12067899852991104, + -0.7991447448730469, + -0.6070458889007568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.6278547048568726, + 0.5421930551528931, + -0.5584130883216858, + 0.14636977016925812 + ], + [ + 0.5019118189811707, + -0.8303903341293335, + -0.24194298684597015, + 0.415986031293869 + ], + [ + -0.5948805809020996, + -0.12836907804012299, + -0.793497622013092, + -0.6084163784980774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.6159032583236694, + 0.547912061214447, + -0.5660879015922546, + 0.14699505269527435 + ], + [ + 0.5093852877616882, + -0.8251031637191772, + -0.24440006911754608, + 0.425005704164505 + ], + [ + -0.6009907126426697, + -0.13783004879951477, + -0.7872821092605591, + -0.6100881695747375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6025676727294922, + 0.5525950789451599, + -0.575804591178894, + 0.14758719503879547 + ], + [ + 0.5175908803939819, + -0.8197763562202454, + -0.24508461356163025, + 0.4339943528175354 + ], + [ + -0.607463538646698, + -0.1503511220216751, + -0.7799888253211975, + -0.6119673252105713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.5891050100326538, + 0.5559175610542297, + -0.5864391922950745, + 0.148232564330101 + ], + [ + 0.5267256498336792, + -0.8145508766174316, + -0.24303698539733887, + 0.4429805874824524 + ], + [ + -0.6127930879592896, + -0.16571825742721558, + -0.7726720571517944, + -0.6139367818832397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.5770317316055298, + 0.5591936111450195, + -0.5952620506286621, + 0.14912274479866028 + ], + [ + 0.5364257097244263, + -0.8090842962265015, + -0.2400626391172409, + 0.4518718421459198 + ], + [ + -0.6158586740493774, + -0.18079009652137756, + -0.7668331265449524, + -0.6158789992332458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.5671038031578064, + 0.5635221600532532, + -0.600696325302124, + 0.15041162073612213 + ], + [ + 0.5463038682937622, + -0.8031518459320068, + -0.23769553005695343, + 0.46053820848464966 + ], + [ + -0.6163970828056335, + -0.1933647245168686, + -0.7633247971534729, + -0.6178411245346069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.5586728453636169, + 0.5679998397827148, + -0.6043681502342224, + 0.151665598154068 + ], + [ + 0.5553249716758728, + -0.7974169254302979, + -0.23609399795532227, + 0.4687036871910095 + ], + [ + -0.616034746170044, + -0.20372141897678375, + -0.7609196901321411, + -0.620958685874939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.5497206449508667, + 0.5726103186607361, + -0.608214259147644, + 0.15327320992946625 + ], + [ + 0.5626053214073181, + -0.7919882535934448, + -0.23712843656539917, + 0.4764654040336609 + ], + [ + -0.6174807548522949, + -0.21183016896247864, + -0.7575259208679199, + -0.6240572929382324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.5390976071357727, + 0.5772109031677246, + -0.6133525371551514, + 0.15493270754814148 + ], + [ + 0.5678514242172241, + -0.7869227528572083, + -0.24144846200942993, + 0.4837051033973694 + ], + [ + -0.6220276951789856, + -0.21812881529331207, + -0.751998245716095, + -0.6275744438171387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.5273263454437256, + 0.5810544490814209, + -0.6199215054512024, + 0.15667489171028137 + ], + [ + 0.5717275738716125, + -0.7823809385299683, + -0.24699729681015015, + 0.49046653509140015 + ], + [ + -0.628533661365509, + -0.2241780161857605, + -0.7447749376296997, + -0.6314878463745117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.5156081914901733, + 0.5844237804412842, + -0.6265756487846375, + 0.1587059050798416 + ], + [ + 0.5755013823509216, + -0.777984619140625, + -0.2520676553249359, + 0.49683496356010437 + ], + [ + -0.6347805261611938, + -0.23062701523303986, + -0.7374719381332397, + -0.6356014609336853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.5062205791473389, + 0.5883780121803284, + -0.630517303943634, + 0.1602175086736679 + ], + [ + 0.580438494682312, + -0.7731837630271912, + -0.2554956376552582, + 0.5024755001068115 + ], + [ + -0.6378337144851685, + -0.2366393506526947, + -0.7329187989234924, + -0.6390756964683533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.4995366632938385, + 0.5943166017532349, + -0.6302784085273743, + 0.16306263208389282 + ], + [ + 0.5875459909439087, + -0.767078697681427, + -0.25764310359954834, + 0.5079073309898376 + ], + [ + -0.6365947127342224, + -0.24161536991596222, + -0.7323722839355469, + -0.6429071426391602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.4939478635787964, + 0.6020591855049133, + -0.6273278594017029, + 0.16663341224193573 + ], + [ + 0.596269965171814, + -0.7596617341041565, + -0.25956928730010986, + 0.5128039717674255 + ], + [ + -0.6328330039978027, + -0.2458430528640747, + -0.7342230677604675, + -0.6471107006072998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.4881103038787842, + 0.6101731061935425, + -0.6240489482879639, + 0.17056962847709656 + ], + [ + 0.6050724983215332, + -0.7518676519393921, + -0.2618821859359741, + 0.5168838500976562 + ], + [ + -0.6289957165718079, + -0.2497674822807312, + -0.7361932992935181, + -0.651949942111969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.48134157061576843, + 0.6171365976333618, + -0.622456967830658, + 0.1747540831565857 + ], + [ + 0.6136707663536072, + -0.7443252801895142, + -0.26341602206230164, + 0.5200989842414856 + ], + [ + -0.6258741617202759, + -0.2551906108856201, + -0.7369934320449829, + -0.6574687957763672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.4728259742259979, + 0.6229398250579834, + -0.6232026815414429, + 0.179107666015625 + ], + [ + 0.622212290763855, + -0.7368312478065491, + -0.26444587111473083, + 0.5225744843482971 + ], + [ + -0.6239290237426758, + -0.2627274990081787, + -0.7359937429428101, + -0.6634835004806519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.46286535263061523, + 0.6283274292945862, + -0.6252681612968445, + 0.18364134430885315 + ], + [ + 0.6303165555000305, + -0.7292624115943909, + -0.2662280201911926, + 0.5244448781013489 + ], + [ + -0.6232629418373108, + -0.27088913321495056, + -0.7335954904556274, + -0.6698130369186401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.4523654878139496, + 0.6340758800506592, + -0.6271468997001648, + 0.18705368041992188 + ], + [ + 0.6385099291801453, + -0.7212132215499878, + -0.26861974596977234, + 0.5247964859008789 + ], + [ + -0.6226319074630737, + -0.27892521023750305, + -0.7311156988143921, + -0.6756513714790344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.44157904386520386, + 0.6419739127159119, + -0.6267993450164795, + 0.19161103665828705 + ], + [ + 0.6474840641021729, + -0.711618959903717, + -0.27269554138183594, + 0.5252416133880615 + ], + [ + -0.6211057305335999, + -0.28542599081993103, + -0.7299038767814636, + -0.6819841265678406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.43054988980293274, + 0.6538392305374146, + -0.622190535068512, + 0.19685643911361694 + ], + [ + 0.656973123550415, + -0.699714720249176, + -0.28068774938583374, + 0.5252849459648132 + ], + [ + -0.618880569934845, + -0.28791236877441406, + -0.7308169007301331, + -0.6884464025497437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.4180547595024109, + 0.6670070886611938, + -0.6167104840278625, + 0.20239876210689545 + ], + [ + 0.665216863155365, + -0.687099277973175, + -0.29220032691955566, + 0.5247007012367249 + ], + [ + -0.6186410188674927, + -0.28809046745300293, + -0.7309495210647583, + -0.694983959197998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.40355047583580017, + 0.6785526275634766, + -0.6137698292732239, + 0.20799162983894348 + ], + [ + 0.6702805161476135, + -0.6758604645729065, + -0.3064908981323242, + 0.5234104990959167 + ], + [ + -0.6227929592132568, + -0.2877133786678314, + -0.7275643944740295, + -0.7015340328216553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.3878374993801117, + 0.6880886554718018, + -0.6132830381393433, + 0.21360346674919128 + ], + [ + 0.6726400852203369, + -0.6661969423294067, + -0.32208213210105896, + 0.5215197205543518 + ], + [ + -0.6301883459091187, + -0.2876032590866089, + -0.7212121486663818, + -0.7079112529754639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.3723736107349396, + 0.6967111229896545, + -0.6131325364112854, + 0.21882307529449463 + ], + [ + 0.6740003824234009, + -0.6571723222732544, + -0.3374136984348297, + 0.5197440981864929 + ], + [ + -0.6380136013031006, + -0.2876076102256775, + -0.7142971754074097, + -0.7133849859237671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.35765355825424194, + 0.7054606080055237, + -0.6118898987770081, + 0.22418421506881714 + ], + [ + 0.6754530668258667, + -0.6478831768035889, + -0.35215136408805847, + 0.517354428768158 + ], + [ + -0.6448620557785034, + -0.2873547077178955, + -0.708223283290863, + -0.7187273502349854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.34388232231140137, + 0.7145089507102966, + -0.6092798113822937, + 0.22937309741973877 + ], + [ + 0.6769489645957947, + -0.6383074522018433, + -0.3664746582508087, + 0.5147249102592468 + ], + [ + -0.6507572531700134, + -0.28642717003822327, + -0.7031887769699097, + -0.723569393157959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.3308357894420624, + 0.7233565449714661, + -0.6060552597045898, + 0.23424886167049408 + ], + [ + 0.6776148676872253, + -0.6290717720985413, + -0.3809288442134857, + 0.5120524764060974 + ], + [ + -0.6567996144294739, + -0.2846471667289734, + -0.6982766389846802, + -0.7277054786682129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.31777897477149963, + 0.7312818169593811, + -0.6035258173942566, + 0.23872420191764832 + ], + [ + 0.6768375635147095, + -0.6207159757614136, + -0.3957304358482361, + 0.5095214247703552 + ], + [ + -0.664008617401123, + -0.28273412585258484, + -0.6922094821929932, + -0.7310199737548828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.3048214316368103, + 0.7372178435325623, + -0.6029873490333557, + 0.24277280271053314 + ], + [ + 0.6751057505607605, + -0.6138318181037903, + -0.40919768810272217, + 0.5073351263999939 + ], + [ + -0.6718006730079651, + -0.28234800696372986, + -0.6848090887069702, + -0.73338782787323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.2928285598754883, + 0.7405029535293579, + -0.6049023270606995, + 0.24641194939613342 + ], + [ + 0.6736154556274414, + -0.6087514162063599, + -0.4191228449344635, + 0.5059846043586731 + ], + [ + -0.6785968542098999, + -0.2847403883934021, + -0.6770740151405334, + -0.7347673177719116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.28179222345352173, + 0.7416846752166748, + -0.6086846590042114, + 0.2496263086795807 + ], + [ + 0.6730345487594604, + -0.6049351096153259, + -0.42553260922431946, + 0.5050757527351379 + ], + [ + -0.6838257312774658, + -0.2897540330886841, + -0.6696454286575317, + -0.7350916862487793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.2713281810283661, + 0.7417036890983582, + -0.6133976578712463, + 0.25245752930641174 + ], + [ + 0.672895073890686, + -0.6018533706665039, + -0.4300985634326935, + 0.5048059225082397 + ], + [ + -0.6881811022758484, + -0.2960543930530548, + -0.6623885035514832, + -0.7344710230827332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.26123911142349243, + 0.7408725619316101, + -0.6187583804130554, + 0.2549220323562622 + ], + [ + 0.673022449016571, + -0.5993103981018066, + -0.43343713879585266, + 0.5053246021270752 + ], + [ + -0.6919500231742859, + -0.3032075762748718, + -0.6551872491836548, + -0.7329807877540588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.2512250542640686, + 0.7391447424888611, + -0.624940812587738, + 0.25699397921562195 + ], + [ + 0.6736153364181519, + -0.5971538424491882, + -0.4354877769947052, + 0.5067309737205505 + ], + [ + -0.6950743198394775, + -0.31156426668167114, + -0.6479192972183228, + -0.7307225465774536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.24118535220623016, + 0.7361419796943665, + -0.6323959231376648, + 0.25869593024253845 + ], + [ + 0.6743730902671814, + -0.5957293510437012, + -0.43626540899276733, + 0.5089969038963318 + ], + [ + -0.6978901028633118, + -0.32124996185302734, + -0.6401155591011047, + -0.7278784513473511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.231389582157135, + 0.7319884896278381, + -0.640821099281311, + 0.2607049345970154 + ], + [ + 0.6749152541160583, + -0.5951891541481018, + -0.4361642599105835, + 0.5112749934196472 + ], + [ + -0.7006769776344299, + -0.33157607913017273, + -0.6317508220672607, + -0.7230520248413086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.22239145636558533, + 0.7269377112388611, + -0.6496950387954712, + 0.26215898990631104 + ], + [ + 0.674850583076477, + -0.5957183241844177, + -0.43554145097732544, + 0.5146444439888 + ], + [ + -0.703646719455719, + -0.3415863811969757, + -0.6230570077896118, + -0.7190086841583252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.21451900899410248, + 0.7208787798881531, + -0.6590260863304138, + 0.26345717906951904 + ], + [ + 0.6740807294845581, + -0.5975536704063416, + -0.4342174232006073, + 0.5187097191810608 + ], + [ + -0.706821620464325, + -0.35108891129493713, + -0.6141170859336853, + -0.7151464223861694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.2074400633573532, + 0.7133413553237915, + -0.6694121956825256, + 0.2647266685962677 + ], + [ + 0.6729247570037842, + -0.6007285714149475, + -0.4316219091415405, + 0.5233916640281677 + ], + [ + -0.7100288271903992, + -0.36092835664749146, + -0.6046402454376221, + -0.711334228515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.2005492001771927, + 0.7043665647506714, + -0.6809168457984924, + 0.26598936319351196 + ], + [ + 0.6717524528503418, + -0.6047862768173218, + -0.4277642071247101, + 0.5286714434623718 + ], + [ + -0.7131119966506958, + -0.3716197609901428, + -0.5944494009017944, + -0.7076011896133423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.1934872269630432, + 0.6943845152854919, + -0.6931037306785583, + 0.26728639006614685 + ], + [ + 0.6703436374664307, + -0.6094047427177429, + -0.42339733242988586, + 0.5344724059104919 + ], + [ + -0.7163812518119812, + -0.3826957046985626, + -0.5833882689476013, + -0.7040317058563232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.18651849031448364, + 0.6836185455322266, + -0.7056036591529846, + 0.26922401785850525 + ], + [ + 0.6684999465942383, + -0.6146154999732971, + -0.41875481605529785, + 0.5393672585487366 + ], + [ + -0.7199435234069824, + -0.39359050989151, + -0.5716361403465271, + -0.6998581886291504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.17964661121368408, + 0.6723747849464417, + -0.7180802226066589, + 0.2709190547466278 + ], + [ + 0.6656966209411621, + -0.6205234527587891, + -0.41448596119880676, + 0.5453022122383118 + ], + [ + -0.724275529384613, + -0.40356260538101196, + -0.5590725541114807, + -0.6966172456741333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.17294614017009735, + 0.6612107753753662, + -0.7299931049346924, + 0.27266111969947815 + ], + [ + 0.6619433164596558, + -0.6268501877784729, + -0.41096216440200806, + 0.5516053438186646 + ], + [ + -0.7293289303779602, + -0.41213974356651306, + -0.5460953712463379, + -0.6939776539802551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.16673097014427185, + 0.6504408121109009, + -0.7410314083099365, + 0.27459779381752014 + ], + [ + 0.6576966643333435, + -0.6332923769950867, + -0.4078919589519501, + 0.5580757260322571 + ], + [ + -0.7345991134643555, + -0.41936567425727844, + -0.53338223695755, + -0.6918196678161621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.16176702082157135, + 0.6400312185287476, + -0.7511268258094788, + 0.2768115997314453 + ], + [ + 0.653597891330719, + -0.6397595405578613, + -0.40437307953834534, + 0.5646306872367859 + ], + [ + -0.7393519282341003, + -0.425520658493042, + -0.5218150019645691, + -0.6901096105575562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.15874119102954865, + 0.6304365992546082, + -0.7598360776901245, + 0.27901986241340637 + ], + [ + 0.6500793695449829, + -0.645969569683075, + -0.4001501202583313, + 0.5703681707382202 + ], + [ + -0.7431002855300903, + -0.4304334819316864, + -0.5123758316040039, + -0.6888030171394348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.15704010426998138, + 0.6217107772827148, + -0.767342209815979, + 0.281753271818161 + ], + [ + 0.6473681926727295, + -0.6515756845474243, + -0.3954283595085144, + 0.5766445398330688 + ], + [ + -0.7458236217498779, + -0.4346548318862915, + -0.5047993063926697, + -0.688069760799408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.15656569600105286, + 0.6136513948440552, + -0.7738986611366272, + 0.28480982780456543 + ], + [ + 0.6459450125694275, + -0.6563729643821716, + -0.3897814452648163, + 0.5830602049827576 + ], + [ + -0.7471560835838318, + -0.4388695955276489, + -0.4991505444049835, + -0.6879726648330688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.1572895497083664, + 0.6062394976615906, + -0.7795727252960205, + 0.28809481859207153 + ], + [ + 0.6458683609962463, + -0.6603187918663025, + -0.3831880986690521, + 0.5894311666488647 + ], + [ + -0.7470703125, + -0.44322988390922546, + -0.4954121708869934, + -0.688582718372345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.15913689136505127, + 0.5994121432304382, + -0.7844619154930115, + 0.2915666401386261 + ], + [ + 0.6466946005821228, + -0.663674533367157, + -0.37592849135398865, + 0.5956489443778992 + ], + [ + -0.7459635138511658, + -0.44748321175575256, + -0.4932516813278198, + -0.6899560689926147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.16193456947803497, + 0.5934354662895203, + -0.7884234189987183, + 0.2952403724193573 + ], + [ + 0.6479316353797913, + -0.6665562987327576, + -0.3686288595199585, + 0.6016365885734558 + ], + [ + -0.744286060333252, + -0.4511507451534271, + -0.49244412779808044, + -0.6920992136001587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.16548371315002441, + 0.5882428884506226, + -0.7915714979171753, + 0.2991516888141632 + ], + [ + 0.6492518186569214, + -0.6691508293151855, + -0.36153730750083923, + 0.607352614402771 + ], + [ + -0.7423524856567383, + -0.45410069823265076, + -0.4926513433456421, + -0.6950076222419739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.16962435841560364, + 0.5838212966918945, + -0.7939649224281311, + 0.30169111490249634 + ], + [ + 0.6505874991416931, + -0.6714769005775452, + -0.3547600209712982, + 0.6114289164543152 + ], + [ + -0.740245521068573, + -0.45636773109436035, + -0.49372565746307373, + -0.6988219022750854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.173623725771904, + 0.5801530480384827, + -0.7957871556282043, + 0.30549636483192444 + ], + [ + 0.6521106362342834, + -0.6732520461082458, + -0.3485446870326996, + 0.616039514541626 + ], + [ + -0.7379746437072754, + -0.4584256410598755, + -0.4952165186405182, + -0.7032960057258606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.17756444215774536, + 0.5784924030303955, + -0.7961264848709106, + 0.3099645972251892 + ], + [ + 0.6538231372833252, + -0.6739754676818848, + -0.34390756487846375, + 0.6205711960792542 + ], + [ + -0.7355176210403442, + -0.45946016907691956, + -0.49790579080581665, + -0.7084465026855469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.1811714768409729, + 0.5798778533935547, + -0.794303834438324, + 0.31494536995887756 + ], + [ + 0.6555282473564148, + -0.6732844710350037, + -0.34200987219810486, + 0.6248279809951782 + ], + [ + -0.7331163883209229, + -0.4587261378765106, + -0.502106249332428, + -0.7141454815864563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.18366536498069763, + 0.5828214287757874, + -0.7915719747543335, + 0.32031726837158203 + ], + [ + 0.6571555733680725, + -0.671669602394104, + -0.3420620560646057, + 0.6287794709205627 + ], + [ + -0.7310359477996826, + -0.45736101269721985, + -0.5063667893409729, + -0.7203320264816284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.18477579951286316, + 0.58622807264328, + -0.7887930870056152, + 0.32443124055862427 + ], + [ + 0.6584145426750183, + -0.6697059273719788, + -0.343488484621048, + 0.6319863796234131 + ], + [ + -0.729621946811676, + -0.45588448643684387, + -0.5097265243530273, + -0.7263467907905579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.18416255712509155, + 0.5896281003952026, + -0.7863986492156982, + 0.3297308385372162 + ], + [ + 0.658998966217041, + -0.6676847338676453, + -0.3462909758090973, + 0.6349782347679138 + ], + [ + -0.7292492985725403, + -0.45446208119392395, + -0.5115268230438232, + -0.7332195043563843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.18230833113193512, + 0.5938390493392944, + -0.7836573719978333, + 0.33554795384407043 + ], + [ + 0.6594457030296326, + -0.6650260090827942, + -0.3505307137966156, + 0.637564480304718 + ], + [ + -0.7293113470077515, + -0.4528747797012329, + -0.5128443837165833, + -0.7405984401702881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.17939996719360352, + 0.5988135933876038, + -0.780536949634552, + 0.3416249752044678 + ], + [ + 0.6601976156234741, + -0.6614995002746582, + -0.35574930906295776, + 0.6397145390510559 + ], + [ + -0.7293522953987122, + -0.4514871835708618, + -0.5140082836151123, + -0.7482239007949829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.1754927933216095, + 0.6037369966506958, + -0.7776271104812622, + 0.3478125333786011 + ], + [ + 0.6611053943634033, + -0.6575603485107422, + -0.3613226115703583, + 0.6414405703544617 + ], + [ + -0.7294805645942688, + -0.45068398118019104, + -0.5145308971405029, + -0.7558711767196655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.1711442619562149, + 0.6088875532150269, + -0.7745744585990906, + 0.3541185259819031 + ], + [ + 0.6621184349060059, + -0.6532575488090515, + -0.3672243654727936, + 0.6427668333053589 + ], + [ + -0.7295949459075928, + -0.4500117003917694, + -0.5149569511413574, + -0.7633106112480164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.16680723428726196, + 0.614709734916687, + -0.770913302898407, + 0.3605751693248749 + ], + [ + 0.6630654335021973, + -0.6486023664474487, + -0.3737100660800934, + 0.643694281578064 + ], + [ + -0.7297393679618835, + -0.44882842898368835, + -0.5157843232154846, + -0.7703726887702942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.16243654489517212, + 0.6214870810508728, + -0.7663995027542114, + 0.3659985065460205 + ], + [ + 0.6636174917221069, + -0.6436187624931335, + -0.3812698423862457, + 0.6439493298530579 + ], + [ + -0.7302233576774597, + -0.4466639459133148, + -0.5169768929481506, + -0.775915265083313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.1571023166179657, + 0.6289016604423523, + -0.761447012424469, + 0.37207865715026855 + ], + [ + 0.6632139086723328, + -0.6384782195091248, + -0.3905033469200134, + 0.6438339948654175 + ], + [ + -0.7317555546760559, + -0.44365325570106506, + -0.5174027681350708, + -0.7818122506141663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.15071545541286469, + 0.636317789554596, + -0.7565609812736511, + 0.37817516922950745 + ], + [ + 0.6621233224868774, + -0.6332626342773438, + -0.4007132947444916, + 0.6433045864105225 + ], + [ + -0.7340827584266663, + -0.440542995929718, + -0.5167633295059204, + -0.787600576877594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.1433136761188507, + 0.6440454125404358, + -0.751443088054657, + 0.38408780097961426 + ], + [ + 0.6607596278190613, + -0.6275321841239929, + -0.41182535886764526, + 0.642464816570282 + ], + [ + -0.7367889285087585, + -0.43750303983688354, + -0.5154930949211121, + -0.793089747428894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.13533255457878113, + 0.6523420810699463, + -0.745744526386261, + 0.389756977558136 + ], + [ + 0.6593692898750305, + -0.6210932731628418, + -0.4236452579498291, + 0.6413958668708801 + ], + [ + -0.7395385503768921, + -0.43438807129859924, + -0.5141884684562683, + -0.7981575727462769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.12704376876354218, + 0.6610720157623291, + -0.7394887804985046, + 0.3950936496257782 + ], + [ + 0.658010721206665, + -0.6140326261520386, + -0.4358736574649811, + 0.6399866342544556 + ], + [ + -0.7422141432762146, + -0.4312164783477783, + -0.5130015015602112, + -0.8022838234901428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.11827261745929718, + 0.6699303984642029, + -0.7329426407814026, + 0.4001528024673462 + ], + [ + 0.6561809182167053, + -0.6067246794700623, + -0.44867777824401855, + 0.6385548710823059 + ], + [ + -0.7452772855758667, + -0.42787665128707886, + -0.5113544464111328, + -0.8062442541122437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.10883685946464539, + 0.6786676049232483, + -0.7263365387916565, + 0.4048551619052887 + ], + [ + 0.6543309688568115, + -0.5989698171615601, + -0.4616125822067261, + 0.6371352672576904 + ], + [ + -0.7483351826667786, + -0.42502403259277344, + -0.5092632174491882, + -0.8098141551017761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.0987994447350502, + 0.6867511868476868, + -0.7201468348503113, + 0.4091261029243469 + ], + [ + 0.6532731056213379, + -0.590667724609375, + -0.473651647567749, + 0.6358253359794617 + ], + [ + -0.7506483197212219, + -0.42365604639053345, + -0.5069937109947205, + -0.8129204511642456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.08817459642887115, + 0.693757951259613, + -0.7147902846336365, + 0.41292309761047363 + ], + [ + 0.6531857252120972, + -0.5820371508598328, + -0.4843357801437378, + 0.6347023844718933 + ], + [ + -0.7520462870597839, + -0.4241847097873688, + -0.5044736862182617, + -0.8155646324157715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.0767899677157402, + 0.6998292207717896, + -0.7101706266403198, + 0.41625890135765076 + ], + [ + 0.6536516547203064, + -0.5731871724128723, + -0.4941618740558624, + 0.6338500380516052 + ], + [ + -0.7528896331787109, + -0.42625755071640015, + -0.501459538936615, + -0.817773699760437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.06391192227602005, + 0.7048222422599792, + -0.7064989805221558, + 0.42086148262023926 + ], + [ + 0.6542220711708069, + -0.564190685749054, + -0.5036689043045044, + 0.633881151676178 + ], + [ + -0.7535971999168396, + -0.43001678586006165, + -0.49716877937316895, + -0.8188306093215942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.04922899231314659, + 0.7084367275238037, + -0.7040553092956543, + 0.42381751537323 + ], + [ + 0.6542509198188782, + -0.5554956197738647, + -0.5132059454917908, + 0.6339532732963562 + ], + [ + -0.7546736001968384, + -0.4353642165660858, + -0.49084189534187317, + -0.8200347423553467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.033659908920526505, + 0.7105001211166382, + -0.7028915882110596, + 0.4259587526321411 + ], + [ + 0.6540021300315857, + -0.5474666953086853, + -0.5220741033554077, + 0.6343653202056885 + ], + [ + -0.7557435035705566, + -0.44211965799331665, + -0.48309627175331116, + -0.8210282921791077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.017991814762353897, + 0.7118890881538391, + -0.7020614147186279, + 0.4276086091995239 + ], + [ + 0.6538995504379272, + -0.5395662784576416, + -0.5303617119789124, + 0.6352747082710266 + ], + [ + -0.7563673853874207, + -0.4495354890823364, + -0.4752117395401001, + -0.8217045068740845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.0025053746066987514, + 0.7136319875717163, + -0.7005163431167603, + 0.42890188097953796 + ], + [ + 0.6542319059371948, + -0.5309664011001587, + -0.5385677814483643, + 0.6368165016174316 + ], + [ + -0.7562898397445679, + -0.456950843334198, + -0.4682111144065857, + -0.8220340609550476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + -0.013176145032048225, + 0.7148846387863159, + -0.6991182565689087, + 0.4298064708709717 + ], + [ + 0.6550689339637756, + -0.5220720767974854, + -0.5461916923522949, + 0.6391006112098694 + ], + [ + -0.7554541826248169, + -0.465167373418808, + -0.46141985058784485, + -0.8220449686050415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + -0.02937607280910015, + 0.7138897776603699, + -0.6996416449546814, + 0.43357813358306885 + ], + [ + 0.656209409236908, + -0.5142167806625366, + -0.5522412061691284, + 0.6427464485168457 + ], + [ + -0.7540068030357361, + -0.475334107875824, + -0.45335549116134644, + -0.8210930228233337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + -0.04638533666729927, + 0.7104396820068359, + -0.702227771282196, + 0.43476298451423645 + ], + [ + 0.6571468710899353, + -0.507746696472168, + -0.5570918321609497, + 0.6468160152435303 + ], + [ + -0.7523339986801147, + -0.48730766773223877, + -0.4433112144470215, + -0.8204931616783142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + -0.06457015126943588, + 0.7048342227935791, + -0.7064272165298462, + 0.4348313808441162 + ], + [ + 0.6574769616127014, + -0.5024893283843994, + -0.5614521503448486, + 0.6515238881111145 + ], + [ + -0.7507027983665466, + -0.5007126927375793, + -0.43096649646759033, + -0.8200041055679321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + -0.08349735289812088, + 0.6979000568389893, + -0.7113112211227417, + 0.434292197227478 + ], + [ + 0.6570362448692322, + -0.4981144666671753, + -0.565849244594574, + 0.6568849682807922 + ], + [ + -0.7492206692695618, + -0.5146041512489319, + -0.4169543981552124, + -0.819597601890564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + -0.10266802459955215, + 0.68978351354599, + -0.7166993618011475, + 0.4333251118659973 + ], + [ + 0.6560244560241699, + -0.4946484863758087, + -0.5700480937957764, + 0.6628746390342712 + ], + [ + -0.7477239966392517, + -0.5286980271339417, + -0.4017302691936493, + -0.8193066120147705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + -0.12178923189640045, + 0.6807478070259094, + -0.7223225235939026, + 0.43203118443489075 + ], + [ + 0.6547250151634216, + -0.49185988306999207, + -0.5739416480064392, + 0.6694576740264893 + ], + [ + -0.7459909915924072, + -0.542822539806366, + -0.3857993483543396, + -0.8191981911659241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + -0.141044020652771, + 0.6712628602981567, + -0.727676272392273, + 0.433016836643219 + ], + [ + 0.6527786254882812, + -0.4895467460155487, + -0.5781211853027344, + 0.6773184537887573 + ], + [ + -0.7443028092384338, + -0.5565520524978638, + -0.3691383898258209, + -0.8205203413963318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + -0.16147631406784058, + 0.6628929972648621, + -0.7310938835144043, + 0.4321666955947876 + ], + [ + 0.6495105028152466, + -0.4863661527633667, + -0.5844519734382629, + 0.6851189136505127 + ], + [ + -0.7430084347724915, + -0.5692283511161804, + -0.352019339799881, + -0.8214674592018127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + -0.18327660858631134, + 0.655518114566803, + -0.7326020002365112, + 0.4306428134441376 + ], + [ + 0.6447649002075195, + -0.4823927879333496, + -0.5929379463195801, + 0.6931763291358948 + ], + [ + -0.7420834898948669, + -0.5810276865959167, + -0.3342437744140625, + -0.8226102590560913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + -0.20606623589992523, + 0.6485493183135986, + -0.7327486276626587, + 0.42886728048324585 + ], + [ + 0.6389229893684387, + -0.4779907464981079, + -0.6027456521987915, + 0.7015524506568909 + ], + [ + -0.7411572933197021, + -0.5923754572868347, + -0.3158752918243408, + -0.8241132497787476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + -0.2282852679491043, + 0.6407903432846069, + -0.732989490032196, + 0.42708611488342285 + ], + [ + 0.6331447958946228, + -0.4742167592048645, + -0.6117565631866455, + 0.710242748260498 + ], + [ + -0.739603579044342, + -0.6037434935569763, + -0.2974563539028168, + -0.8260505795478821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + -0.24779270589351654, + 0.6321934461593628, + -0.7341187000274658, + 0.4255296289920807 + ], + [ + 0.6289795637130737, + -0.47136390209198, + -0.6182239055633545, + 0.7192763090133667 + ], + [ + -0.7368741631507874, + -0.6149370074272156, + -0.28083619475364685, + -0.8284375071525574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + -0.26368215680122375, + 0.6233174800872803, + -0.7361705303192139, + 0.42468491196632385 + ], + [ + 0.6268975138664246, + -0.4692985415458679, + -0.6218990087509155, + 0.7292429208755493 + ], + [ + -0.7331242561340332, + -0.6254871487617493, + -0.26701053977012634, + -0.8299210667610168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + -0.27679696679115295, + 0.6142241954803467, + -0.7389939427375793, + 0.423819363117218 + ], + [ + 0.6268929839134216, + -0.46742385625839233, + -0.6233137845993042, + 0.73886638879776 + ], + [ + -0.728277862071991, + -0.6358014941215515, + -0.25567135214805603, + -0.8327372074127197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + -0.2881983518600464, + 0.6053858399391174, + -0.7419229745864868, + 0.42295295000076294 + ], + [ + 0.6284266114234924, + -0.4650295376777649, + -0.62356036901474, + 0.7482937574386597 + ], + [ + -0.7225106954574585, + -0.6459531784057617, + -0.24641980230808258, + -0.8363836407661438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + -0.2983573079109192, + 0.5977625846862793, + -0.7440852522850037, + 0.422127902507782 + ], + [ + 0.6312995553016663, + -0.4611112177371979, + -0.6235681772232056, + 0.7574980854988098 + ], + [ + -0.7158517837524414, + -0.6557868123054504, + -0.23979134857654572, + -0.8407272100448608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + -0.3073238730430603, + 0.5918945670127869, + -0.7451260685920715, + 0.42141592502593994 + ], + [ + 0.6359164714813232, + -0.4547727704048157, + -0.6235318183898926, + 0.7665029168128967 + ], + [ + -0.7079281210899353, + -0.6654641628265381, + -0.23663297295570374, + -0.8456752300262451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + -0.3147795796394348, + 0.5873000621795654, + -0.745648980140686, + 0.42089325189590454 + ], + [ + 0.6424519419670105, + -0.44644472002983093, + -0.6228504180908203, + 0.7753222584724426 + ], + [ + -0.6986911296844482, + -0.6751042604446411, + -0.23678037524223328, + -0.8511353731155396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + -0.3204324245452881, + 0.5830767750740051, + -0.7465550899505615, + 0.41996896266937256 + ], + [ + 0.650991678237915, + -0.4369699954986572, + -0.620698869228363, + 0.783547043800354 + ], + [ + -0.6881372928619385, + -0.6848931908607483, + -0.23955875635147095, + -0.8559389710426331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + -0.32476627826690674, + 0.5779288411140442, + -0.7486822605133057, + 0.41957446932792664 + ], + [ + 0.6604267358779907, + -0.4280701279640198, + -0.6169217824935913, + 0.7916951775550842 + ], + [ + -0.6770254373550415, + -0.6948051452636719, + -0.2426569014787674, + -0.861858606338501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + -0.3287494480609894, + 0.5723350644111633, + -0.7512365579605103, + 0.41934025287628174 + ], + [ + 0.6693447828292847, + -0.4199661910533905, + -0.612866997718811, + 0.7993887662887573 + ], + [ + -0.666259229183197, + -0.7043159604072571, + -0.2450258433818817, + -0.8684709668159485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + -0.3332594633102417, + 0.5677241086959839, + -0.75274658203125, + 0.4191325306892395 + ], + [ + 0.6765346527099609, + -0.41208675503730774, + -0.6103157997131348, + 0.8063873648643494 + ], + [ + -0.6566879153251648, + -0.7126526832580566, + -0.24675323069095612, + -0.8756582736968994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + -0.3387489318847656, + 0.5651839375495911, + -0.7522076368331909, + 0.4189428687095642 + ], + [ + 0.6819090247154236, + -0.4033617675304413, + -0.6101633906364441, + 0.8126080632209778 + ], + [ + -0.6482663154602051, + -0.7196293473243713, + -0.24876564741134644, + -0.8832768201828003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + -0.34526342153549194, + 0.565254271030426, + -0.7491867542266846, + 0.4188416004180908 + ], + [ + 0.6857317090034485, + -0.39307254552841187, + -0.6125895977020264, + 0.8181043267250061 + ], + [ + -0.6407536268234253, + -0.7252458930015564, + -0.25189921259880066, + -0.8911157846450806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + -0.35246703028678894, + 0.5672953128814697, + -0.7442734837532043, + 0.41783177852630615 + ], + [ + 0.688668966293335, + -0.3812674880027771, + -0.6167415380477905, + 0.8217756748199463 + ], + [ + -0.6336418390274048, + -0.7299391031265259, + -0.25629448890686035, + -0.8980357050895691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + -0.3601454198360443, + 0.5698367953300476, + -0.7386347651481628, + 0.4177168905735016 + ], + [ + 0.69110107421875, + -0.3688697814941406, + -0.6215419173240662, + 0.825686514377594 + ], + [ + -0.6266375184059143, + -0.7343167662620544, + -0.26096808910369873, + -0.9054161310195923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + -0.36800557374954224, + 0.5712767839431763, + -0.7336311936378479, + 0.4179764688014984 + ], + [ + 0.6928533315658569, + -0.35770919919013977, + -0.6260977387428284, + 0.8292512893676758 + ], + [ + -0.6201017498970032, + -0.7387062907218933, + -0.2641720473766327, + -0.912818968296051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + -0.37531808018684387, + 0.5719095468521118, + -0.7294215559959412, + 0.41850292682647705 + ], + [ + 0.6932255625724792, + -0.3491903245449066, + -0.6304795145988464, + 0.8321499824523926 + ], + [ + -0.6152842044830322, + -0.7422840595245361, + -0.2654048502445221, + -0.9201655983924866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + -0.3821549415588379, + 0.5740451216697693, + -0.7241752743721008, + 0.41933321952819824 + ], + [ + 0.6916685700416565, + -0.34200426936149597, + -0.6361035108566284, + 0.8342720866203308 + ], + [ + -0.6128231287002563, + -0.7439793944358826, + -0.26635032892227173, + -0.9273914098739624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + -0.3887053430080414, + 0.5790972709655762, + -0.7166271209716797, + 0.4204966723918915 + ], + [ + 0.6883482336997986, + -0.3344842493534088, + -0.6436590552330017, + 0.8356475234031677 + ], + [ + -0.6124417185783386, + -0.743482768535614, + -0.2686047852039337, + -0.9343233108520508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + -0.3947463631629944, + 0.5858060121536255, + -0.7078182101249695, + 0.4205578565597534 + ], + [ + 0.6847726106643677, + -0.3260572850704193, + -0.6517462134361267, + 0.8350529074668884 + ], + [ + -0.6125861406326294, + -0.7419689893722534, + -0.2724339962005615, + -0.9398980140686035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + -0.4006550908088684, + 0.5917909741401672, + -0.6994704604148865, + 0.4216189980506897 + ], + [ + 0.6818094253540039, + -0.3174060881137848, + -0.6590821743011475, + 0.8349807858467102 + ], + [ + -0.6120550632476807, + -0.7409701943397522, + -0.2763183116912842, + -0.9455323219299316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + -0.4067881107330322, + 0.5960602164268494, + -0.6922684907913208, + 0.42294782400131226 + ], + [ + 0.6792938113212585, + -0.3093177378177643, + -0.6654941439628601, + 0.83485347032547 + ], + [ + -0.6108055114746094, + -0.7409688234329224, + -0.27907320857048035, + -0.9507752656936646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + -0.41333791613578796, + 0.5985503196716309, + -0.6862137317657471, + 0.4243118166923523 + ], + [ + 0.6768398284912109, + -0.3021653890609741, + -0.6712555289268494, + 0.8344801664352417 + ], + [ + -0.6091302633285522, + -0.7419121265411377, + -0.28022629022598267, + -0.9554949402809143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + -0.4201306998729706, + 0.6000429391860962, + -0.680763304233551, + 0.4256576895713806 + ], + [ + 0.6742393970489502, + -0.29569023847579956, + -0.6767337322235107, + 0.8338114619255066 + ], + [ + -0.6073643565177917, + -0.7433140277862549, + -0.28034403920173645, + -0.9596167802810669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + -0.4268557131290436, + 0.6007376909255981, + -0.6759499907493591, + 0.4269779324531555 + ], + [ + 0.6712679266929626, + -0.290378600358963, + -0.6819674968719482, + 0.8328423500061035 + ], + [ + -0.6059650182723999, + -0.7448452711105347, + -0.27930620312690735, + -0.9631223082542419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + -0.4332858920097351, + 0.6011170148849487, + -0.6715070009231567, + 0.42832911014556885 + ], + [ + 0.6678900718688965, + -0.2861086130142212, + -0.6870696544647217, + 0.8316330909729004 + ], + [ + -0.6051332354545593, + -0.7461904287338257, + -0.2775132358074188, + -0.965965211391449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + -0.43918368220329285, + 0.6015182137489319, + -0.6673031449317932, + 0.4297413229942322 + ], + [ + 0.6645408272743225, + -0.282330721616745, + -0.6918632984161377, + 0.8300908207893372 + ], + [ + -0.6045685410499573, + -0.7473052740097046, + -0.275738388299942, + -0.9672629833221436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + -0.44395211338996887, + 0.6014653444290161, + -0.6641881465911865, + 0.43127986788749695 + ], + [ + 0.6617052555084229, + -0.2797462046146393, + -0.6956207752227783, + 0.8286617994308472 + ], + [ + -0.6041958928108215, + -0.7483190894126892, + -0.2737988531589508, + -0.9683485627174377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + -0.44743236899375916, + 0.6006821393966675, + -0.6625596284866333, + 0.43286263942718506 + ], + [ + 0.6593596935272217, + -0.27894482016563416, + -0.6981651186943054, + 0.8272834420204163 + ], + [ + -0.6041929125785828, + -0.7492467761039734, + -0.2712566554546356, + -0.9688464403152466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + -0.4501548707485199, + 0.5998507738113403, + -0.6614677906036377, + 0.43442320823669434 + ], + [ + 0.6565586924552917, + -0.2797301113605499, + -0.7004867792129517, + 0.8258854150772095 + ], + [ + -0.6052200198173523, + -0.7496199607849121, + -0.26791536808013916, + -0.9687361121177673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + -0.45283442735671997, + 0.599267840385437, + -0.6601659059524536, + 0.43584495782852173 + ], + [ + 0.6526997685432434, + -0.281601220369339, + -0.703337550163269, + 0.8244693875312805 + ], + [ + -0.6073911190032959, + -0.7493855953216553, + -0.26362326741218567, + -0.9680943489074707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + -0.4556146562099457, + 0.5989370942115784, + -0.6585511565208435, + 0.4370346665382385 + ], + [ + 0.6479846835136414, + -0.2840982973575592, + -0.7066851854324341, + 0.823111355304718 + ], + [ + -0.6103532910346985, + -0.7487072348594666, + -0.25866273045539856, + -0.9669628143310547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 628.0590087890625, + "fy": 629.0200115845389, + "cx": 414.78273111979166, + "cy": 246.80323236889691 + } + } + ] +} diff --git a/dycheck_eval/source/mochi-high-five/caption.txt b/dycheck_eval/source/mochi-high-five/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..67784901f62ddb7afc05f30bb7b97e9fb87f9ff3 --- /dev/null +++ b/dycheck_eval/source/mochi-high-five/caption.txt @@ -0,0 +1 @@ +A fluffy, long-haired cat with striking eyes sits attentively on a gray couch, surrounded by cushions, and looks upward with an inquisitive expression. diff --git a/dycheck_eval/source/mochi-high-five/extras/frame_mapping.json b/dycheck_eval/source/mochi-high-five/extras/frame_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..fcb5a8e6712381546d3a035a8920cd06944a5859 --- /dev/null +++ b/dycheck_eval/source/mochi-high-five/extras/frame_mapping.json @@ -0,0 +1,370 @@ +{ + "original_scene": "mochi-high-five", + "source_frame_names": [ + "0_00000", + "0_00001", + "0_00002", + "0_00003", + "0_00004", + "0_00005", + "0_00006", + "0_00007", + "0_00008", + "0_00009", + "0_00010", + "0_00011", + "0_00012", + "0_00013", + "0_00014", + "0_00015", + "0_00016", + "0_00017", + "0_00018", + "0_00019", + "0_00020", + "0_00021", + "0_00022", + "0_00023", + "0_00024", + "0_00025", + "0_00026", + "0_00027", + "0_00028", + "0_00029", + "0_00030", + "0_00031", + "0_00032", + "0_00033", + "0_00034", + "0_00035", + "0_00036", + "0_00037", + "0_00038", + "0_00039", + "0_00040", + "0_00041", + "0_00042", + "0_00043", + "0_00044", + "0_00045", + "0_00046", + "0_00047", + "0_00048", + "0_00049", + "0_00050", + "0_00051", + "0_00052", + "0_00053", + "0_00054", + "0_00055", + "0_00056", + "0_00057", + "0_00058", + "0_00059", + "0_00060", + "0_00061", + "0_00062", + "0_00063", + "0_00064", + "0_00065", + "0_00066", + "0_00067", + "0_00068", + "0_00069", + "0_00070", + "0_00071", + "0_00072", + "0_00073", + "0_00074", + "0_00075", + "0_00076", + "0_00077", + "0_00078", + "0_00079", + "0_00080", + "0_00081", + "0_00082", + "0_00083", + "0_00084", + "0_00085", + "0_00086", + "0_00087", + "0_00088", + "0_00089", + "0_00090", + "0_00091", + "0_00092", + "0_00093", + "0_00094", + "0_00095", + "0_00096", + "0_00097", + "0_00098", + "0_00099", + "0_00100", + "0_00101", + "0_00102", + "0_00103", + "0_00104", + "0_00105", + "0_00106", + "0_00107", + "0_00108", + "0_00109", + "0_00110", + "0_00111", + "0_00112", + "0_00113", + "0_00114", + "0_00115", + "0_00116", + "0_00117", + "0_00118", + "0_00119", + "0_00120", + "0_00121", + "0_00122", + "0_00123", + "0_00124", + "0_00125", + "0_00126", + "0_00127", + "0_00128", + "0_00129", + "0_00130", + "0_00131", + "0_00132", + "0_00133", + "0_00134", + "0_00135", + "0_00136", + "0_00137", + "0_00138", + "0_00139", + "0_00140", + "0_00141", + "0_00142", + "0_00143", + "0_00144", + "0_00145", + "0_00146", + "0_00147", + "0_00148", + "0_00149", + "0_00150", + "0_00151", + "0_00152", + "0_00153", + "0_00154", + "0_00155", + "0_00156", + "0_00157", + "0_00158", + "0_00159", + "0_00160", + "0_00161", + "0_00162", + "0_00163", + "0_00164", + "0_00165", + "0_00166", + "0_00167", + "0_00168", + "0_00169", + "0_00170", + "0_00171", + "0_00172", + "0_00173", + "0_00174", + "0_00175", + "0_00176", + "0_00177", + "0_00178", + "0_00179" + ], + "target_frame_names": null, + "original_time_ids": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179 + ], + "source_camera_id": 0, + "target_camera_id": null +} diff --git a/dycheck_eval/source/mochi-high-five/transforms.json b/dycheck_eval/source/mochi-high-five/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8627a6ebfc0df3111ce415eef43f6ac999ada8eb --- /dev/null +++ b/dycheck_eval/source/mochi-high-five/transforms.json @@ -0,0 +1,6313 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 180, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -1.61896138856088e-11, + -2.2285924217158026e-09, + 2.0942115597222255e-08 + ], + [ + -1.618959653837404e-11, + -1.0, + 7.515339461861004e-09, + 1.1458088922111642e-09 + ], + [ + -2.2285924217158026e-09, + -7.515339461861004e-09, + -1.0, + 2.7419373438419825e-09 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + 0.0003257889475207776, + 6.785333971492946e-05, + -0.0002180039882659912 + ], + [ + 0.0003258511715102941, + -0.9999995231628418, + -0.0009189586853608489, + -8.639879524707794e-05 + ], + [ + 6.755391950719059e-05, + 0.0009189807460643351, + -0.9999995827674866, + -0.00028915703296661377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999997615814209, + 0.0003720209642779082, + -0.0005740491906180978, + -0.0003149597905576229 + ], + [ + 0.00037121569039300084, + -0.999998927116394, + -0.0014022624818608165, + -0.0001493215240770951 + ], + [ + -0.0005745702655985951, + 0.0014020490925759077, + -0.9999988675117493, + -0.0005015703500248492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999988079071045, + 0.0005437423242256045, + -0.0014556358801200986, + -0.0004158914089202881 + ], + [ + 0.0005414786865003407, + -0.9999986290931702, + -0.0015550116077065468, + -0.00019465573132038116 + ], + [ + -0.0014564794255420566, + 0.0015542214969173074, + -0.9999977350234985, + -0.0006554871797561646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999978542327881, + 0.0008749812259338796, + -0.001879443763755262, + -0.0005595386028289795 + ], + [ + 0.0008716665906831622, + -0.9999980926513672, + -0.0017637009732425213, + -0.00022727437317371368 + ], + [ + -0.0018809833563864231, + 0.0017620589351281524, + -0.9999966621398926, + -0.0007724687457084656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999972581863403, + 0.0013470633421093225, + -0.001911662518978119, + -0.0007399320602416992 + ], + [ + 0.0013428430538624525, + -0.9999966621398926, + -0.0022072317078709602, + -0.0002492964267730713 + ], + [ + -0.0019146294798702002, + 0.0022046584635972977, + -0.9999957084655762, + -0.0008793249726295471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999958872795105, + 0.0018846249440684915, + -0.0021584758069366217, + -0.001222074031829834 + ], + [ + 0.0018790971953421831, + -0.9999949336051941, + -0.0025601021479815245, + -0.00044462084770202637 + ], + [ + -0.002163289813324809, + 0.002556035527959466, + -0.9999943971633911, + -0.000886186957359314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999949336051941, + 0.0022542965598404408, + -0.0022587243001908064, + -0.001490086317062378 + ], + [ + 0.0022479805629700422, + -0.9999935626983643, + -0.0027949248906224966, + -0.0005200952291488647 + ], + [ + -0.002265010494738817, + 0.00278983311727643, + -0.9999935626983643, + -0.0009136125445365906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999944567680359, + 0.0023682378232479095, + -0.0023428210988640785, + -0.0016665458679199219 + ], + [ + 0.0023618207778781652, + -0.9999934434890747, + -0.002737989416345954, + -0.0005648098886013031 + ], + [ + -0.002349289832636714, + 0.0027324408292770386, + -0.9999935030937195, + -0.0008991584181785583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999940991401672, + 0.002354998840019107, + -0.002503081923350692, + -0.0018147826194763184 + ], + [ + 0.0023491126485168934, + -0.9999944567680359, + -0.002351954113692045, + -0.0005958229303359985 + ], + [ + -0.002508606994524598, + 0.0023460600059479475, + -0.9999940991401672, + -0.0008376836776733398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999935626983643, + 0.0024859679397195578, + -0.002576828235760331, + -0.001976200845092535 + ], + [ + 0.002480320166796446, + -0.9999945163726807, + -0.0021925957407802343, + -0.0006088751833885908 + ], + [ + -0.002582264831289649, + 0.0021861903369426727, + -0.9999942779541016, + -0.000772726780269295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999934434890747, + 0.0028502107597887516, + -0.0022452417761087418, + -0.0021573901176452637 + ], + [ + 0.002844285685569048, + -0.9999924898147583, + -0.0026378037873655558, + -0.0005950313061475754 + ], + [ + -0.002252743346616626, + 0.0026314002461731434, + -0.9999939799308777, + -0.0007350891828536987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999945163726807, + 0.0030879699625074863, + -0.0012081629829481244, + -0.002695718314498663 + ], + [ + 0.003083412069827318, + -0.9999881982803345, + -0.003756422083824873, + -0.000322553125442937 + ], + [ + -0.0012197485193610191, + 0.003752676071599126, + -0.9999921917915344, + -0.0004727813065983355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999946355819702, + 0.0032684216275811195, + -3.983598071499728e-05, + -0.003008604049682617 + ], + [ + 0.003268191358074546, + -0.999983012676239, + -0.004826537799090147, + -0.00021741539239883423 + ], + [ + -5.561046418733895e-05, + 0.004826381802558899, + -0.9999883770942688, + -0.00036047399044036865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999939799308777, + 0.0033310679718852043, + 0.0009751814650371671, + -0.0032676546834409237 + ], + [ + 0.0033363504335284233, + -0.9999794960021973, + -0.0054661426693201065, + -0.00017743442731443793 + ], + [ + 0.0009569533867761493, + 0.005469363648444414, + -0.9999845623970032, + -0.0002444061101414263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999932050704956, + 0.0033322686795145273, + 0.0015828391769900918, + -0.003543257713317871 + ], + [ + 0.003340894589200616, + -0.9999794363975525, + -0.005478689447045326, + -0.0001696161925792694 + ], + [ + 0.0015645502135157585, + 0.005483940243721008, + -0.9999837279319763, + -7.764995098114014e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999926090240479, + 0.003298793453723192, + 0.0019611227326095104, + -0.0038556158542633057 + ], + [ + 0.003308455925434828, + -0.9999822974205017, + -0.0049443370662629604, + -0.00018168054521083832 + ], + [ + 0.0019447776721790433, + 0.004950788803398609, + -0.9999858736991882, + 0.00014006346464157104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999927282333374, + 0.0030997428111732006, + 0.002227475168183446, + -0.004197299480438232 + ], + [ + 0.0031093410216271877, + -0.9999858140945435, + -0.004318524617701769, + -0.00020268931984901428 + ], + [ + 0.0022140571381896734, + 0.004325419198721647, + -0.9999881982803345, + 0.00036854296922683716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999918937683105, + 0.0028972814325243235, + 0.002794387051835656, + -0.004683017730712891 + ], + [ + 0.0029079767409712076, + -0.9999884366989136, + -0.0038310231175273657, + -8.747726678848267e-05 + ], + [ + 0.002783255185931921, + 0.0038391179405152798, + -0.9999887347221375, + 0.0003889426589012146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999896287918091, + 0.0028581584338098764, + 0.0035422651562839746, + -0.005176433827728033 + ], + [ + 0.0028710151091217995, + -0.9999892711639404, + -0.0036297584883868694, + -5.1569910283433273e-05 + ], + [ + 0.00353185273706913, + 0.0036398908123373985, + -0.9999871253967285, + 0.0005039004026912153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999867677688599, + 0.003003024961799383, + 0.004183562938123941, + -0.005744755268096924 + ], + [ + 0.0030178059823811054, + -0.9999892115592957, + -0.0035312757827341557, + -2.9142946004867554e-05 + ], + [ + 0.004172913264483213, + 0.0035438542254269123, + -0.9999850392341614, + 0.00062541663646698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999826550483704, + 0.003206223715096712, + 0.004946145694702864, + -0.006398916244506836 + ], + [ + 0.0032240862492471933, + -0.999988317489624, + -0.0036076647229492664, + -9.238719940185547e-07 + ], + [ + 0.004934520460665226, + 0.0036235488951206207, + -0.9999812841415405, + 0.000725090503692627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999764561653137, + 0.003495875047519803, + 0.0059091923758387566, + -0.0071416497230529785 + ], + [ + 0.003518742509186268, + -0.9999863505363464, + -0.0038638801779597998, + 4.2980536818504333e-05 + ], + [ + 0.005895604379475117, + 0.00388458208180964, + -0.9999750852584839, + 0.0007960125803947449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999685883522034, + 0.003819465870037675, + 0.006948287133127451, + -0.007973799481987953 + ], + [ + 0.0038490418810397387, + -0.999983549118042, + -0.004248193930834532, + 0.00010593722254270688 + ], + [ + 0.006931947078555822, + 0.00427480461075902, + -0.9999668598175049, + 0.0008474690257571638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999583959579468, + 0.00397675484418869, + 0.008206545375287533, + -0.008797317743301392 + ], + [ + 0.00401459913700819, + -0.9999813437461853, + -0.004600138869136572, + 1.946277916431427e-05 + ], + [ + 0.008188099600374699, + 0.004632893949747086, + -0.9999557733535767, + 0.00013146549463272095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999430775642395, + 0.004238443449139595, + 0.009789954870939255, + -0.009798476472496986 + ], + [ + 0.004286487121134996, + -0.9999788403511047, + -0.004891698248684406, + 5.871544635738246e-05 + ], + [ + 0.009769014082849026, + 0.004933384712785482, + -0.9999400973320007, + -0.0001065405594999902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999221563339233, + 0.004687645472586155, + 0.01156404335051775, + -0.01094365119934082 + ], + [ + 0.0047486466355621815, + -0.9999749064445496, + -0.005253286100924015, + 0.00016004778444766998 + ], + [ + 0.011539127677679062, + 0.005307790823280811, + -0.9999193549156189, + -0.0002169385552406311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9998950958251953, + 0.005432894919067621, + 0.0134281562641263, + -0.0122287068516016 + ], + [ + 0.005510921124368906, + -0.9999681115150452, + -0.005780462175607681, + 0.00030822979169897735 + ], + [ + 0.013396323658525944, + 0.005853857379406691, + -0.9998931288719177, + -0.000310559815261513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.99985671043396, + 0.006326185539364815, + 0.015700044110417366, + -0.01364428736269474 + ], + [ + 0.006425261031836271, + -0.9999597072601318, + -0.006268149707466364, + 0.0004813440318685025 + ], + [ + 0.01565975695848465, + 0.0063681285828351974, + -0.9998571276664734, + -0.0003880756557919085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.999800443649292, + 0.007030948530882597, + 0.01869945228099823, + -0.015178084373474121 + ], + [ + 0.007153602782636881, + -0.9999532699584961, + -0.006500460673123598, + 0.0006575435400009155 + ], + [ + 0.01865287497639656, + 0.006632931996136904, + -0.9998040199279785, + -0.0004229620099067688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997214674949646, + 0.007544912863522768, + 0.022363366559147835, + -0.016597330570220947 + ], + [ + 0.0076937428675591946, + -0.9999487996101379, + -0.006576515734195709, + 0.0009035971015691757 + ], + [ + 0.022312602028250694, + 0.006746741943061352, + -0.999728262424469, + -0.0004480406641960144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9996280670166016, + 0.0083236088976264, + 0.025969767943024635, + -0.018335342407226562 + ], + [ + 0.008494868874549866, + -0.9999428391456604, + -0.006491224281489849, + 0.0011027343571186066 + ], + [ + 0.025914251804351807, + 0.006709419656544924, + -0.9996416568756104, + -0.0004727467894554138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9995135068893433, + 0.009448196738958359, + 0.029724281281232834, + -0.02029559016227722 + ], + [ + 0.009644141420722008, + -0.9999326467514038, + -0.006455614697188139, + 0.0013027172535657883 + ], + [ + 0.029661286622285843, + 0.006739139091223478, + -0.9995372891426086, + -0.0005235597491264343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9993734359741211, + 0.010707351379096508, + 0.03373514115810394, + -0.022425413131713867 + ], + [ + 0.010934736579656601, + -0.9999186992645264, + -0.006563036236912012, + 0.0015099532902240753 + ], + [ + 0.03366212174296379, + 0.0069278087466955185, + -0.9994092583656311, + -0.000631473958492279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9992122054100037, + 0.011761053465306759, + 0.03790264204144478, + -0.024690965190529823 + ], + [ + 0.012034930288791656, + -0.9999030232429504, + -0.007005730178207159, + 0.0017037924844771624 + ], + [ + 0.037816572934389114, + 0.007456366904079914, + -0.9992568492889404, + -0.0008284049690701067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9990243911743164, + 0.012491490691900253, + 0.042357951402664185, + -0.02709004282951355 + ], + [ + 0.012834779918193817, + -0.9998868703842163, + -0.007842214778065681, + 0.0018732137978076935 + ], + [ + 0.04225520044565201, + 0.008378218859434128, + -0.9990717172622681, + -0.00112181156873703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.998813271522522, + 0.013068707659840584, + 0.04691788926720619, + -0.029311146587133408 + ], + [ + 0.0135103240609169, + -0.9998672604560852, + -0.009107782505452633, + 0.0023096201475709677 + ], + [ + 0.04679263383150101, + 0.009730849415063858, + -0.9988572001457214, + -0.0013575769262388349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9985613226890564, + 0.01370216440409422, + 0.05184166505932808, + -0.031938791275024414 + ], + [ + 0.014240497723221779, + -0.9998483061790466, + -0.010029084049165249, + 0.0025665294378995895 + ], + [ + 0.051696378737688065, + 0.01075290609151125, + -0.998604953289032, + -0.001735582947731018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9982765913009644, + 0.014607657678425312, + 0.056836970150470734, + -0.034851014614105225 + ], + [ + 0.015239957720041275, + -0.9998265504837036, + -0.010707282461225986, + 0.0027706902474164963 + ], + [ + 0.05667070299386978, + 0.011555023491382599, + -0.9983260631561279, + -0.002189069986343384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9979739189147949, + 0.015968825668096542, + 0.06158793345093727, + -0.03800487518310547 + ], + [ + 0.016704851761460304, + -0.9997948408126831, + -0.011454463936388493, + 0.002974187955260277 + ], + [ + 0.06139238178730011, + 0.012460073456168175, + -0.9980359077453613, + -0.0027372539043426514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9976698756217957, + 0.01763930544257164, + 0.06590647995471954, + -0.04135752469301224 + ], + [ + 0.018518924713134766, + -0.999747097492218, + -0.01275943499058485, + 0.0031879369635134935 + ], + [ + 0.06566474586725235, + 0.013950220309197903, + -0.9977442026138306, + -0.003416602499783039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9973125457763672, + 0.019381104037165642, + 0.07065481692552567, + -0.044866979122161865 + ], + [ + 0.020453326404094696, + -0.9996858835220337, + -0.014483672566711903, + 0.0034008827060461044 + ], + [ + 0.07035191357135773, + 0.01588987372815609, + -0.9973956942558289, + -0.004173442721366882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9968976974487305, + 0.020928608253598213, + 0.07587481290102005, + -0.04811987280845642 + ], + [ + 0.02221386320888996, + -0.9996230602264404, + -0.01613486558198929, + 0.0034224502742290497 + ], + [ + 0.07550852745771408, + 0.017770282924175262, + -0.9969868063926697, + -0.005072742700576782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9964179396629333, + 0.021774040535092354, + 0.08171422779560089, + -0.05162227153778076 + ], + [ + 0.02329866588115692, + -0.9995709657669067, + -0.017751000821590424, + 0.0035426728427410126 + ], + [ + 0.08129265159368515, + 0.01959124766290188, + -0.9964976906776428, + -0.005894765257835388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9958702325820923, + 0.021568454802036285, + 0.08818867802619934, + -0.05515164136886597 + ], + [ + 0.02335819974541664, + -0.9995405673980713, + -0.0193130224943161, + 0.0036591626703739166 + ], + [ + 0.08773161470890045, + 0.021293193101882935, + -0.9959165453910828, + -0.006667718291282654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9952400922775269, + 0.020332278683781624, + 0.09530898183584213, + -0.0586242750287056 + ], + [ + 0.022385813295841217, + -0.9995386600494385, + -0.020526500418782234, + 0.0037404720205813646 + ], + [ + 0.0948476642370224, + 0.022562365978956223, + -0.9952360987663269, + -0.007376563735306263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.994520366191864, + 0.018247351050376892, + 0.10293833166360855, + -0.062016844749450684 + ], + [ + 0.020510829985141754, + -0.9995695948600769, + -0.02097312919795513, + 0.0037814825773239136 + ], + [ + 0.10251132398843765, + 0.022969553247094154, + -0.9944666028022766, + -0.008009061217308044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.993709146976471, + 0.015225159004330635, + 0.11095205694437027, + -0.0652863085269928 + ], + [ + 0.017646221444010735, + -0.9996263980865479, + -0.020871544256806374, + 0.0037736129015684128 + ], + [ + 0.11059283465147018, + 0.02269812859594822, + -0.9936065673828125, + -0.00860268622636795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.992900550365448, + 0.011268910020589828, + 0.11841260641813278, + -0.06762661039829254 + ], + [ + 0.013828321360051632, + -0.9996877312660217, + -0.020814986899495125, + 0.0037043732590973377 + ], + [ + 0.1181410625576973, + 0.022304659709334373, + -0.9927462935447693, + -0.009683163836598396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9920342564582825, + 0.007099989801645279, + 0.12576808035373688, + -0.07042542099952698 + ], + [ + 0.009829157963395119, + -0.9997292160987854, + -0.021092746406793594, + 0.0036136507987976074 + ], + [ + 0.12558425962924957, + 0.02216092124581337, + -0.9918354153633118, + -0.010548770427703857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9911002516746521, + 0.0027440388221293688, + 0.1330893635749817, + -0.07335439324378967 + ], + [ + 0.005710466764867306, + -0.9997435808181763, + -0.02191241644322872, + 0.0035052262246608734 + ], + [ + 0.1329951137304306, + 0.02247740514576435, + -0.9908617734909058, + -0.011418923735618591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9900237917900085, + -0.0016951411962509155, + 0.14089001715183258, + -0.07632094621658325 + ], + [ + 0.0016155000776052475, + -0.999725341796875, + -0.023380357772111893, + 0.0033915769308805466 + ], + [ + 0.1408909559249878, + 0.02337471954524517, + -0.9897491335868835, + -0.01234879344701767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9886913895606995, + -0.005949901416897774, + 0.14984633028507233, + -0.07934683561325073 + ], + [ + -0.002130772452801466, + -0.9996691346168518, + -0.025634637102484703, + 0.0032765623182058334 + ], + [ + 0.14994928240776062, + 0.02502545528113842, + -0.9883769154548645, + -0.013343967497348785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9872497320175171, + -0.009653204120695591, + 0.1588858962059021, + -0.08246544003486633 + ], + [ + -0.005146480165421963, + -0.9995733499526978, + -0.02875160239636898, + 0.0031678415834903717 + ], + [ + 0.1590956449508667, + 0.027567308396100998, + -0.9868782162666321, + -0.014460466802120209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9860011339187622, + -0.01269050594419241, + 0.16625504195690155, + -0.08499423414468765 + ], + [ + -0.0073648616671562195, + -0.9994410276412964, + -0.032610438764095306, + 0.0031540163327008486 + ], + [ + 0.16657595336437225, + 0.030929485335946083, + -0.985543429851532, + -0.015698542818427086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9850251078605652, + -0.014872471801936626, + 0.171768456697464, + -0.08804860711097717 + ], + [ + -0.008709817193448544, + -0.9992929100990295, + -0.036575790494680405, + 0.0031075943261384964 + ], + [ + 0.17219097912311554, + 0.03453199937939644, + -0.9844581484794617, + -0.017142407596111298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9841549396514893, + -0.01648089662194252, + 0.17654304206371307, + -0.09131991863250732 + ], + [ + -0.009563849307596684, + -0.9991555213928223, + -0.039960045367479324, + 0.0030347201973199844 + ], + [ + 0.1770525425672531, + 0.03763844445347786, + -0.9834814667701721, + -0.018652960658073425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.983380913734436, + -0.017694126814603806, + 0.18069003522396088, + -0.09468692541122437 + ], + [ + -0.010276561602950096, + -0.9990687370300293, + -0.04190532863140106, + 0.0029334258288145065 + ], + [ + 0.18126323819160461, + 0.03935202583670616, + -0.9826469421386719, + -0.020143873989582062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9829007387161255, + -0.018275052309036255, + 0.18322698771953583, + -0.09810997545719147 + ], + [ + -0.01063279714435339, + -0.9990354180335999, + -0.04260529950261116, + 0.0028211367316544056 + ], + [ + 0.18382886052131653, + 0.03992856666445732, + -0.9821469783782959, + -0.021652506664395332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9827128648757935, + -0.018361803144216537, + 0.18422338366508484, + -0.10156945139169693 + ], + [ + -0.010578219778835773, + -0.99901282787323, + -0.043145034462213516, + 0.0026973497588187456 + ], + [ + 0.18483373522758484, + 0.04045042395591736, + -0.9819369912147522, + -0.02324873022735119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9826684594154358, + -0.018051203340291977, + 0.1844908595085144, + -0.10498952865600586 + ], + [ + -0.010035919956862926, + -0.9989684224128723, + -0.044287294149398804, + 0.0024920706637203693 + ], + [ + 0.1850999891757965, + 0.04166819155216217, + -0.9818359017372131, + -0.024984853342175484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.982575535774231, + -0.017113447189331055, + 0.18507403135299683, + -0.10858538746833801 + ], + [ + -0.008806039579212666, + -0.998920202255249, + -0.04561617225408554, + 0.002364853397011757 + ], + [ + 0.18565484881401062, + 0.043191567063331604, + -0.981665313243866, + -0.026777192950248718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9824818968772888, + -0.015815388411283493, + 0.1856858879327774, + -0.11227941513061523 + ], + [ + -0.0072496491484344006, + -0.9988817572593689, + -0.04671897739171982, + 0.002265509217977524 + ], + [ + 0.18621712923049927, + 0.044554393738508224, + -0.9814978837966919, + -0.02860226482152939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9823146462440491, + -0.01463488582521677, + 0.186664879322052, + -0.11601565778255463 + ], + [ + -0.005883040372282267, + -0.9988608956336975, + -0.04735340550541878, + 0.0021377895027399063 + ], + [ + 0.18714524805545807, + 0.04541778564453125, + -0.9812817573547363, + -0.03041897714138031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9821454882621765, + -0.013609347864985466, + 0.18762989342212677, + -0.1197889894247055 + ], + [ + -0.0047580222599208355, + -0.9988577961921692, + -0.04754430428147316, + 0.0019691884517669678 + ], + [ + 0.1880626231431961, + 0.045802678912878036, + -0.9810884594917297, + -0.03223726898431778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9821898341178894, + -0.012147245928645134, + 0.187498077750206, + -0.12363721430301666 + ], + [ + -0.0033752715680748224, + -0.9988876581192017, + -0.04703288897871971, + 0.0018051620572805405 + ], + [ + 0.18786083161830902, + 0.045562371611595154, + -0.981138288974762, + -0.03409856557846069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9825234413146973, + -0.009855835698544979, + 0.18587765097618103, + -0.12765635550022125 + ], + [ + -0.0013529659481719136, + -0.9989489912986755, + -0.04581592604517937, + 0.001970883458852768 + ], + [ + 0.18613383173942566, + 0.04476373642683029, + -0.9815041422843933, + -0.03595712035894394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9828810691833496, + -0.006836647167801857, + 0.18411433696746826, + -0.13167662918567657 + ], + [ + 0.0014336673775687814, + -0.9989972114562988, + -0.04474890977144241, + 0.001995014026761055 + ], + [ + 0.18423564732074738, + 0.04424681514501572, + -0.9818856716156006, + -0.03801118582487106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9829481244087219, + -0.003268617205321789, + 0.1838538944721222, + -0.13571304082870483 + ], + [ + 0.00504961796104908, + -0.9989851117134094, + -0.04475734755396843, + 0.001973368227481842 + ], + [ + 0.18381360173225403, + 0.044922541826963425, + -0.9819340705871582, + -0.04023800790309906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9826420545578003, + 0.000556032289750874, + 0.1855107694864273, + -0.13974745571613312 + ], + [ + 0.00928322970867157, + -0.9988900423049927, + -0.04617886617779732, + 0.0019267417956143618 + ], + [ + 0.18527917563915253, + 0.047099433839321136, + -0.9815565347671509, + -0.04263492301106453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9820553660392761, + 0.004394608084112406, + 0.18854151666164398, + -0.1437464952468872 + ], + [ + 0.013778498396277428, + -0.9987286925315857, + -0.048489201813936234, + 0.0018709581345319748 + ], + [ + 0.18808872997760773, + 0.05021689832210541, + -0.9808674454689026, + -0.045150481164455414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9813615083694458, + 0.008410691283643246, + 0.19198665022850037, + -0.14769680798053741 + ], + [ + 0.01855345070362091, + -0.9985215067863464, + -0.05109410360455513, + 0.001821361482143402 + ], + [ + 0.1912730634212494, + 0.05370379984378815, + -0.9800665974617004, + -0.04774194955825806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9807342886924744, + 0.012677352875471115, + 0.19493477046489716, + -0.151085764169693 + ], + [ + 0.023640792816877365, + -0.9982600808143616, + -0.054018285125494, + 0.0018599815666675568 + ], + [ + 0.19391077756881714, + 0.05758599564433098, + -0.9793275594711304, + -0.05097012221813202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9801226258277893, + 0.017614519223570824, + 0.19760926067829132, + -0.15480197966098785 + ], + [ + 0.029378928244113922, + -0.9979554414749146, + -0.05676072835922241, + 0.0018871626816689968 + ], + [ + 0.19620542228221893, + 0.06143802031874657, + -0.9786362051963806, + -0.053886789828538895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9792956709861755, + 0.023035475984215736, + 0.20112016797065735, + -0.15861500799655914 + ], + [ + 0.03559744358062744, + -0.9976190328598022, + -0.05906813219189644, + 0.0019213482737541199 + ], + [ + 0.19928064942359924, + 0.06500452756881714, + -0.9777840375900269, + -0.05664770305156708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9782683849334717, + 0.02812504768371582, + 0.2054263800382614, + -0.16236326098442078 + ], + [ + 0.04128926619887352, + -0.9973393082618713, + -0.060078781098127365, + 0.0019276496022939682 + ], + [ + 0.20319008827209473, + 0.06725507229566574, + -0.9768267869949341, + -0.05922701954841614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9773029088973999, + 0.03221570700407028, + 0.20938286185264587, + -0.16591648757457733 + ], + [ + 0.04564575105905533, + -0.9971765279769897, + -0.05962749943137169, + 0.0018575266003608704 + ], + [ + 0.20687073469161987, + 0.06783156841993332, + -0.9760140180587769, + -0.06165285408496857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9766430258750916, + 0.03541245311498642, + 0.211930051445961, + -0.1692294329404831 + ], + [ + 0.04880886524915695, + -0.997104287147522, + -0.05831608921289444, + 0.0017200857400894165 + ], + [ + 0.20925123989582062, + 0.06729806959629059, + -0.9755433797836304, + -0.06401368975639343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.976240873336792, + 0.03804401680827141, + 0.21332232654094696, + -0.17199933528900146 + ], + [ + 0.05122961103916168, + -0.9970802664756775, + -0.05662558972835541, + 0.0012732644099742174 + ], + [ + 0.21054522693157196, + 0.06620863080024719, + -0.9753394722938538, + -0.06665431708097458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9757172465324402, + 0.04026689752936363, + 0.21530067920684814, + -0.17475754022598267 + ], + [ + 0.05327187851071358, + -0.9970673322677612, + -0.05494401603937149, + 0.001002272590994835 + ], + [ + 0.2124568521976471, + 0.06507930159568787, + -0.9750009179115295, + -0.06905800104141235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9748081564903259, + 0.04203516244888306, + 0.21904829144477844, + -0.17736370861530304 + ], + [ + 0.055081307888031006, + -0.9970317482948303, + -0.053793229162693024, + 0.0007748603820800781 + ], + [ + 0.2161369025707245, + 0.06450354307889938, + -0.9742299914360046, + -0.07136349380016327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9733784198760986, + 0.04335398972034454, + 0.22506633400917053, + -0.17976687848567963 + ], + [ + 0.05675187334418297, + -0.9969591498374939, + -0.05340156704187393, + 0.0005383100360631943 + ], + [ + 0.2220667600631714, + 0.06475286930799484, + -0.9728789329528809, + -0.07361279428005219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9716504216194153, + 0.044157788157463074, + 0.23226191103458405, + -0.18192145228385925 + ], + [ + 0.058102432638406754, + -0.9968738555908203, + -0.053540877997875214, + 0.0002880349929910153 + ], + [ + 0.22917157411575317, + 0.06551799923181534, + -0.9711785316467285, + -0.07582642883062363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9702419638633728, + 0.044763658195734024, + 0.23796364665031433, + -0.18379603326320648 + ], + [ + 0.05905098840594292, + -0.9968336224555969, + -0.05325112119317055, + 5.909055471420288e-05 + ], + [ + 0.2348264455795288, + 0.06571846455335617, + -0.9698131680488586, + -0.07801146805286407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9694750308990479, + 0.04547983780503273, + 0.24093520641326904, + -0.1860361248254776 + ], + [ + 0.05968855693936348, + -0.9968615174293518, + -0.05200346186757088, + -0.00019307807087898254 + ], + [ + 0.23781393468379974, + 0.06479713320732117, + -0.9691469669342041, + -0.080445796251297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9690872430801392, + 0.046397726982831955, + 0.24231626093387604, + -0.18763375282287598 + ], + [ + 0.06030908226966858, + -0.9969112277030945, + -0.05030760169029236, + -0.00035676875268109143 + ], + [ + 0.23923362791538239, + 0.06336632370948792, + -0.9688921570777893, + -0.08263679593801498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9685053825378418, + 0.04754715785384178, + 0.2444106489419937, + -0.18892525136470795 + ], + [ + 0.06124046817421913, + -0.9969327449798584, + -0.04873111844062805, + -0.0004419386386871338 + ], + [ + 0.24134394526481628, + 0.062164172530174255, + -0.9684465527534485, + -0.08468978106975555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9673879146575928, + 0.04902304708957672, + 0.24851027131080627, + -0.19003301858901978 + ], + [ + 0.06276717036962509, + -0.9968884587287903, + -0.04768292233347893, + -0.00043817938421852887 + ], + [ + 0.24539946019649506, + 0.061726171523332596, + -0.9674549102783203, + -0.08663255721330643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.965956449508667, + 0.050492800772190094, + 0.2537294924259186, + -0.19094350934028625 + ], + [ + 0.06459743529558182, + -0.9967772364616394, + -0.047563374042510986, + -0.00034663869882933795 + ], + [ + 0.25051018595695496, + 0.06233442202210426, + -0.9661051034927368, + -0.08852682262659073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9646965861320496, + 0.05135899782180786, + 0.25830748677253723, + -0.19160112738609314 + ], + [ + 0.0660424754023552, + -0.9966380596160889, + -0.04848724976181984, + -0.0001931469887495041 + ], + [ + 0.25494879484176636, + 0.06383474916219711, + -0.9648451805114746, + -0.09041884541511536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9638932347297668, + 0.05175523832440376, + 0.2612110376358032, + -0.19272175431251526 + ], + [ + 0.06695625931024551, + -0.9965208768844604, + -0.04962849244475365, + 8.930452167987823e-05 + ], + [ + 0.2577337324619293, + 0.06532628834247589, + -0.9640051126480103, + -0.09214536845684052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9636194705963135, + 0.05200275778770447, + 0.2621702551841736, + -0.19324277341365814 + ], + [ + 0.06729461997747421, + -0.9964953064918518, + -0.049684882164001465, + 0.000380001962184906 + ], + [ + 0.2586676776409149, + 0.06551996618509293, + -0.9637417793273926, + -0.09378238022327423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9635680317878723, + 0.052291784435510635, + 0.26230186223983765, + -0.19351090490818024 + ], + [ + 0.06725417077541351, + -0.9965618848800659, + -0.04838687926530838, + 0.0007104445248842239 + ], + [ + 0.25886979699134827, + 0.0642649456858635, + -0.9637719988822937, + -0.09522828459739685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.963474690914154, + 0.052368223667144775, + 0.26262912154197693, + -0.1936148852109909 + ], + [ + 0.06688246130943298, + -0.9966707825660706, + -0.04662729427218437, + 0.0010752608068287373 + ], + [ + 0.2593129575252533, + 0.062489502131938934, + -0.9637696146965027, + -0.09651877731084824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9633018374443054, + 0.0520206019282341, + 0.2633313238620758, + -0.19358164072036743 + ], + [ + 0.06623006612062454, + -0.9967724680900574, + -0.045368097722530365, + 0.0014716696459800005 + ], + [ + 0.26012134552001953, + 0.06114362180233002, + -0.9636380672454834, + -0.0977405235171318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9631080627441406, + 0.05132513493299484, + 0.26417529582977295, + -0.19344007968902588 + ], + [ + 0.06535902619361877, + -0.996864378452301, + -0.04460526257753372, + 0.001908954232931137 + ], + [ + 0.2610575556755066, + 0.06022593006491661, + -0.9634426832199097, + -0.09893856942653656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9630982875823975, + 0.050817083567380905, + 0.2643090784549713, + -0.19274979829788208 + ], + [ + 0.06469499319791794, + -0.9969317317008972, + -0.04406385123729706, + 0.002485610544681549 + ], + [ + 0.26125890016555786, + 0.05953729525208473, + -0.9634308815002441, + -0.0996820330619812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9633694291114807, + 0.05056234076619148, + 0.26336807012557983, + -0.19233015179634094 + ], + [ + 0.064312644302845, + -0.9969660639762878, + -0.04384700208902359, + 0.0030720923095941544 + ], + [ + 0.2603520154953003, + 0.059178758412599564, + -0.9636984467506409, + -0.10077527165412903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9637560248374939, + 0.05061589181423187, + 0.26193949580192566, + -0.19196631014347076 + ], + [ + 0.0643613412976265, + -0.9969491362571716, + -0.04415968433022499, + 0.003694285871461034 + ], + [ + 0.25890517234802246, + 0.05941794440150261, + -0.9640734791755676, + -0.101994089782238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9641939997673035, + 0.05080311745405197, + 0.26028627157211304, + -0.19157887995243073 + ], + [ + 0.0647001788020134, + -0.9968851208686829, + -0.04509900510311127, + 0.004354435484856367 + ], + [ + 0.25718432664871216, + 0.06032475829124451, + -0.9644776582717896, + -0.10325101763010025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.96456378698349, + 0.051296405494213104, + 0.25881528854370117, + -0.1911637932062149 + ], + [ + 0.06531904637813568, + -0.9968096613883972, + -0.0458691380918026, + 0.005055457353591919 + ], + [ + 0.25563666224479675, + 0.06114927679300308, + -0.9648371338844299, + -0.10443584620952606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9649469256401062, + 0.052224475890398026, + 0.25719648599624634, + -0.19069916009902954 + ], + [ + 0.06617633253335953, + -0.9967523217201233, + -0.045886263251304626, + 0.005790947005152702 + ], + [ + 0.2539648115634918, + 0.06129813194274902, + -0.9652690887451172, + -0.10548326373100281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9654210805892944, + 0.053673285990953445, + 0.255110502243042, + -0.1908792108297348 + ], + [ + 0.06749381124973297, + -0.9966713190078735, + -0.045726560056209564, + 0.006740180775523186 + ], + [ + 0.25180700421333313, + 0.061363764107227325, + -0.9658300876617432, + -0.10628664493560791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9660122990608215, + 0.0548931248486042, + 0.25260037183761597, + -0.1904321014881134 + ], + [ + 0.06870848685503006, + -0.9965667128562927, + -0.04619384557008743, + 0.007552860304713249 + ], + [ + 0.24919740855693817, + 0.061979614198207855, + -0.9664673805236816, + -0.1071128398180008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9668009877204895, + 0.055569179356098175, + 0.24941526353359222, + -0.18961486220359802 + ], + [ + 0.06950730830430984, + -0.9964537024497986, + -0.04742138832807541, + 0.00830499455332756 + ], + [ + 0.2458955943584442, + 0.06318322569131851, + -0.9672348499298096, + -0.10790097713470459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9679405689239502, + 0.055598653852939606, + 0.2449486404657364, + -0.18849146366119385 + ], + [ + 0.06960701942443848, + -0.9963752031326294, + -0.04890143498778343, + 0.009032385423779488 + ], + [ + 0.24134188890457153, + 0.06438382714986801, + -0.9683020114898682, + -0.10857711732387543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9693782925605774, + 0.055187638849020004, + 0.23929081857204437, + -0.18712954223155975 + ], + [ + 0.06904919445514679, + -0.9963629841804504, + -0.049930330365896225, + 0.009741994552314281 + ], + [ + 0.2356649786233902, + 0.0649242177605629, + -0.9696632623672485, + -0.10904724150896072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9709036946296692, + 0.05464273691177368, + 0.23315276205539703, + -0.18559621274471283 + ], + [ + 0.06812813878059387, + -0.9964139461517334, + -0.050177715718746185, + 0.010436350479722023 + ], + [ + 0.22957481443881989, + 0.06460199505090714, + -0.9711446762084961, + -0.10925833880901337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.972404420375824, + 0.054029833525419235, + 0.2269589900970459, + -0.18458342552185059 + ], + [ + 0.06696091592311859, + -0.9965188503265381, + -0.04966245964169502, + 0.011267346329987049 + ], + [ + 0.22348566353321075, + 0.06348937749862671, + -0.9726372957229614, + -0.10929200798273087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9738479256629944, + 0.052997391670942307, + 0.22093325853347778, + -0.18293417990207672 + ], + [ + 0.06529594957828522, + -0.9966751337051392, + -0.04873480275273323, + 0.011983591131865978 + ], + [ + 0.21761587262153625, + 0.06188633292913437, + -0.9740705490112305, + -0.10901650041341782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9753067493438721, + 0.051531530916690826, + 0.21475857496261597, + -0.18094402551651 + ], + [ + 0.06307381391525269, + -0.9968902468681335, + -0.047239258885383606, + 0.012638982385396957 + ], + [ + 0.21165640652179718, + 0.05961840972304344, + -0.9755240678787231, + -0.10848113149404526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9769799113273621, + 0.049869779497385025, + 0.20742054283618927, + -0.1787189394235611 + ], + [ + 0.0604734942317009, + -0.9971505999565125, + -0.04509537294507027, + 0.013258349150419235 + ], + [ + 0.2045806348323822, + 0.05660071596503258, + -0.9772118926048279, + -0.10774875432252884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.978924572467804, + 0.04814784228801727, + 0.1984652280807495, + -0.17629374563694 + ], + [ + 0.05769554153084755, + -0.9974246621131897, + -0.04260563477873802, + 0.013852479867637157 + ], + [ + 0.1959027498960495, + 0.05315826088190079, + -0.9791814684867859, + -0.10689758509397507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9809187650680542, + 0.046336911618709564, + 0.18881531059741974, + -0.1736779659986496 + ], + [ + 0.054889045655727386, + -0.9976782202720642, + -0.04031648114323616, + 0.01441887579858303 + ], + [ + 0.18650877475738525, + 0.04991108551621437, + -0.9811846613883972, + -0.10596516728401184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9825915098190308, + 0.04442005231976509, + 0.18039071559906006, + -0.17112299799919128 + ], + [ + 0.05219587683677673, + -0.9978910684585571, + -0.03858762979507446, + 0.01499568484723568 + ], + [ + 0.17829622328281403, + 0.04733153060078621, + -0.9828377962112427, + -0.10517355799674988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9838469624519348, + 0.04213909059762955, + 0.17398110032081604, + -0.16827453672885895 + ], + [ + 0.04929518327116966, + -0.9980981349945068, + -0.03701534867286682, + 0.015487441793084145 + ], + [ + 0.17209041118621826, + 0.044993869960308075, + -0.9840530753135681, + -0.10410232841968536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9849092364311218, + 0.03962832689285278, + 0.1684737205505371, + -0.16523045301437378 + ], + [ + 0.04622991010546684, + -0.9983018636703491, + -0.03544311225414276, + 0.01590161956846714 + ], + [ + 0.16678307950496674, + 0.042696770280599594, + -0.9850687384605408, + -0.10290049016475677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9859871864318848, + 0.037154506891965866, + 0.16263079643249512, + -0.16203844547271729 + ], + [ + 0.04315569996833801, + -0.9985057711601257, + -0.03352366387844086, + 0.01625160686671734 + ], + [ + 0.1611422300338745, + 0.04007234796881676, + -0.9861173033714294, + -0.10165512561798096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9871519207954407, + 0.035123176872730255, + 0.15587623417377472, + -0.1587165892124176 + ], + [ + 0.040466319769620895, + -0.998692512512207, + -0.031237313523888588, + 0.01657002791762352 + ], + [ + 0.15457527339458466, + 0.03714371100068092, + -0.9872825741767883, + -0.10042697936296463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9883597493171692, + 0.033473335206508636, + 0.1484067440032959, + -0.15525829792022705 + ], + [ + 0.03819957748055458, + -0.9988459944725037, + -0.029110651463270187, + 0.016865981742739677 + ], + [ + 0.14726105332374573, + 0.03444087132811546, + -0.9884978532791138, + -0.09927815198898315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9895148277282715, + 0.032200612127780914, + 0.1407962292432785, + -0.15201300382614136 + ], + [ + 0.03644599765539169, + -0.9989522695541382, + -0.027678150683641434, + 0.017415331676602364 + ], + [ + 0.1397574543952942, + 0.032519400119781494, + -0.989651620388031, + -0.09868040680885315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.990479052066803, + 0.03136273846030235, + 0.1340433657169342, + -0.1484197974205017 + ], + [ + 0.0352480448782444, + -0.999021589756012, + -0.026710746809840202, + 0.01775890775024891 + ], + [ + 0.13307449221611023, + 0.031181201338768005, + -0.9906154274940491, + -0.09792421758174896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9911988973617554, + 0.030935311689972878, + 0.1287159025669098, + -0.14463014900684357 + ], + [ + 0.03462342545390129, + -0.99904865026474, + -0.026514355093240738, + 0.018028371036052704 + ], + [ + 0.1277732104063034, + 0.030737584456801414, + -0.9913269877433777, + -0.09720044583082199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9916576743125916, + 0.030802834779024124, + 0.12516462802886963, + -0.14069092273712158 + ], + [ + 0.034485068172216415, + -0.9990306496620178, + -0.027359236031770706, + 0.01826241798698902 + ], + [ + 0.12420056760311127, + 0.03144730627536774, + -0.9917587041854858, + -0.09658317267894745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9920172095298767, + 0.03084952011704445, + 0.12227100133895874, + -0.13660159707069397 + ], + [ + 0.0346977524459362, + -0.9989632964134216, + -0.0294692013412714, + 0.01846499927341938 + ], + [ + 0.12123512476682663, + 0.03347648307681084, + -0.9920591711997986, + -0.09613361954689026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9925199747085571, + 0.031435515731573105, + 0.11796581000089645, + -0.1323956847190857 + ], + [ + 0.03546072915196419, + -0.9988528490066528, + -0.03217904269695282, + 0.0186628345400095 + ], + [ + 0.11681891977787018, + 0.03612149506807327, + -0.992496132850647, + -0.09586502611637115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9931933283805847, + 0.03215548396110535, + 0.11195116490125656, + -0.12770317494869232 + ], + [ + 0.03627994656562805, + -0.9987285137176514, + -0.03500097990036011, + 0.0190440583974123 + ], + [ + 0.11068335175514221, + 0.03882431983947754, + -0.9930971264839172, + -0.09646512567996979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9939668774604797, + 0.03246733918786049, + 0.10476525872945786, + -0.12305375933647156 + ], + [ + 0.036557819694280624, + -0.9986328482627869, + -0.03736265376210213, + 0.01927029900252819 + ], + [ + 0.10340896248817444, + 0.04096722975373268, + -0.993794858455658, + -0.09661605954170227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9947790503501892, + 0.03249574452638626, + 0.09674037247896194, + -0.11834275722503662 + ], + [ + 0.03638583794236183, + -0.9985873103141785, + -0.03872249647974968, + 0.01942397840321064 + ], + [ + 0.0953453928232193, + 0.04204030707478523, + -0.9945561289787292, + -0.09654456377029419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9954913854598999, + 0.03297588229179382, + 0.0889354795217514, + -0.11359603703022003 + ], + [ + 0.036552950739860535, + -0.998574435710907, + -0.03889640420675278, + 0.019558433443307877 + ], + [ + 0.08752605319023132, + 0.04197188839316368, + -0.9952776432037354, + -0.09629765897989273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9959893822669983, + 0.034109413623809814, + 0.08271455764770508, + -0.10883429646492004 + ], + [ + 0.03742068260908127, + -0.9985453486442566, + -0.03881791979074478, + 0.01968894712626934 + ], + [ + 0.08127018809318542, + 0.04175747185945511, + -0.9958170056343079, + -0.09592995047569275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9963175654411316, + 0.03512096032500267, + 0.07821638882160187, + -0.10396979749202728 + ], + [ + 0.03829490393400192, + -0.9984872341156006, + -0.0394553542137146, + 0.019802352413535118 + ], + [ + 0.07671235501766205, + 0.0423053503036499, + -0.996155321598053, + -0.0955093652009964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9966206550598145, + 0.03567766398191452, + 0.07398872077465057, + -0.09845083951950073 + ], + [ + 0.038763776421546936, + -0.9984191060066223, + -0.04070241376757622, + 0.019627923145890236 + ], + [ + 0.07241958379745483, + 0.04343295097351074, + -0.9964281320571899, + -0.09583106637001038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9970201849937439, + 0.03623061254620552, + 0.06810375303030014, + -0.09312757849693298 + ], + [ + 0.03912729769945145, + -0.9983640909194946, + -0.04169173538684845, + 0.01966485194861889 + ], + [ + 0.0664818212389946, + 0.044232215732336044, + -0.9968067407608032, + -0.09565424919128418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.997525155544281, + 0.037317920476198196, + 0.05958934873342514, + -0.0878373384475708 + ], + [ + 0.0398397296667099, + -0.9983352422714233, + -0.041707731783390045, + 0.01983971707522869 + ], + [ + 0.05793370306491852, + 0.04397853463888168, + -0.9973512887954712, + -0.09527143836021423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9980078935623169, + 0.03819652646780014, + 0.05021202936768532, + -0.08246563374996185 + ], + [ + 0.0402570404112339, + -0.9983606338500977, + -0.04068613052368164, + 0.0200917050242424 + ], + [ + 0.04857564717531204, + 0.04262646660208702, + -0.9979094862937927, + -0.09471244364976883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9984055161476135, + 0.037987008690834045, + 0.04175413399934769, + -0.07697051763534546 + ], + [ + 0.03963516280055046, + -0.9984378814697266, + -0.039380427449941635, + 0.020348982885479927 + ], + [ + 0.04019296541810036, + 0.04097256809473038, + -0.998351514339447, + -0.09400710463523865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9987234473228455, + 0.03732094168663025, + 0.034038085490465164, + -0.071429044008255 + ], + [ + 0.03861253336071968, + -0.9985271692276001, + -0.03811218589544296, + 0.020586563274264336 + ], + [ + 0.03256557136774063, + 0.03937783092260361, + -0.998693585395813, + -0.09321385622024536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.998956561088562, + 0.03740411624312401, + 0.026205578818917274, + -0.06607627868652344 + ], + [ + 0.038358528167009354, + -0.9985818862915039, + -0.03691690415143967, + 0.021080950275063515 + ], + [ + 0.024787571281194687, + 0.037883590906858444, + -0.9989746809005737, + -0.09220252931118011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9990825057029724, + 0.03849043697118759, + 0.01877904310822487, + -0.060798145830631256 + ], + [ + 0.03914865106344223, + -0.998583197593689, + -0.036041729152202606, + 0.021432984620332718 + ], + [ + 0.017365174368023872, + 0.03674383461475372, + -0.9991738200187683, + -0.09135004132986069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9991109371185303, + 0.04039764404296875, + 0.012056544423103333, + -0.055610835552215576 + ], + [ + 0.040812984108924866, + -0.9985013008117676, + -0.03646133840084076, + 0.021745046600699425 + ], + [ + 0.01056552305817604, + 0.03692098706960678, + -0.9992623329162598, + -0.09062711894512177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9990511536598206, + 0.04325016587972641, + 0.005125368945300579, + -0.05056530982255936 + ], + [ + 0.043413273990154266, + -0.9983430504798889, + -0.037768613547086716, + 0.022034205496311188 + ], + [ + 0.003483377629891038, + 0.037955284118652344, + -0.9992733597755432, + -0.08996511250734329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9989284873008728, + 0.046205077320337296, + -0.0026292214170098305, + -0.045639872550964355 + ], + [ + 0.04607202857732773, + -0.998214840888977, + -0.03800663352012634, + 0.02225414104759693 + ], + [ + -0.0043806275352835655, + 0.03784477710723877, + -0.9992740154266357, + -0.08916379511356354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9987446069717407, + 0.04882615804672241, + -0.011187545955181122, + -0.04085800051689148 + ], + [ + 0.048399776220321655, + -0.9981915950775146, + -0.03565080463886261, + 0.022357681766152382 + ], + [ + -0.012908006086945534, + 0.03506457433104515, + -0.9993016719818115, + -0.08808282017707825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.99844890832901, + 0.05176158621907234, + -0.020506171509623528, + -0.03663516789674759 + ], + [ + 0.05110121890902519, + -0.9981961250305176, + -0.0315152145922184, + 0.022406823933124542 + ], + [ + -0.022100457921624184, + 0.03041844256222248, + -0.9992929100990295, + -0.08649495989084244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9980173707008362, + 0.05518130213022232, + -0.030271315947175026, + -0.032427817583084106 + ], + [ + 0.054380230605602264, + -0.9981638789176941, + -0.02667764388024807, + 0.02229497767984867 + ], + [ + -0.031687840819358826, + 0.02497858926653862, + -0.9991856217384338, + -0.08503389358520508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9974761605262756, + 0.05849527567625046, + -0.04024442285299301, + -0.0283031165599823 + ], + [ + 0.057598453015089035, + -0.9980726838111877, + -0.02309517003595829, + 0.02203712798655033 + ], + [ + -0.04151781648397446, + 0.02071886509656906, + -0.9989229440689087, + -0.0837460607290268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9968701601028442, + 0.06124803051352501, + -0.049985043704509735, + -0.024226784706115723 + ], + [ + 0.06024821102619171, + -0.9979567527770996, + -0.021271217614412308, + 0.02161201275885105 + ], + [ + -0.0511857345700264, + 0.018193135038018227, + -0.9985234141349792, + -0.08262422680854797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9962157011032104, + 0.0628514364361763, + -0.06003263220191002, + -0.02014639973640442 + ], + [ + 0.06176561489701271, + -0.9978947043418884, + -0.01977654919028282, + 0.02100078947842121 + ], + [ + -0.0611492320895195, + 0.015993757173419, + -0.9980005025863647, + -0.08153605461120605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9955424666404724, + 0.06322238594293594, + -0.06998635828495026, + -0.01605808734893799 + ], + [ + 0.06218116730451584, + -0.9979207515716553, + -0.01695953868329525, + 0.02022789977490902 + ], + [ + -0.07091306149959564, + 0.012532107532024384, + -0.9974038004875183, + -0.08033998310565948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9949501752853394, + 0.06276142597198486, + -0.07832726091146469, + -0.012949943542480469 + ], + [ + 0.06184642016887665, + -0.9979866743087769, + -0.014055921696126461, + 0.01901702769100666 + ], + [ + -0.07905173301696777, + 0.009140681475400925, + -0.9968286156654358, + -0.07927042245864868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9944038391113281, + 0.06239309534430504, + -0.08525331318378448, + -0.009360402822494507 + ], + [ + 0.06160446256399155, + -0.9980302453041077, + -0.011852717027068138, + 0.01790289767086506 + ], + [ + -0.08582491427659988, + 0.006534402724355459, + -0.9962888360023499, + -0.07814489305019379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9939001202583313, + 0.06220953166484833, + -0.09106335043907166, + -0.005740314722061157 + ], + [ + 0.06148339807987213, + -0.9980500936508179, + -0.01076034177094698, + 0.016791505739092827 + ], + [ + -0.09155518561601639, + 0.005095820873975754, + -0.9957869648933411, + -0.07710833847522736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9934095144271851, + 0.06242064759135246, + -0.09613144397735596, + -0.002276578452438116 + ], + [ + 0.061699725687503815, + -0.998039960861206, + -0.010456608608365059, + 0.01566591113805771 + ], + [ + -0.09659573435783386, + 0.004456410184502602, + -0.9953137040138245, + -0.076167531311512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9929406046867371, + 0.06264446675777435, + -0.10072048008441925, + 0.0010016560554504395 + ], + [ + 0.061914585530757904, + -0.9980276823043823, + -0.010359431616961956, + 0.01451033540070057 + ], + [ + -0.10117078572511673, + 0.004050233401358128, + -0.994860827922821, + -0.07527998089790344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.99249267578125, + 0.0627356469631195, + -0.10498801618814468, + 0.0040703327395021915 + ], + [ + 0.061983849853277206, + -0.9980228543281555, + -0.010411597788333893, + 0.013346950523555279 + ], + [ + -0.10543361306190491, + 0.0038258733693510294, + -0.9944189786911011, + -0.07446751743555069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9922383427619934, + 0.06289795786142349, + -0.10727054625749588, + 0.0066379220224916935 + ], + [ + 0.061973750591278076, + -0.9980064630508423, + -0.011930977925658226, + 0.012321501038968563 + ], + [ + -0.10780712962150574, + 0.005190415307879448, + -0.9941582679748535, + -0.07393292337656021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9922896027565002, + 0.06354463845491409, + -0.10641176253557205, + 0.009108483791351318 + ], + [ + 0.06229554861783981, + -0.9979446530342102, + -0.015024760738015175, + 0.01119566522538662 + ], + [ + -0.10714779049158096, + 0.008279934525489807, + -0.9942086338996887, + -0.07343518733978271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.992570698261261, + 0.06477393209934235, + -0.10299371182918549, + 0.011326095089316368 + ], + [ + 0.06313909590244293, + -0.9978227615356445, + -0.0190583448857069, + 0.010035132057964802 + ], + [ + -0.10400395095348358, + 0.012413824908435345, + -0.9944993853569031, + -0.07295217365026474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.992938756942749, + 0.06624823063611984, + -0.09840632975101471, + 0.01327216625213623 + ], + [ + 0.06430995464324951, + -0.9976707696914673, + -0.0227432269603014, + 0.008855082094669342 + ], + [ + -0.09968382120132446, + 0.0162541251629591, + -0.9948863983154297, + -0.07242199778556824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9931933283805847, + 0.06750387698411942, + -0.09492235630750656, + 0.014986475929617882 + ], + [ + 0.06534566730260849, + -0.9975324869155884, + -0.025667643174529076, + 0.007664020173251629 + ], + [ + -0.09642080217599869, + 0.019290167838335037, + -0.9951537251472473, + -0.07189194113016129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9933707118034363, + 0.06783165782690048, + -0.09280885010957718, + 0.016543805599212646 + ], + [ + 0.06552651524543762, + -0.9974672198295593, + -0.027666863054037094, + 0.006445007398724556 + ], + [ + -0.09445047378540039, + 0.021402010694146156, + -0.9952994585037231, + -0.07137593626976013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9935669898986816, + 0.06680601835250854, + -0.0914420485496521, + 0.017745306715369225 + ], + [ + 0.06440524756908417, + -0.9975034594535828, + -0.028961654752492905, + 0.00532869715243578 + ], + [ + -0.09314857423305511, + 0.022885994985699654, + -0.9953891634941101, + -0.07135731726884842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9937764406204224, + 0.06459075957536697, + -0.09075450152158737, + 0.018972119316458702 + ], + [ + 0.06219011917710304, + -0.9976418018341064, + -0.029038406908512115, + 0.004098822362720966 + ], + [ + -0.09241610020399094, + 0.023213651031255722, + -0.9954498410224915, + -0.07096821814775467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9939797520637512, + 0.061803754419088364, + -0.09046826511621475, + 0.020047008991241455 + ], + [ + 0.0595276765525341, + -0.9978437423706055, + -0.02764704078435898, + 0.0028749238699674606 + ], + [ + -0.09198188036680222, + 0.02209523506462574, + -0.9955155253410339, + -0.07035903632640839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9941973686218262, + 0.05886200815439224, + -0.09003787487745285, + 0.020901501178741455 + ], + [ + 0.056811150163412094, + -0.9980674982070923, + -0.02517562173306942, + 0.0017103441059589386 + ], + [ + -0.09134576469659805, + 0.019914381206035614, + -0.99562007188797, + -0.06960269808769226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.994369626045227, + 0.05617904290556908, + -0.08984959125518799, + 0.021501541137695312 + ], + [ + 0.054369185119867325, + -0.9982681274414062, + -0.022467322647571564, + 0.0006705690175294876 + ], + [ + -0.0909561738371849, + 0.017455773428082466, + -0.9957019090652466, + -0.06881861388683319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9945202469825745, + 0.053529612720012665, + -0.08979997783899307, + 0.021870315074920654 + ], + [ + 0.05192318931221962, + -0.9984481334686279, + -0.020132267847657204, + -0.0002210531383752823 + ], + [ + -0.09073828905820847, + 0.015359247103333473, + -0.9957563281059265, + -0.06807398796081543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9946840405464172, + 0.05045076087117195, + -0.0897684395313263, + 0.022372722625732422 + ], + [ + 0.04899607598781586, + -0.9986306428909302, + -0.018336737528443336, + -0.0009434632956981659 + ], + [ + -0.0905706137418747, + 0.01384095847606659, + -0.995793879032135, + -0.06756174564361572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.994763970375061, + 0.04813172295689583, + -0.09015512466430664, + 0.02237686514854431 + ], + [ + 0.04679589718580246, + -0.9987619519233704, + -0.016873808577656746, + -0.0014899931848049164 + ], + [ + -0.090855672955513, + 0.01256656739860773, + -0.9957847595214844, + -0.0670139342546463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9947819113731384, + 0.04677535966038704, + -0.09067012369632721, + 0.02199709415435791 + ], + [ + 0.04546431079506874, + -0.9988301396369934, + -0.016472510993480682, + -0.001829255372285843 + ], + [ + -0.09133455902338028, + 0.01226430106908083, + -0.9957447648048401, + -0.06654882431030273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9949015378952026, + 0.04626565799117088, + -0.08961252868175507, + 0.021278351545333862 + ], + [ + 0.04490143060684204, + -0.9988436698913574, + -0.017181290313601494, + -0.0019648950546979904 + ], + [ + -0.09030381590127945, + 0.013069961220026016, + -0.9958285093307495, + -0.06613297760486603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9952201843261719, + 0.0464954748749733, + -0.08587751537561417, + 0.0202254056930542 + ], + [ + 0.04508790001273155, + -0.9988161325454712, + -0.0182590801268816, + -0.0019106846302747726 + ], + [ + -0.08662480860948563, + 0.014299768023192883, + -0.9961383938789368, + -0.06566745042800903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9955700039863586, + 0.047157950699329376, + -0.08134159445762634, + 0.01885354518890381 + ], + [ + 0.04577362537384033, + -0.9987748861312866, + -0.01880129799246788, + -0.001694774255156517 + ], + [ + -0.08212857693433762, + 0.014994708821177483, + -0.9965089559555054, + -0.06513546407222748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9957690238952637, + 0.047975171357393265, + -0.07837392389774323, + 0.017419476062059402 + ], + [ + 0.04670033976435661, + -0.998746395111084, + -0.01801973208785057, + -0.0011357185430824757 + ], + [ + -0.07914017885923386, + 0.01428340282291174, + -0.99676114320755, + -0.06465891748666763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9957144260406494, + 0.04938152804970741, + -0.07819376140832901, + 0.015519469976425171 + ], + [ + 0.04835403710603714, + -0.9987179040908813, + -0.014980778098106384, + -0.0006110239773988724 + ], + [ + -0.07883328199386597, + 0.011135593056678772, + -0.996825635433197, + -0.06409794092178345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9954894781112671, + 0.05105195567011833, + -0.07996506243944168, + 0.013316047377884388 + ], + [ + 0.05032908171415329, + -0.9986717700958252, + -0.011030743829905987, + -5.8451238146517426e-05 + ], + [ + -0.08042199164628983, + 0.0069564213044941425, + -0.9967366456985474, + -0.06358500570058823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9953317046165466, + 0.05255540460348129, + -0.08094863593578339, + 0.010919052176177502 + ], + [ + 0.05207996070384979, + -0.9986110925674438, + -0.0079750781878829, + 0.00048050613258965313 + ], + [ + -0.08125533908605576, + 0.0037220462691038847, + -0.9966863393783569, + -0.06321132928133011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9954023957252502, + 0.05353641137480736, + -0.07942277193069458, + 0.008377671241760254 + ], + [ + 0.053213562816381454, + -0.9985640645027161, + -0.006177397444844246, + 0.0009374190121889114 + ], + [ + -0.07963944226503372, + 0.0019226272124797106, + -0.9968218803405762, + -0.06296056509017944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9956485033035278, + 0.05399687588214874, + -0.07594968378543854, + 0.005706986878067255 + ], + [ + 0.05383975803852081, + -0.9985411167144775, + -0.0041162073612213135, + 0.001285261707380414 + ], + [ + -0.07606114447116852, + 9.183265319734346e-06, + -0.9971031546592712, + -0.06273191422224045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 842.4289171006943, + "fy": 843.2096667921686, + "cx": 413.11008843315966, + "cy": 225.80188723644576 + } + } + ] +} diff --git a/dycheck_eval/source/paper-windmill__camera_1/caption.txt b/dycheck_eval/source/paper-windmill__camera_1/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..d6ea27952082d08d6433e06f964274210e2e0501 --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_1/caption.txt @@ -0,0 +1 @@ +A colorful pinwheel spins gently in a terracotta pot placed against a wooden fence, its vibrant blades catching the breeze and creating a playful, dynamic motion in the outdoor setting. diff --git a/dycheck_eval/source/paper-windmill__camera_1/extras/frame_mapping.json b/dycheck_eval/source/paper-windmill__camera_1/extras/frame_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..1eed60051758213a0c23d955c5489bf7946c7db2 --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_1/extras/frame_mapping.json @@ -0,0 +1,668 @@ +{ + "original_scene": "paper-windmill", + "source_frame_names": [ + "0_00000", + "0_00001", + "0_00002", + "0_00003", + "0_00004", + "0_00005", + "0_00006", + "0_00007", + "0_00008", + "0_00009", + "0_00010", + "0_00011", + "0_00012", + "0_00013", + "0_00014", + "0_00015", + "0_00016", + "0_00017", + "0_00018", + "0_00019", + "0_00020", + "0_00021", + "0_00022", + "0_00023", + "0_00024", + "0_00025", + "0_00026", + "0_00027", + "0_00028", + "0_00029", + "0_00030", + "0_00031", + "0_00032", + "0_00033", + "0_00034", + "0_00035", + "0_00036", + "0_00037", + "0_00038", + "0_00039", + "0_00040", + "0_00041", + "0_00042", + "0_00043", + "0_00044", + "0_00045", + "0_00046", + "0_00047", + "0_00048", + "0_00049", + "0_00050", + "0_00051", + "0_00052", + "0_00053", + "0_00054", + "0_00055", + "0_00056", + "0_00057", + "0_00058", + "0_00059", + "0_00060", + "0_00061", + "0_00062", + "0_00063", + "0_00064", + "0_00065", + "0_00066", + "0_00067", + "0_00068", + "0_00069", + "0_00070", + "0_00071", + "0_00072", + "0_00073", + "0_00074", + "0_00075", + "0_00076", + "0_00077", + "0_00078", + "0_00079", + "0_00080", + "0_00081", + "0_00082", + "0_00083", + "0_00084", + "0_00085", + "0_00086", + "0_00087", + "0_00088", + "0_00089", + "0_00090", + "0_00091", + "0_00092", + "0_00093", + "0_00094", + "0_00095", + "0_00096", + "0_00097", + "0_00098", + "0_00099", + "0_00100", + "0_00101", + "0_00102", + "0_00103", + "0_00104", + "0_00105", + "0_00106", + "0_00107", + "0_00108", + "0_00109", + "0_00110", + "0_00111", + "0_00112", + "0_00113", + "0_00114", + "0_00115", + "0_00116", + "0_00117", + "0_00118", + "0_00119", + "0_00120", + "0_00121", + "0_00122", + "0_00123", + "0_00124", + "0_00125", + "0_00126", + "0_00127", + "0_00128", + "0_00129", + "0_00130", + "0_00131", + "0_00132", + "0_00133", + "0_00134", + "0_00135", + "0_00136", + "0_00137", + "0_00138", + "0_00139", + "0_00198", + "0_00199", + "0_00200", + "0_00201", + "0_00202", + "0_00203", + "0_00204", + "0_00205", + "0_00206", + "0_00207", + "0_00208", + "0_00209", + "0_00210", + "0_00211", + "0_00212", + "0_00213", + "0_00214", + "0_00215", + "0_00216", + "0_00217", + "0_00218", + "0_00219", + "0_00220", + "0_00221", + "0_00222", + "0_00223", + "0_00224", + "0_00225", + "0_00226", + "0_00227", + "0_00228", + "0_00229", + "0_00230", + "0_00231", + "0_00232", + "0_00233", + "0_00234", + "0_00235", + "0_00236", + "0_00237", + "0_00238", + "0_00239", + "0_00240", + "0_00241", + "0_00242", + "0_00243", + "0_00244", + "0_00245", + "0_00246", + "0_00247", + "0_00248", + "0_00249", + "0_00250", + "0_00251", + "0_00252", + "0_00253", + "0_00254", + "0_00255", + "0_00256", + "0_00257", + "0_00258", + "0_00259", + "0_00260", + "0_00261", + "0_00262", + "0_00263", + "0_00264", + "0_00265", + "0_00266", + "0_00267", + "0_00268", + "0_00269", + "0_00270", + "0_00271", + "0_00272", + "0_00273", + "0_00274", + "0_00275", + "0_00276" + ], + "target_frame_names": [ + "1_00000", + "1_00001", + "1_00002", + "1_00003", + "1_00004", + "1_00005", + "1_00006", + "1_00007", + "1_00008", + "1_00009", + "1_00010", + "1_00011", + "1_00012", + "1_00013", + "1_00014", + "1_00015", + "1_00016", + "1_00017", + "1_00018", + "1_00019", + "1_00020", + "1_00021", + "1_00022", + "1_00023", + "1_00024", + "1_00025", + "1_00026", + "1_00027", + "1_00028", + "1_00029", + "1_00030", + "1_00031", + "1_00032", + "1_00033", + "1_00034", + "1_00035", + "1_00036", + "1_00037", + "1_00038", + "1_00039", + "1_00040", + "1_00041", + "1_00042", + "1_00043", + "1_00044", + "1_00045", + "1_00046", + "1_00047", + "1_00048", + "1_00049", + "1_00050", + "1_00051", + "1_00052", + "1_00053", + "1_00054", + "1_00055", + "1_00056", + "1_00057", + "1_00058", + "1_00059", + "1_00060", + "1_00061", + "1_00062", + "1_00063", + "1_00064", + "1_00065", + "1_00066", + "1_00067", + "1_00068", + "1_00069", + "1_00070", + "1_00071", + "1_00072", + "1_00073", + "1_00074", + "1_00075", + "1_00076", + "1_00077", + "1_00078", + "1_00079", + "1_00080", + "1_00081", + "1_00082", + "1_00083", + "1_00084", + "1_00085", + "1_00086", + "1_00087", + "1_00088", + "1_00089", + "1_00090", + "1_00091", + "1_00092", + "1_00093", + "1_00094", + "1_00095", + "1_00096", + "1_00097", + "1_00098", + "1_00099", + "1_00100", + "1_00101", + "1_00102", + "1_00103", + "1_00104", + "1_00105", + "1_00106", + "1_00107", + "1_00108", + "1_00109", + "1_00110", + "1_00111", + "1_00112", + "1_00113", + "1_00114", + "1_00115", + "1_00116", + "1_00117", + "1_00118", + "1_00119", + "1_00120", + "1_00121", + "1_00122", + "1_00123", + "1_00124", + "1_00125", + "1_00126", + "1_00127", + "1_00128", + "1_00129", + "1_00130", + "1_00131", + "1_00132", + "1_00133", + "1_00134", + "1_00135", + "1_00136", + "1_00137", + "1_00138", + "1_00139", + "1_00198", + "1_00199", + "1_00200", + "1_00201", + "1_00202", + "1_00203", + "1_00204", + "1_00205", + "1_00206", + "1_00207", + "1_00208", + "1_00209", + "1_00210", + "1_00211", + "1_00212", + "1_00213", + "1_00214", + "1_00215", + "1_00216", + "1_00217", + "1_00218", + "1_00219", + "1_00220", + "1_00221", + "1_00222", + "1_00223", + "1_00224", + "1_00225", + "1_00226", + "1_00227", + "1_00228", + "1_00229", + "1_00230", + "1_00231", + "1_00232", + "1_00233", + "1_00234", + "1_00235", + "1_00236", + "1_00237", + "1_00238", + "1_00239", + "1_00240", + "1_00241", + "1_00242", + "1_00243", + "1_00244", + "1_00245", + "1_00246", + "1_00247", + "1_00248", + "1_00249", + "1_00250", + "1_00251", + "1_00252", + "1_00253", + "1_00254", + "1_00255", + "1_00256", + "1_00257", + "1_00258", + "1_00259", + "1_00260", + "1_00261", + "1_00262", + "1_00263", + "1_00264", + "1_00265", + "1_00266", + "1_00267", + "1_00268", + "1_00269", + "1_00270", + "1_00271", + "1_00272", + "1_00273", + "1_00274", + "1_00275", + "1_00276" + ], + "original_time_ids": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268, + 269, + 270, + 271, + 272, + 273, + 274, + 275, + 276 + ], + "source_camera_id": 0, + "target_camera_id": 1 +} diff --git a/dycheck_eval/source/paper-windmill__camera_1/transforms.json b/dycheck_eval/source/paper-windmill__camera_1/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7f5ffb40b34d0d4f8d2ae25689382b869813234e --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_1/transforms.json @@ -0,0 +1,7678 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 219, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + -1.0, + 0.0, + 4.656612873077393e-10 + ], + [ + 0.0, + 0.0, + -1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999677538871765, + 0.005633191671222448, + 0.005718712229281664, + -0.00012584112118929625 + ], + [ + 0.005645165219902992, + -0.9999818801879883, + -0.0020797685720026493, + -5.4587282647844404e-05 + ], + [ + 0.005706892814487219, + 0.0021119846496731043, + -0.9999814629554749, + 0.0004746119666378945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999065399169922, + 0.008541999384760857, + 0.010676175355911255, + -9.063712786883116e-05 + ], + [ + 0.008684624917805195, + -0.9998726844787598, + -0.0133851058781147, + 4.8395108024124056e-05 + ], + [ + 0.010560480877757072, + 0.013476572930812836, + -0.9998534321784973, + 0.0003361382696311921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998183250427246, + 0.013035627081990242, + 0.013906619511544704, + -0.0003636106848716736 + ], + [ + 0.013389309868216515, + -0.9995813369750977, + -0.02565022185444832, + -0.00026742182672023773 + ], + [ + 0.013566430658102036, + 0.025831762701272964, + -0.9995742440223694, + 5.8706849813461304e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997113943099976, + 0.01757785677909851, + 0.016375908628106117, + -0.0008124187588691711 + ], + [ + 0.018107576295733452, + -0.9992985129356384, + -0.032781362533569336, + -0.0005872920155525208 + ], + [ + 0.01578819565474987, + 0.03306842967867851, + -0.9993283748626709, + -0.00014687608927488327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996346235275269, + 0.019950440153479576, + 0.01823648251593113, + -0.0011478881351649761 + ], + [ + 0.020534591749310493, + -0.9992631673812866, + -0.03242673724889755, + -0.0010385924251750112 + ], + [ + 0.01757611706852913, + 0.03278936818242073, + -0.9993077516555786, + 0.00021964650659356266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997450709342957, + 0.01969335414469242, + 0.011046315543353558, + -0.0018264725804328918 + ], + [ + 0.02001125179231167, + -0.9993659853935242, + -0.029446927830576897, + -0.0011362014338374138 + ], + [ + 0.01045940350741148, + 0.02966047078371048, + -0.9995052814483643, + 0.0003824084997177124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997921586036682, + 0.02011728100478649, + 0.0033121281303465366, + -0.0024832487106323242 + ], + [ + 0.02021036110818386, + -0.9993152022361755, + -0.030994009226560593, + -0.0013097182381898165 + ], + [ + 0.002686344785615802, + 0.031054506078362465, + -0.999514102935791, + 0.0002339482307434082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998100996017456, + 0.017765410244464874, + -0.008012148551642895, + -0.003095977008342743 + ], + [ + 0.017470141872763634, + -0.9992159605026245, + -0.0355282686650753, + -0.0012020394206047058 + ], + [ + -0.008637040853500366, + 0.03538154810667038, + -0.9993365406990051, + 0.0002269931137561798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9995908737182617, + 0.027185214683413506, + 0.008892606943845749, + -0.004695518873631954 + ], + [ + 0.02751896157860756, + -0.9988265633583069, + -0.03985192999243736, + -0.0002133435191353783 + ], + [ + 0.007798789069056511, + 0.040080342441797256, + -0.9991660118103027, + 0.0014039792586117983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9976276755332947, + 0.051293302327394485, + 0.04591354355216026, + -0.007867768406867981 + ], + [ + 0.053098034113645554, + -0.9978278279304504, + -0.03899030387401581, + 0.0011625802144408226 + ], + [ + 0.04381386935710907, + 0.04133572429418564, + -0.9981842041015625, + 0.0032140593975782394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9953178763389587, + 0.06932155042886734, + 0.06735623627901077, + -0.010526247322559357 + ], + [ + 0.07141924649477005, + -0.9970174431800842, + -0.02924831211566925, + 0.0021834278013557196 + ], + [ + 0.06512781232595444, + 0.033921897411346436, + -0.9973002076148987, + 0.004904588218778372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9935829043388367, + 0.07701043039560318, + 0.08283931761980057, + -0.011608763597905636 + ], + [ + 0.07944449037313461, + -0.9964871406555176, + -0.02649453654885292, + 0.002662915037944913 + ], + [ + 0.08050796389579773, + 0.03290564566850662, + -0.9962106347084045, + 0.005666849669069052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9944678544998169, + 0.0719437450170517, + 0.07653608918190002, + -0.011006981134414673 + ], + [ + 0.07427946478128433, + -0.9968409538269043, + -0.028118327260017395, + 0.002398980315774679 + ], + [ + 0.07427136600017548, + 0.03364783152937889, + -0.9966702461242676, + 0.005854835733771324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9960905313491821, + 0.057450439780950546, + 0.06710518896579742, + -0.008690237998962402 + ], + [ + 0.05829792097210884, + -0.9982414841651917, + -0.010738314129412174, + 0.0016516330651938915 + ], + [ + 0.06637025624513626, + 0.01460842601954937, + -0.9976881146430969, + 0.007408611476421356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.996558666229248, + 0.04764975234866142, + 0.06782596558332443, + -0.006705134175717831 + ], + [ + 0.04636216536164284, + -0.9987156987190247, + 0.020433716475963593, + 0.0011143480660393834 + ], + [ + 0.068712517619133, + -0.01721883937716484, + -0.9974879026412964, + 0.010066614486277103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9966260194778442, + 0.04171477630734444, + 0.07068593055009842, + -0.0055536264553666115 + ], + [ + 0.03884149715304375, + -0.9983812570571899, + 0.04154724255204201, + 0.0006966096116229892 + ], + [ + 0.07230464369058609, + -0.03866151347756386, + -0.996632993221283, + 0.011989959515631199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9964594841003418, + 0.039811696857213974, + 0.07405095547437668, + -0.005215339362621307 + ], + [ + 0.03590226545929909, + -0.9979277849197388, + 0.053396258503198624, + 0.00035439059138298035 + ], + [ + 0.07602329552173615, + -0.05054861307144165, + -0.9958239197731018, + 0.012873530387878418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9967758655548096, + 0.03471336141228676, + 0.07233867794275284, + -0.004408151842653751 + ], + [ + 0.03058665059506893, + -0.9978829026222229, + 0.05739440768957138, + -0.0003149487602058798 + ], + [ + 0.07417788356542587, + -0.05499676242470741, + -0.9957273602485657, + 0.012398178689181805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9966771602630615, + 0.025230394676327705, + 0.07744715362787247, + -0.00296986848115921 + ], + [ + 0.02068105898797512, + -0.9980442523956299, + 0.058991335332393646, + -0.0006621521897614002 + ], + [ + 0.07878406345844269, + -0.05719362944364548, + -0.9952496886253357, + 0.012203671038150787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9955635666847229, + 0.019512005150318146, + 0.09204617142677307, + -0.0020305663347244263 + ], + [ + 0.01448575034737587, + -0.9983834028244019, + 0.05496129021048546, + -0.0007227123714983463 + ], + [ + 0.09296977519989014, + -0.053384099155664444, + -0.9942367672920227, + 0.011330733075737953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9953000545501709, + 0.009021872654557228, + 0.09641774743795395, + -0.00017165392637252808 + ], + [ + 0.005087839439511299, + -0.9991474151611328, + 0.04097019508481026, + -0.0005819573998451233 + ], + [ + 0.09670517593622208, + -0.0402870774269104, + -0.9944974184036255, + 0.009513547644019127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9951299428939819, + -0.0030093761160969734, + 0.0985257551074028, + 0.0015920251607894897 + ], + [ + -0.005553329363465309, + -0.9996579885482788, + 0.025556134060025215, + -0.0004830397665500641 + ], + [ + 0.09841515123844147, + -0.025978820398449898, + -0.9948062896728516, + 0.007841864600777626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9953761100769043, + -0.0027170658577233553, + 0.09601575881242752, + 0.002921693492680788 + ], + [ + -0.004268176853656769, + -0.9998636245727539, + 0.015953069552779198, + 0.0003039257717318833 + ], + [ + 0.09595932066440582, + -0.01628911681473255, + -0.9952519536018372, + 0.006142216268926859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9970864653587341, + 0.026547303423285484, + 0.07151118665933609, + 0.0036814725026488304 + ], + [ + 0.02540065348148346, + -0.999534547328949, + 0.016896652057766914, + 0.0027758453506976366 + ], + [ + 0.07192646712064743, + -0.015030991286039352, + -0.9972966909408569, + 0.004563447553664446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.997447669506073, + 0.04920639470219612, + 0.05173798277974129, + 0.0043721869587898254 + ], + [ + 0.04823346808552742, + -0.9986380338668823, + 0.019888998940587044, + 0.0046784961596131325 + ], + [ + 0.05264618247747421, + -0.017342733219265938, + -0.9984626173973083, + 0.0023421812802553177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9980158805847168, + 0.03434302657842636, + 0.05277172476053238, + 0.006761766970157623 + ], + [ + 0.03287922963500023, + -0.999056875705719, + 0.028360683470964432, + 0.005821858532726765 + ], + [ + 0.05369594693183899, + -0.026569319888949394, + -0.9982038140296936, + 0.0004058089107275009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9981128573417664, + 0.01829688809812069, + 0.0586172416806221, + 0.009600087068974972 + ], + [ + 0.016995131969451904, + -0.9995994567871094, + 0.02262985147535801, + 0.007211401592940092 + ], + [ + 0.05900781974196434, + -0.021590936928987503, + -0.9980239868164062, + -0.0016631737817078829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9984549283981323, + 0.015498826280236244, + 0.05336219444870949, + 0.012076727114617825 + ], + [ + 0.014954552054405212, + -0.9998321533203125, + 0.010583882220089436, + 0.008712316863238811 + ], + [ + 0.05351727455854416, + -0.009769521653652191, + -0.9985191226005554, + -0.004987186752259731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9989388585090637, + 0.01983623206615448, + 0.04156561568379402, + 0.014702297747135162 + ], + [ + 0.020543815568089485, + -0.9996500611305237, + -0.016665806993842125, + 0.01038682833313942 + ], + [ + 0.04122048243880272, + 0.017502037808299065, + -0.9989967942237854, + -0.009659485891461372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9989779591560364, + 0.0335080586373806, + 0.030335163697600365, + 0.017945878207683563 + ], + [ + 0.034781455993652344, + -0.9984920620918274, + -0.04247145354747772, + 0.012637332081794739 + ], + [ + 0.02886628545820713, + 0.04348314553499222, + -0.9986370205879211, + -0.014083989895880222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9983971118927002, + 0.05606772378087044, + 0.0077180443331599236, + 0.02270764857530594 + ], + [ + 0.056345731019973755, + -0.9975104331970215, + -0.04240427538752556, + 0.01404514629393816 + ], + [ + 0.0053213187493383884, + 0.04277118667960167, + -0.9990707039833069, + -0.01699872501194477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9960694313049316, + 0.08694254606962204, + -0.016932619735598564, + 0.02781236171722412 + ], + [ + 0.08672790974378586, + -0.9961469173431396, + -0.013024108484387398, + 0.015041702426970005 + ], + [ + -0.01799972727894783, + 0.011504384689033031, + -0.999771773815155, + -0.018011974170804024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9956110715866089, + 0.09350418299436569, + -0.003944918047636747, + 0.03385881334543228 + ], + [ + 0.0935869961977005, + -0.9948400855064392, + 0.03917548805475235, + 0.015338252298533916 + ], + [ + -0.0002614905242808163, + -0.03937274217605591, + -0.9992245435714722, + -0.017485935240983963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9951746463775635, + 0.09807609021663666, + -0.0029117341618984938, + 0.039637722074985504 + ], + [ + 0.09801177680492401, + -0.9922573566436768, + 0.07628263533115387, + 0.015457700937986374 + ], + [ + 0.004592312965542078, + -0.07619993388652802, + -0.997081995010376, + -0.01801925338804722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9940895438194275, + 0.10805974900722504, + -0.010445508174598217, + 0.044381484389305115 + ], + [ + 0.1085297018289566, + -0.9915682077407837, + 0.07080788165330887, + 0.015601580031216145 + ], + [ + -0.002705951686948538, + -0.0715230256319046, + -0.9974352717399597, + -0.020768292248249054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9926093816757202, + 0.1190204843878746, + -0.023680631071329117, + 0.04769267141819 + ], + [ + 0.12006700783967972, + -0.9915451407432556, + 0.049215707927942276, + 0.014714255928993225 + ], + [ + -0.01762273721396923, + -0.05169523507356644, + -0.9985073804855347, + -0.024740319699048996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9908839464187622, + 0.1303343027830124, + -0.034086935222148895, + 0.050974540412425995 + ], + [ + 0.1313236504793167, + -0.9909270405769348, + 0.028595050796866417, + 0.014094806276261806 + ], + [ + -0.030050748959183693, + -0.03281079977750778, + -0.9990097284317017, + -0.027931300923228264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9907034039497375, + 0.1328713446855545, + -0.029189355671405792, + 0.05441974103450775 + ], + [ + 0.13369841873645782, + -0.9906126260757446, + 0.02848457172513008, + 0.013090607710182667 + ], + [ + -0.025130560621619225, + -0.032122332602739334, + -0.9991679787635803, + -0.029527006670832634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.991398811340332, + 0.1279585361480713, + -0.027478111907839775, + 0.05810712277889252 + ], + [ + 0.1287086457014084, + -0.9913005232810974, + 0.027521099895238876, + 0.012188101187348366 + ], + [ + -0.023717505857348442, + -0.0308210551738739, + -0.9992434978485107, + -0.03126278892159462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9911007285118103, + 0.12820501625537872, + -0.03581567853689194, + 0.06201530247926712 + ], + [ + 0.12884661555290222, + -0.991532027721405, + 0.016210831701755524, + 0.011742628179490566 + ], + [ + -0.03343408182263374, + -0.020681297406554222, + -0.9992269277572632, + -0.03278275579214096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9901952147483826, + 0.13218331336975098, + -0.04517722502350807, + 0.06616144627332687 + ], + [ + 0.13272112607955933, + -0.9911115765571594, + 0.009106870740652084, + 0.011567729525268078 + ], + [ + -0.043571893125772476, + -0.015013552270829678, + -0.9989374876022339, + -0.03375580906867981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9908957481384277, + 0.12628868222236633, + -0.04665648192167282, + 0.07115297019481659 + ], + [ + 0.12717223167419434, + -0.9917439222335815, + 0.016468938440084457, + 0.011780893430113792 + ], + [ + -0.04419144243001938, + -0.022252408787608147, + -0.9987752437591553, + -0.033939898014068604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9915084838867188, + 0.1212160661816597, + -0.04709082469344139, + 0.07624177634716034 + ], + [ + 0.12243758887052536, + -0.9921866059303284, + 0.02397385612130165, + 0.011699804104864597 + ], + [ + -0.04381687194108963, + -0.029535969719290733, + -0.9986028671264648, + -0.03418358415365219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.990406334400177, + 0.12705422937870026, + -0.05433667078614235, + 0.08079586178064346 + ], + [ + 0.12878945469856262, + -0.9912267923355103, + 0.02970993146300316, + 0.011799829080700874 + ], + [ + -0.05008519068360329, + -0.03642289340496063, + -0.9980805516242981, + -0.03494318947196007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9911357760429382, + 0.12361320108175278, + -0.04867957904934883, + 0.08592432737350464 + ], + [ + 0.12552690505981445, + -0.9913455843925476, + 0.0384308360517025, + 0.01275868620723486 + ], + [ + -0.04350772872567177, + -0.04420077055692673, + -0.9980748295783997, + -0.0360531285405159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.991719126701355, + 0.11954080313444138, + -0.046937864273786545, + 0.09118863940238953 + ], + [ + 0.12133518606424332, + -0.9919053316116333, + 0.037438079714775085, + 0.013329927809536457 + ], + [ + -0.0420825369656086, + -0.042823273688554764, + -0.998196005821228, + -0.03757527470588684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9916958212852478, + 0.11787337064743042, + -0.051432300359010696, + 0.09650983661413193 + ], + [ + 0.11936085671186447, + -0.992487370967865, + 0.026866892352700233, + 0.014035126194357872 + ], + [ + -0.047879014164209366, + -0.03278278931975365, + -0.9983150362968445, + -0.03985197842121124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9919085502624512, + 0.11521857231855392, + -0.05331193655729294, + 0.10197368264198303 + ], + [ + 0.11621243506669998, + -0.9930967092514038, + 0.01592361554503441, + 0.015021339990198612 + ], + [ + -0.05110921338200569, + -0.021990280598402023, + -0.9984509348869324, + -0.04256197810173035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9928613901138306, + 0.10944337397813797, + -0.0474172979593277, + 0.1075875386595726 + ], + [ + 0.11008907854557037, + -0.9938583970069885, + 0.011218953877687454, + 0.015535100363194942 + ], + [ + -0.04589824005961418, + -0.0163589920848608, + -0.9988121390342712, + -0.04467909783124924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9935200810432434, + 0.10360130667686462, + -0.04674038663506508, + 0.11334299296140671 + ], + [ + 0.10400879383087158, + -0.9945560097694397, + 0.0063653066754341125, + 0.015974046662449837 + ], + [ + -0.04582647979259491, + -0.011185470968484879, + -0.99888676404953, + -0.04692068323493004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9933155179023743, + 0.10438808798789978, + -0.04926866292953491, + 0.11892057210206985 + ], + [ + 0.10426867753267288, + -0.9945366382598877, + -0.004994592163711786, + 0.016875915229320526 + ], + [ + -0.049520865082740784, + -0.00017597273108549416, + -0.9987730979919434, + -0.05018775537610054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9926416873931885, + 0.10753358900547028, + -0.05566921830177307, + 0.12393879890441895 + ], + [ + 0.10713455826044083, + -0.9941931366920471, + -0.010112017393112183, + 0.017292819917201996 + ], + [ + -0.05643333122134209, + 0.004073512274771929, + -0.9983980655670166, + -0.053145911544561386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9912879467010498, + 0.10982704162597656, + -0.07270629703998566, + 0.129177063703537 + ], + [ + 0.10929112881422043, + -0.993945300579071, + -0.011320753023028374, + 0.017564021050930023 + ], + [ + -0.07350941002368927, + 0.003275972092524171, + -0.9972891211509705, + -0.056037962436676025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.989687442779541, + 0.11026604473590851, + -0.09143386036157608, + 0.13453704118728638 + ], + [ + 0.10917054861783981, + -0.9938791394233704, + -0.016912791877985, + 0.017617598176002502 + ], + [ + -0.09273911267518997, + 0.006756492890417576, + -0.9956675171852112, + -0.05908532068133354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9873625636100769, + 0.11128067970275879, + -0.1128351092338562, + 0.13982030749320984 + ], + [ + 0.10877926647663116, + -0.9936684966087341, + -0.02810761332511902, + 0.01733049936592579 + ], + [ + -0.11524852365255356, + 0.015478285029530525, + -0.9932160973548889, + -0.062310948967933655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9833104610443115, + 0.11543326079845428, + -0.14062625169754028, + 0.14494985342025757 + ], + [ + 0.1101660504937172, + -0.9929071664810181, + -0.0447077713906765, + 0.016659166663885117 + ], + [ + -0.14478957653045654, + 0.028469378128647804, + -0.9890528321266174, + -0.06552644819021225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9833919405937195, + 0.1104842871427536, + -0.14399152994155884, + 0.15001273155212402 + ], + [ + 0.10294587910175323, + -0.9929466247558594, + -0.05881490185856819, + 0.015621332451701164 + ], + [ + -0.14947400987148285, + 0.0430147647857666, + -0.9878295660018921, + -0.0678723156452179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9838910698890686, + 0.10590421408414841, + -0.144023135304451, + 0.15501686930656433 + ], + [ + 0.09701156616210938, + -0.9929954409599304, + -0.06744463741779327, + 0.014438853599131107 + ], + [ + -0.15015698969364166, + 0.052386268973350525, + -0.9872732758522034, + -0.06954837590456009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9801552295684814, + 0.11048593372106552, + -0.1645861715078354, + 0.15977509319782257 + ], + [ + 0.09926848858594894, + -0.9922367334365845, + -0.07491319626569748, + 0.01317471545189619 + ], + [ + -0.1715853065252304, + 0.05708834156394005, + -0.9835138320922852, + -0.0705074667930603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9746977686882019, + 0.11702775955200195, + -0.19044369459152222, + 0.16433581709861755 + ], + [ + 0.10157153755426407, + -0.9908370971679688, + -0.08902313560247421, + 0.012063083238899708 + ], + [ + -0.19911684095859528, + 0.06742699444293976, + -0.9776533842086792, + -0.07111133635044098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9693157076835632, + 0.12225151062011719, + -0.2132641077041626, + 0.16876430809497833 + ], + [ + 0.10281635075807571, + -0.9896610975265503, + -0.0999983623623848, + 0.011048533953726292 + ], + [ + -0.22328415513038635, + 0.07500294595956802, + -0.9718635678291321, + -0.07090228796005249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9596977233886719, + 0.1276041716337204, + -0.25039464235305786, + 0.17395900189876556 + ], + [ + 0.10549753159284592, + -0.9893926978111267, + -0.09986193478107452, + 0.0101154251024127 + ], + [ + -0.26048141717910767, + 0.06942125409841537, + -0.962979793548584, + -0.06979547441005707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9448203444480896, + 0.13358601927757263, + -0.2991141378879547, + 0.17947207391262054 + ], + [ + 0.10793767869472504, + -0.9890379309654236, + -0.10076399147510529, + 0.00929339975118637 + ], + [ + -0.3092958927154541, + 0.06291818618774414, + -0.9488821625709534, + -0.06829836219549179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9375190138816833, + 0.13753117620944977, + -0.31959855556488037, + 0.18540814518928528 + ], + [ + 0.10972797125577927, + -0.9885560870170593, + -0.1035211905837059, + 0.008630347438156605 + ], + [ + -0.33017849922180176, + 0.061984188854694366, + -0.9418811798095703, + -0.06563672423362732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9412434697151184, + 0.12986060976982117, + -0.3117642402648926, + 0.19145849347114563 + ], + [ + 0.10570826381444931, + -0.990016758441925, + -0.09323382377624512, + 0.007847451604902744 + ], + [ + -0.32075923681259155, + 0.05479967221617699, + -0.945574164390564, + -0.0631958544254303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.943703830242157, + 0.11836915463209152, + -0.3088880181312561, + 0.19780376553535461 + ], + [ + 0.09927085041999817, + -0.9920853972434998, + -0.0768887922167778, + 0.007106727920472622 + ], + [ + -0.3155445456504822, + 0.041896674782037735, + -0.9479854106903076, + -0.06079062819480896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9424575567245483, + 0.11225129663944244, + -0.31491807103157043, + 0.204425647854805 + ], + [ + 0.0967755913734436, + -0.9932200312614441, + -0.0644083246588707, + 0.006627552676945925 + ], + [ + -0.3200128674507141, + 0.0302257277071476, + -0.9469309449195862, + -0.05822344124317169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9419515132904053, + 0.10751043260097504, + -0.3180704414844513, + 0.21135491132736206 + ], + [ + 0.09328758716583252, + -0.9938499927520752, + -0.05966243892908096, + 0.005943829193711281 + ], + [ + -0.3225286602973938, + 0.026527103036642075, + -0.9461879134178162, + -0.055704329162836075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9378986358642578, + 0.10731596499681473, + -0.3298930823802948, + 0.21829721331596375 + ], + [ + 0.09096918255090714, + -0.9937533736228943, + -0.06464435905218124, + 0.005476796999573708 + ], + [ + -0.33476972579956055, + 0.030619753524661064, + -0.9418023228645325, + -0.0538506954908371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9323655962944031, + 0.111312136054039, + -0.34395354986190796, + 0.22543762624263763 + ], + [ + 0.09075978398323059, + -0.9930188655853271, + -0.07534084469079971, + 0.005358616355806589 + ], + [ + -0.34993869066238403, + 0.03902805969119072, + -0.9359592795372009, + -0.052325837314128876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9304763078689575, + 0.10701985657215118, + -0.3503720760345459, + 0.23350512981414795 + ], + [ + 0.08258117735385895, + -0.9930370450019836, + -0.08401026576757431, + 0.005882045719772577 + ], + [ + -0.3569232225418091, + 0.049235422164201736, + -0.9328352808952332, + -0.05046158656477928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.929242730140686, + 0.09995905309915543, + -0.3556911051273346, + 0.2423611283302307 + ], + [ + 0.07083602994680405, + -0.9930475950241089, + -0.09401480853557587, + 0.00701895309612155 + ], + [ + -0.36261579394340515, + 0.06216682866215706, + -0.929862916469574, + -0.048584140837192535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9264981746673584, + 0.09665920585393906, + -0.36367303133010864, + 0.2514668107032776 + ], + [ + 0.0624464750289917, + -0.9925398826599121, + -0.10471376031637192, + 0.008318359032273293 + ], + [ + -0.37108156085014343, + 0.07430701702833176, + -0.9256224632263184, + -0.04717958718538284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.92594313621521, + 0.09541695564985275, + -0.36541059613227844, + 0.2604116201400757 + ], + [ + 0.058750104159116745, + -0.9921708106994629, + -0.11020661145448685, + 0.009636031463742256 + ], + [ + -0.373065322637558, + 0.08057714253664017, + -0.9242995381355286, + -0.04574425145983696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9283100962638855, + 0.09092626720666885, + -0.3605174422264099, + 0.2688618302345276 + ], + [ + 0.05417702719569206, + -0.9923668503761292, + -0.11078282445669174, + 0.010800858959555626 + ], + [ + -0.36783862113952637, + 0.08330904692411423, + -0.9261502623558044, + -0.04462016001343727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9323274493217468, + 0.0941833108663559, + -0.349134624004364, + 0.27587929368019104 + ], + [ + 0.05647249519824982, + -0.9915624856948853, + -0.11668214201927185, + 0.011779751628637314 + ], + [ + -0.35717830061912537, + 0.08906946331262589, + -0.9297797083854675, + -0.04398031160235405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9327566027641296, + 0.09731032699346542, + -0.3471250534057617, + 0.282057523727417 + ], + [ + 0.05685006082057953, + -0.9905369877815247, + -0.12491811066865921, + 0.01170876994729042 + ], + [ + -0.3559960126876831, + 0.09678411483764648, + -0.9294620156288147, + -0.04399055987596512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9242390990257263, + 0.10859053581953049, + -0.3660467565059662, + 0.28661543130874634 + ], + [ + 0.06001898646354675, + -0.9881048798561096, + -0.1415856033563614, + 0.01201249472796917 + ], + [ + -0.3770674169063568, + 0.10888919234275818, + -0.9197626113891602, + -0.04457541182637215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9117971062660217, + 0.11788377165794373, + -0.3933566212654114, + 0.2910436689853668 + ], + [ + 0.05825340375304222, + -0.9853533506393433, + -0.16026648879051208, + 0.011997729539871216 + ], + [ + -0.4064880907535553, + 0.12321615219116211, + -0.9053094387054443, + -0.04552632197737694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9064404964447021, + 0.12060318142175674, + -0.40474745631217957, + 0.295301616191864 + ], + [ + 0.0567181259393692, + -0.9844403862953186, + -0.16631367802619934, + 0.011942685581743717 + ], + [ + -0.4185076951980591, + 0.127796933054924, + -0.8991770148277283, + -0.04604869708418846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9019808173179626, + 0.12209074199199677, + -0.41415515542030334, + 0.29827746748924255 + ], + [ + 0.05812617763876915, + -0.984792947769165, + -0.16371983289718628, + 0.012485678307712078 + ], + [ + -0.4278457462787628, + 0.12359888851642609, + -0.8953610062599182, + -0.04663882777094841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.8927198052406311, + 0.12624244391918182, + -0.43256697058677673, + 0.3007774353027344 + ], + [ + 0.0581541545689106, + -0.9842033982276917, + -0.16721776127815247, + 0.012718252837657928 + ], + [ + -0.44684386253356934, + 0.12412304431200027, + -0.8859593868255615, + -0.04802200570702553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.8881871700286865, + 0.1306280940771103, + -0.4405222535133362, + 0.3030218183994293 + ], + [ + 0.06383087486028671, + -0.9845188856124878, + -0.16324272751808167, + 0.013087824918329716 + ], + [ + -0.4550265669822693, + 0.116871178150177, + -0.8827751278877258, + -0.04967876896262169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.8907261490821838, + 0.12779700756072998, + -0.436205118894577, + 0.3055080473423004 + ], + [ + 0.06892658025026321, + -0.9865399599075317, + -0.14828377962112427, + 0.013678343035280704 + ], + [ + -0.44928398728370667, + 0.10201410949230194, + -0.8875455260276794, + -0.05177735909819603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.8922274708747864, + 0.12470296025276184, + -0.4340268075466156, + 0.30774086713790894 + ], + [ + 0.06851275265216827, + -0.9873707294464111, + -0.1428462266921997, + 0.013854815624654293 + ], + [ + -0.44635871052742004, + 0.09771496802568436, + -0.8895030617713928, + -0.05521908774971962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.892716109752655, + 0.12386086583137512, + -0.43326258659362793, + 0.30978924036026 + ], + [ + 0.06834451109170914, + -0.9875752329826355, + -0.14150698482990265, + 0.013674476183950901 + ], + [ + -0.44540658593177795, + 0.09671443700790405, + -0.8900895118713379, + -0.05943658575415611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.890802800655365, + 0.1259709745645523, + -0.43657952547073364, + 0.31128665804862976 + ], + [ + 0.0656687319278717, + -0.9864071607589722, + -0.1506272554397583, + 0.012606135569512844 + ], + [ + -0.4496198296546936, + 0.10550955682992935, + -0.8869665861129761, + -0.06477658450603485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.881193995475769, + 0.12650462985038757, + -0.4555147886276245, + 0.3133094906806946 + ], + [ + 0.05396430194377899, + -0.9841509461402893, + -0.16892236471176147, + 0.011787505820393562 + ], + [ + -0.4696647524833679, + 0.12427183240652084, + -0.8740546703338623, + -0.07112635672092438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.8738933205604553, + 0.12469229847192764, + -0.4698534905910492, + 0.3158379793167114 + ], + [ + 0.04488183930516243, + -0.9831101298332214, + -0.17742620408535004, + 0.01147556770592928 + ], + [ + -0.4840414226055145, + 0.1339636892080307, + -0.8647298216819763, + -0.07709598541259766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.8709260821342468, + 0.11903416365385056, + -0.47677940130233765, + 0.31909021735191345 + ], + [ + 0.04115397110581398, + -0.9844784140586853, + -0.17061243951320648, + 0.011642033234238625 + ], + [ + -0.4896877408027649, + 0.1289694607257843, + -0.8623066544532776, + -0.08214697241783142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.8659687638282776, + 0.11420059204101562, + -0.4868842661380768, + 0.3225308060646057 + ], + [ + 0.03957407549023628, + -0.9861729741096497, + -0.1609245240688324, + 0.012132800184190273 + ], + [ + -0.4985298216342926, + 0.1200876235961914, + -0.8585144281387329, + -0.08691070973873138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.8591976165771484, + 0.11562417447566986, + -0.49840793013572693, + 0.3254694938659668 + ], + [ + 0.04462212696671486, + -0.987352728843689, + -0.1521296352148056, + 0.0126511724665761 + ], + [ + -0.5096943378448486, + 0.1084694042801857, + -0.8534905314445496, + -0.09100660681724548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.8567473292350769, + 0.11327560991048813, + -0.5031428337097168, + 0.32903316617012024 + ], + [ + 0.04931673780083656, + -0.9891047477722168, + -0.13870707154273987, + 0.013600981794297695 + ], + [ + -0.513373076915741, + 0.09402354806661606, + -0.852999210357666, + -0.09462878108024597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.8526087999343872, + 0.11277520656585693, + -0.5102351903915405, + 0.3326008915901184 + ], + [ + 0.05614308640360832, + -0.9905515909194946, + -0.1251218467950821, + 0.014656650833785534 + ], + [ + -0.5195249319076538, + 0.07803381234407425, + -0.8508845567703247, + -0.09807617962360382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.8456370830535889, + 0.1028253585100174, + -0.5237603187561035, + 0.3367542028427124 + ], + [ + 0.0525168776512146, + -0.9925360083580017, + -0.11006493866443634, + 0.01600055769085884 + ], + [ + -0.5311684608459473, + 0.06556873768568039, + -0.8447253108024597, + -0.10118789970874786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.8467624187469482, + 0.09807645529508591, + -0.5228521227836609, + 0.34154313802719116 + ], + [ + 0.0558934360742569, + -0.9938203692436218, + -0.095900759100914, + 0.017625844106078148 + ], + [ + -0.5290267467498779, + 0.051981162279844284, + -0.8470116257667542, + -0.10360743850469589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.8436211347579956, + 0.09790293872356415, + -0.5279378890991211, + 0.3455352783203125 + ], + [ + 0.05885069817304611, + -0.994172215461731, + -0.09032253175973892, + 0.01968354359269142 + ], + [ + -0.5337040424346924, + 0.0451284795999527, + -0.8444663286209106, + -0.1058456301689148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.8422572612762451, + 0.1045210212469101, + -0.5288459658622742, + 0.34895822405815125 + ], + [ + 0.06735600531101227, + -0.9937399625778198, + -0.08912923187017441, + 0.022139297798275948 + ], + [ + -0.5348512530326843, + 0.03944879025220871, + -0.8440248370170593, + -0.10758210718631744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.8390015363693237, + 0.112028568983078, + -0.5324715971946716, + 0.3523853123188019 + ], + [ + 0.07867170870304108, + -0.9932688474655151, + -0.08501636981964111, + 0.024342749267816544 + ], + [ + -0.5384117364883423, + 0.029438409954309464, + -0.8421675562858582, + -0.10996151715517044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.8279232978820801, + 0.11919175833463669, + -0.5480295419692993, + 0.3552938401699066 + ], + [ + 0.0901942029595375, + -0.9927338361740112, + -0.07965230196714401, + 0.026337143033742905 + ], + [ + -0.553541362285614, + 0.01651690900325775, + -0.8326578736305237, + -0.11243131756782532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8286586403846741, + 0.12820430099964142, + -0.5448747277259827, + 0.35858070850372314 + ], + [ + 0.0971851721405983, + -0.9915861487388611, + -0.08551007509231567, + 0.02761460840702057 + ], + [ + -0.5512530207633972, + 0.017904918640851974, + -0.8341460227966309, + -0.11492229253053665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8286741971969604, + 0.13712254166603088, + -0.5426753163337708, + 0.3615114092826843 + ], + [ + 0.10205275565385818, + -0.9902908205986023, + -0.09438924491405487, + 0.028143834322690964 + ], + [ + -0.5503492951393127, + 0.02283642068505287, + -0.8346222043037415, + -0.1173938512802124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8222156763076782, + 0.15053454041481018, + -0.5489086508750916, + 0.3640570044517517 + ], + [ + 0.11367381364107132, + -0.9883927702903748, + -0.10078699886798859, + 0.028273802250623703 + ], + [ + -0.557709276676178, + 0.020472107455134392, + -0.8297838568687439, + -0.11940766870975494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8171581029891968, + 0.16295601427555084, + -0.5528995990753174, + 0.3670080900192261 + ], + [ + 0.1268792450428009, + -0.9865309596061707, + -0.10323891043663025, + 0.02786370739340782 + ], + [ + -0.5622760057449341, + 0.014211026020348072, + -0.8268275260925293, + -0.12104885280132294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.8165805339813232, + 0.1722860336303711, + -0.550920844078064, + 0.3710101246833801 + ], + [ + 0.135649636387825, + -0.9849662184715271, + -0.10696104168891907, + 0.027204327285289764 + ], + [ + -0.5610663294792175, + 0.012610092759132385, + -0.8276748061180115, + -0.12351375818252563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.816677451133728, + 0.17091166973114014, + -0.5512051582336426, + 0.3759080469608307 + ], + [ + 0.13488546013832092, + -0.9852142333984375, + -0.10563525557518005, + 0.026233477517962456 + ], + [ + -0.5611094832420349, + 0.01192037109285593, + -0.8276557922363281, + -0.12601295113563538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8113364577293396, + 0.1679397076368332, + -0.5599370002746582, + 0.3801701068878174 + ], + [ + 0.13548068702220917, + -0.9857858419418335, + -0.0993543416261673, + 0.025225549936294556 + ], + [ + -0.568663477897644, + 0.0047491551376879215, + -0.8225565552711487, + -0.1277264654636383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.8052579164505005, + 0.17348618805408478, + -0.5669763684272766, + 0.3836413025856018 + ], + [ + 0.1454077661037445, + -0.9848175048828125, + -0.09482135623693466, + 0.024929415434598923 + ], + [ + -0.5748184323310852, + -0.0060871196910738945, + -0.8182583451271057, + -0.12924206256866455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8042553663253784, + 0.17318060994148254, + -0.568490743637085, + 0.3874679207801819 + ], + [ + 0.15047913789749146, + -0.984768271446228, + -0.08710625767707825, + 0.024664554744958878 + ], + [ + -0.5749167799949646, + -0.015490323305130005, + -0.8180652260780334, + -0.1306251883506775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.792208194732666, + 0.17382866144180298, + -0.5849699378013611, + 0.3907768726348877 + ], + [ + 0.15695124864578247, + -0.9843643307685852, + -0.07995741069316864, + 0.02425096556544304 + ], + [ + -0.5897223949432373, + -0.028468843549489975, + -0.8071041107177734, + -0.13227799534797668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.7784677147865295, + 0.17235751450061798, + -0.6035568714141846, + 0.3945389688014984 + ], + [ + 0.16009731590747833, + -0.9842792749404907, + -0.07458673417568207, + 0.023729553446173668 + ], + [ + -0.6069241166114807, + -0.038564473390579224, + -0.7938235998153687, + -0.13462375104427338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.7746365666389465, + 0.16446271538734436, + -0.6106473803520203, + 0.39941805601119995 + ], + [ + 0.15411807596683502, + -0.9855744242668152, + -0.06993355602025986, + 0.02280278503894806 + ], + [ + -0.613339900970459, + -0.03993871062994003, + -0.7888086438179016, + -0.13767075538635254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.7660928964614868, + 0.15838587284088135, + -0.6229090094566345, + 0.40421801805496216 + ], + [ + 0.14600639045238495, + -0.9867094159126282, + -0.07132080942392349, + 0.021606173366308212 + ], + [ + -0.6259263753890991, + -0.036310333758592606, + -0.7790364027023315, + -0.14164073765277863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.7547895312309265, + 0.15651492774486542, + -0.6370211243629456, + 0.40891438722610474 + ], + [ + 0.1433292180299759, + -0.9870028495788574, + -0.07267779856920242, + 0.02090943232178688 + ], + [ + -0.640116810798645, + -0.036447301506996155, + -0.767412543296814, + -0.14600996673107147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.7503954172134399, + 0.15857064723968506, + -0.6416869163513184, + 0.41330763697624207 + ], + [ + 0.14212068915367126, + -0.9867985248565674, + -0.07765559107065201, + 0.020195243880152702 + ], + [ + -0.645529568195343, + -0.032924581319093704, + -0.7630252838134766, + -0.14988571405410767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.7434731125831604, + 0.1609489768743515, + -0.6491095423698425, + 0.4172363877296448 + ], + [ + 0.14246125519275665, + -0.9864458441734314, + -0.08142128586769104, + 0.01962195336818695 + ], + [ + -0.653416097164154, + -0.031938426196575165, + -0.7563248872756958, + -0.15316928923130035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.7319630980491638, + 0.16626328229904175, + -0.6607469916343689, + 0.42010676860809326 + ], + [ + 0.1514715552330017, + -0.9852100014686584, + -0.08011031895875931, + 0.019486121833324432 + ], + [ + -0.6642939448356628, + -0.04144657775759697, + -0.7463214993476868, + -0.15573330223560333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.7244680523872375, + 0.17319853603839874, + -0.6671943068504333, + 0.4233894944190979 + ], + [ + 0.158575639128685, + -0.983834445476532, + -0.08320770412683487, + 0.01974685862660408 + ], + [ + -0.6708202362060547, + -0.04551944136619568, + -0.7402217388153076, + -0.15821295976638794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.7109858393669128, + 0.1737585961818695, + -0.6814007759094238, + 0.4272575378417969 + ], + [ + 0.16382165253162384, + -0.9832571744918823, + -0.079798124730587, + 0.02020777389407158 + ], + [ + -0.6838578581809998, + -0.054892875254154205, + -0.7275474071502686, + -0.16053028404712677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.6975219249725342, + 0.17685732245445251, + -0.6943951845169067, + 0.43056365847587585 + ], + [ + 0.17145250737667084, + -0.9821068644523621, + -0.07791084051132202, + 0.02117888629436493 + ], + [ + -0.6957494020462036, + -0.06471128016710281, + -0.7153636813163757, + -0.1626731902360916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.6937311291694641, + 0.18413878977298737, + -0.6962974071502686, + 0.43458157777786255 + ], + [ + 0.17507651448249817, + -0.9808816313743591, + -0.08496703952550888, + 0.0219586081802845 + ], + [ + -0.6986310482025146, + -0.06296104937791824, + -0.7127065062522888, + -0.16504479944705963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.6863282918930054, + 0.18585093319416046, + -0.7031450271606445, + 0.43911609053611755 + ], + [ + 0.17684383690357208, + -0.9804282188415527, + -0.08652634173631668, + 0.022532254457473755 + ], + [ + -0.705464243888855, + -0.06496139615774155, + -0.7057622075080872, + -0.1671195775270462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.6766009330749512, + 0.18482589721679688, + -0.7127766013145447, + 0.44331884384155273 + ], + [ + 0.18173526227474213, + -0.9799563884735107, + -0.08159508556127548, + 0.023381762206554413 + ], + [ + -0.7135708928108215, + -0.07432933896780014, + -0.6966288089752197, + -0.1687009185552597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.6653905510902405, + 0.17934861779212952, + -0.72463059425354, + 0.44814586639404297 + ], + [ + 0.18152913451194763, + -0.9804462790489197, + -0.07597514241933823, + 0.02395213022828102 + ], + [ + -0.7240874171257019, + -0.08098842948675156, + -0.6849367022514343, + -0.1705767661333084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.65252685546875, + 0.17114752531051636, + -0.7381851077079773, + 0.4532715678215027 + ], + [ + 0.18011821806430817, + -0.9812716245651245, + -0.06828942894935608, + 0.024525076150894165 + ], + [ + -0.736047625541687, + -0.08839990198612213, + -0.6711328625679016, + -0.17257964611053467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.6438050866127014, + 0.16172565519809723, + -0.7479036450386047, + 0.45859816670417786 + ], + [ + 0.17894479632377625, + -0.9821281433105469, + -0.058336041867733, + 0.02521822787821293 + ], + [ + -0.7439716458320618, + -0.0962764248251915, + -0.6612390279769897, + -0.17464418709278107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.6304646134376526, + 0.1512773483991623, + -0.7613340616226196, + 0.46379804611206055 + ], + [ + 0.17722302675247192, + -0.9829720854759216, + -0.04855760931968689, + 0.02592826634645462 + ], + [ + -0.7557157874107361, + -0.10431207716464996, + -0.6465389728546143, + -0.1769576221704483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.6203688979148865, + 0.142465278506279, + -0.7712626457214355, + 0.4689079821109772 + ], + [ + 0.17689357697963715, + -0.9834421277046204, + -0.039373207837343216, + 0.02674056775867939 + ], + [ + -0.764101505279541, + -0.11200549453496933, + -0.6352980732917786, + -0.17917270958423615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.6189450621604919, + 0.13393551111221313, + -0.7739304304122925, + 0.4741033911705017 + ], + [ + 0.17628541588783264, + -0.9839032292366028, + -0.02929021790623665, + 0.027094915509223938 + ], + [ + -0.7653956413269043, + -0.11830361187458038, + -0.6325929164886475, + -0.18162040412425995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.6090896129608154, + 0.12384829670190811, + -0.7833718061447144, + 0.4787794351577759 + ], + [ + 0.17325352132320404, + -0.9846541881561279, + -0.020961711183190346, + 0.027114346623420715 + ], + [ + -0.7739464044570923, + -0.1229543685913086, + -0.6211997866630554, + -0.184553325176239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.5987192392349243, + 0.11353922635316849, + -0.7928707599639893, + 0.48308104276657104 + ], + [ + 0.1673169732093811, + -0.9857917428016663, + -0.014819742180407047, + 0.026884309947490692 + ], + [ + -0.7832881212234497, + -0.12378787249326706, + -0.6092095375061035, + -0.18766029179096222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.5975221991539001, + 0.1084221675992012, + -0.7944884300231934, + 0.4864054024219513 + ], + [ + 0.16324569284915924, + -0.9865142703056335, + -0.011853020638227463, + 0.026681721210479736 + ], + [ + -0.7850592732429504, + -0.12261437624692917, + -0.6071636080741882, + -0.19076041877269745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.5893014669418335, + 0.10461647808551788, + -0.8011112213134766, + 0.48912519216537476 + ], + [ + 0.1599096953868866, + -0.9870672821998596, + -0.011269958689808846, + 0.026142830029129982 + ], + [ + -0.7919297218322754, + -0.12146404385566711, + -0.5984094142913818, + -0.19400151073932648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.5820999145507812, + 0.10403086245059967, + -0.8064348697662354, + 0.49153023958206177 + ], + [ + 0.15604645013809204, + -0.987639307975769, + -0.014769129455089569, + 0.02561013400554657 + ], + [ + -0.7980032563209534, + -0.117244191467762, + -0.5911384224891663, + -0.1974370926618576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.5786840319633484, + 0.11339841783046722, + -0.8076295852661133, + 0.49301743507385254 + ], + [ + 0.154641792178154, + -0.9875776767730713, + -0.027860553935170174, + 0.02520449087023735 + ], + [ + -0.8007563352584839, + -0.10877083241939545, + -0.5890315771102905, + -0.20065955817699432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.5715155005455017, + 0.12376183271408081, + -0.8112046718597412, + 0.494124174118042 + ], + [ + 0.15691998600959778, + -0.986801028251648, + -0.03999742493033409, + 0.024570930749177933 + ], + [ + -0.8054477572441101, + -0.10443507879972458, + -0.5833927989006042, + -0.20331412553787231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.5681446194648743, + 0.13020823895931244, + -0.8125622868537903, + 0.4954768419265747 + ], + [ + 0.16080611944198608, + -0.9859341979026794, + -0.04555420204997063, + 0.02375074103474617 + ], + [ + -0.8070644736289978, + -0.10478361696004868, + -0.5810914635658264, + -0.20536592602729797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.5623016953468323, + 0.1326855570077896, + -0.8162177205085754, + 0.49702179431915283 + ], + [ + 0.16184739768505096, + -0.9856122136116028, + -0.04872405156493187, + 0.023681461811065674 + ], + [ + -0.8109390735626221, + -0.1047050878405571, + -0.5756862163543701, + -0.20758673548698425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.5524506568908691, + 0.126607283949852, + -0.823874294757843, + 0.4983581304550171 + ], + [ + 0.16125290095806122, + -0.985958993434906, + -0.043386850506067276, + 0.02320875972509384 + ], + [ + -0.8177993893623352, + -0.10888303816318512, + -0.5651094317436218, + -0.2094903141260147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.7425385117530823, + 0.17672766745090485, + -0.6460680365562439, + 0.4960073232650757 + ], + [ + 0.1594964563846588, + -0.9834707379341125, + -0.08570960909128189, + 0.024398373439908028 + ], + [ + -0.650536298751831, + -0.039402883499860764, + -0.7584523558616638, + -0.2051207423210144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.7435328364372253, + 0.1767248511314392, + -0.6449242234230042, + 0.49303218722343445 + ], + [ + 0.15559326112270355, + -0.9836968779563904, + -0.09017334878444672, + 0.023422282189130783 + ], + [ + -0.6503458023071289, + -0.03329901397228241, + -0.7589080929756165, + -0.2040390521287918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.7510566115379333, + 0.17541716992855072, + -0.6365082859992981, + 0.49007952213287354 + ], + [ + 0.15184356272220612, + -0.9841094613075256, + -0.09204372018575668, + 0.023165076971054077 + ], + [ + -0.6425398588180542, + -0.02751963585615158, + -0.7657579183578491, + -0.2023928165435791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.7585453391075134, + 0.17544813454151154, + -0.6275562644004822, + 0.48708438873291016 + ], + [ + 0.15050336718559265, + -0.9842028021812439, + -0.09323930740356445, + 0.022803951054811478 + ], + [ + -0.6340013146400452, + -0.023723086342215538, + -0.7729679942131042, + -0.20034392178058624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.7648717761039734, + 0.17186114192008972, + -0.6208340525627136, + 0.48433825373649597 + ], + [ + 0.1468648910522461, + -0.9848965406417847, + -0.09170346707105637, + 0.022192399948835373 + ], + [ + -0.6272175312042236, + -0.021037330850958824, + -0.7785599231719971, + -0.19814904034137726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.7709418535232544, + 0.16783340275287628, + -0.61439448595047, + 0.4815624952316284 + ], + [ + 0.14457044005393982, + -0.9855892062187195, + -0.08782529830932617, + 0.021603163331747055 + ], + [ + -0.6202806234359741, + -0.02111509069800377, + -0.7840957045555115, + -0.1956777572631836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.7728650569915771, + 0.1627117395401001, + -0.6133551597595215, + 0.47887134552001953 + ], + [ + 0.14025342464447021, + -0.9864635467529297, + -0.08496256917715073, + 0.021150927990674973 + ], + [ + -0.6188768744468689, + -0.020360557362437248, + -0.7852240800857544, + -0.1931907683610916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.7764390707015991, + 0.15744630992412567, + -0.6102073788642883, + 0.4761725068092346 + ], + [ + 0.13652369379997253, + -0.9873170256614685, + -0.08103326708078384, + 0.020730048418045044 + ], + [ + -0.6152265071868896, + -0.020390374585986137, + -0.7880866527557373, + -0.19070221483707428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.7811009883880615, + 0.1515568643808365, + -0.6057323813438416, + 0.47349613904953003 + ], + [ + 0.1318940371274948, + -0.9882541298866272, + -0.07718612998723984, + 0.02026175707578659 + ], + [ + -0.6103156208992004, + -0.019602328538894653, + -0.791915774345398, + -0.18821749091148376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.7864758372306824, + 0.14769701659679413, + -0.5997010469436646, + 0.47002294659614563 + ], + [ + 0.12823085486888885, + -0.9888757467269897, + -0.07537677139043808, + 0.019495155662298203 + ], + [ + -0.6041627526283264, + -0.017618171870708466, + -0.7966662049293518, + -0.18489140272140503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.7940955758094788, + 0.14988018572330475, + -0.5890230536460876, + 0.4662624001502991 + ], + [ + 0.12875430285930634, + -0.9886061549186707, + -0.0779753252863884, + 0.01886782795190811 + ], + [ + -0.5939987897872925, + -0.013919396325945854, + -0.8043454885482788, + -0.18191857635974884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.7990533113479614, + 0.15099260210990906, + -0.5819923281669617, + 0.4624137878417969 + ], + [ + 0.12788541615009308, + -0.9884862303733826, + -0.08087193220853806, + 0.01817740872502327 + ], + [ + -0.5875024199485779, + -0.009807338938117027, + -0.809162974357605, + -0.1792418509721756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.8012592196464539, + 0.15233038365840912, + -0.5786009430885315, + 0.45836472511291504 + ], + [ + 0.12752828001976013, + -0.9883061647415161, + -0.08359101414680481, + 0.017214249819517136 + ], + [ + -0.5845683217048645, + -0.006809908896684647, + -0.8113158941268921, + -0.17601308226585388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.8054505586624146, + 0.15244872868061066, + -0.572720468044281, + 0.4545760750770569 + ], + [ + 0.1268649846315384, + -0.9883012771606445, + -0.08465176075696945, + 0.01622840017080307 + ], + [ + -0.5789254307746887, + -0.004475363530218601, + -0.8153682351112366, + -0.17310084402561188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.8094124794006348, + 0.15044140815734863, + -0.5676432251930237, + 0.45108720660209656 + ], + [ + 0.12578092515468597, + -0.988608717918396, + -0.08265584707260132, + 0.015086522325873375 + ], + [ + -0.573611855506897, + -0.004496012814342976, + -0.8191148638725281, + -0.17015235126018524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.813514769077301, + 0.14697574079036713, + -0.5626649856567383, + 0.44813114404678345 + ], + [ + 0.12316560000181198, + -0.9891321063041687, + -0.08029892295598984, + 0.013609013520181179 + ], + [ + -0.5683519840240479, + -0.003976618871092796, + -0.8227759003639221, + -0.16676941514015198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.8205015659332275, + 0.14445364475250244, + -0.5530915856361389, + 0.44524580240249634 + ], + [ + 0.12091295421123505, + -0.9895095229148865, + -0.07906284183263779, + 0.01206601969897747 + ], + [ + -0.5587103366851807, + -0.002004752866923809, + -0.8293604254722595, + -0.1640038788318634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.8251906037330627, + 0.14377202093601227, + -0.5462509393692017, + 0.442150741815567 + ], + [ + 0.11831877380609512, + -0.9896068572998047, + -0.08172476291656494, + 0.010427845641970634 + ], + [ + -0.5523234009742737, + 0.002806761534884572, + -0.8336251974105835, + -0.16164521872997284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.8287912011146545, + 0.14276425540447235, + -0.5410393476486206, + 0.43927204608917236 + ], + [ + 0.11479439586400986, + -0.9897193908691406, + -0.08530982583761215, + 0.008325894363224506 + ], + [ + -0.5476562976837158, + 0.008595747873187065, + -0.8366592526435852, + -0.1588873714208603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.8411157131195068, + 0.14488495886325836, + -0.5210880041122437, + 0.4361453652381897 + ], + [ + 0.11492870002985, + -0.9893279671669006, + -0.08956338465213776, + 0.006616188213229179 + ], + [ + -0.5285032987594604, + 0.015445206314325333, + -0.8487907648086548, + -0.15598483383655548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.8447739481925964, + 0.14808803796768188, + -0.5142245888710022, + 0.43231356143951416 + ], + [ + 0.11555978655815125, + -0.988756537437439, + -0.09490235149860382, + 0.005114509724080563 + ], + [ + -0.5224968194961548, + 0.0207473486661911, + -0.8523887991905212, + -0.1534658968448639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.8450193405151367, + 0.1475420445203781, + -0.5139782428741455, + 0.42874598503112793 + ], + [ + 0.11118361353874207, + -0.9886534810066223, + -0.10100747644901276, + 0.0038189059123396873 + ], + [ + -0.5230492353439331, + 0.028207309544086456, + -0.8518355488777161, + -0.15172222256660461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.8536282181739807, + 0.15060099959373474, + -0.4986363649368286, + 0.42496976256370544 + ], + [ + 0.10959408432245255, + -0.9877904653549194, + -0.11072120070457458, + 0.002917013829573989 + ], + [ + -0.5092229843139648, + 0.03986714407801628, + -0.8597107529640198, + -0.14972610771656036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.8559358716011047, + 0.15508748590946198, + -0.4932764172554016, + 0.4204988479614258 + ], + [ + 0.11128614842891693, + -0.9868573546409607, + -0.11716639995574951, + 0.002373563125729561 + ], + [ + -0.5049644708633423, + 0.04539209604263306, + -0.8619456887245178, + -0.14757978916168213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.8530613780021667, + 0.15501654148101807, + -0.49825310707092285, + 0.41564425826072693 + ], + [ + 0.11227203160524368, + -0.9870168566703796, + -0.11485930532217026, + 0.0023843764793127775 + ], + [ + -0.5095893144607544, + 0.04204215109348297, + -0.8593900203704834, + -0.14510995149612427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.8516352772712708, + 0.1564968228340149, + -0.5002260804176331, + 0.41090095043182373 + ], + [ + 0.11407659947872162, + -0.9868491291999817, + -0.11452241241931915, + 0.0023224835749715567 + ], + [ + -0.5115700960159302, + 0.04046722874045372, + -0.8582881093025208, + -0.14273126423358917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.8490376472473145, + 0.15593531727790833, + -0.5047962069511414, + 0.40654945373535156 + ], + [ + 0.11163497716188431, + -0.9868287444114685, + -0.11707528680562973, + 0.0023069309536367655 + ], + [ + -0.5164036154747009, + 0.04304841160774231, + -0.8552626371383667, + -0.14077813923358917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.8485159873962402, + 0.15095163881778717, + -0.5071826577186584, + 0.4023783802986145 + ], + [ + 0.10653479397296906, + -0.9875555038452148, + -0.11569133400917053, + 0.0023153689689934254 + ], + [ + -0.5183348059654236, + 0.04413333907723427, + -0.8540381789207458, + -0.13788984715938568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.8507312536239624, + 0.14831885695457458, + -0.5042399168014526, + 0.3983742594718933 + ], + [ + 0.10641790181398392, + -0.9880953431129456, + -0.11109819263219833, + 0.0026264041662216187 + ], + [ + -0.5147150754928589, + 0.0408545546233654, + -0.8563873767852783, + -0.1351168155670166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.8480398058891296, + 0.14746057987213135, + -0.5090028047561646, + 0.3942054808139801 + ], + [ + 0.10683367401361465, + -0.98835688829422, + -0.10833825916051865, + 0.0030441523995250463 + ], + [ + -0.5190520882606506, + 0.03749650716781616, + -0.8539197444915771, + -0.13272307813167572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.8530142307281494, + 0.1482224464416504, + -0.5003966689109802, + 0.3905714154243469 + ], + [ + 0.10702359676361084, + -0.9881247282028198, + -0.1102517768740654, + 0.003011755645275116 + ], + [ + -0.510796070098877, + 0.040492091327905655, + -0.8587477803230286, + -0.12991584837436676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.8586591482162476, + 0.1503976583480835, + -0.48998475074768066, + 0.3867514133453369 + ], + [ + 0.10892923176288605, + -0.9876886010169983, + -0.11227487772703171, + 0.00340292789041996 + ], + [ + -0.5008382201194763, + 0.04303218796849251, + -0.8644705414772034, + -0.1271863430738449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.8568171262741089, + 0.14739574491977692, + -0.4941041171550751, + 0.38327956199645996 + ], + [ + 0.1077231615781784, + -0.9882955551147461, + -0.1080167219042778, + 0.003637447953224182 + ], + [ + -0.5042421221733093, + 0.03932411968708038, + -0.8626664876937866, + -0.12463052570819855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.8602032661437988, + 0.14148497581481934, + -0.4899309277534485, + 0.3805983066558838 + ], + [ + 0.10372104495763779, + -0.9892005920410156, + -0.10355712473392487, + 0.0031042108312249184 + ], + [ + -0.4992917478084564, + 0.03826403245329857, + -0.8655886054039001, + -0.12171421945095062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.8639869689941406, + 0.13497807085514069, + -0.48508504033088684, + 0.3781784176826477 + ], + [ + 0.09689449518918991, + -0.9899627566337585, + -0.10288441181182861, + 0.002756236121058464 + ], + [ + -0.49410325288772583, + 0.04188871756196022, + -0.8683935403823853, + -0.11941027641296387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.8665866851806641, + 0.12755146622657776, + -0.4824501574039459, + 0.3759981095790863 + ], + [ + 0.08849344402551651, + -0.9907390475273132, + -0.10298055410385132, + 0.0024154249113053083 + ], + [ + -0.49111753702163696, + 0.04654790461063385, + -0.8698487877845764, + -0.1172824278473854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.8719680309295654, + 0.12080250680446625, + -0.4744243621826172, + 0.3738386631011963 + ], + [ + 0.0827934741973877, + -0.991506814956665, + -0.10029681026935577, + 0.0019039777107536793 + ], + [ + -0.48251110315322876, + 0.04817637801170349, + -0.8745639324188232, + -0.11421704292297363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.874579906463623, + 0.11059889197349548, + -0.4720993936061859, + 0.37176796793937683 + ], + [ + 0.07717116177082062, + -0.9929779171943665, + -0.08966311812400818, + 0.0015848110197111964 + ], + [ + -0.4787009060382843, + 0.041985105723142624, + -0.876973569393158, + -0.11101053655147552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.8757206201553345, + 0.10245766490697861, + -0.4718218147754669, + 0.3693663477897644 + ], + [ + 0.07354186475276947, + -0.9941278696060181, + -0.07938142865896225, + 0.0008109738118946552 + ], + [ + -0.4771844446659088, + 0.034817300736904144, + -0.8781132102012634, + -0.10758937895298004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.8789336681365967, + 0.09759801626205444, + -0.4668513536453247, + 0.36720654368400574 + ], + [ + 0.06882251799106598, + -0.9945479035377502, + -0.07834500074386597, + 0.0003247261047363281 + ], + [ + -0.471952348947525, + 0.03673017397522926, + -0.8808586001396179, + -0.10529521107673645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.8807381391525269, + 0.09259651601314545, + -0.46446332335472107, + 0.3652631640434265 + ], + [ + 0.06227193772792816, + -0.9948278665542603, + -0.0802481472492218, + -0.00018792366608977318 + ], + [ + -0.46949172019958496, + 0.041754577308893204, + -0.8819490075111389, + -0.10372212529182434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.8850427865982056, + 0.08767203241586685, + -0.4571792185306549, + 0.363521933555603 + ], + [ + 0.05618961900472641, + -0.9950437545776367, + -0.08204066753387451, + -0.0007638934766873717 + ], + [ + -0.46210598945617676, + 0.0469207726418972, + -0.8855825662612915, + -0.10240699350833893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.8872092366218567, + 0.0838756263256073, + -0.45367899537086487, + 0.3613669276237488 + ], + [ + 0.05025904253125191, + -0.9950543642044067, + -0.08567846566438675, + -0.0016762297600507736 + ], + [ + -0.4586215913295746, + 0.05321325734257698, + -0.8870369791984558, + -0.1013624519109726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.8910436630249023, + 0.0805988684296608, + -0.44670459628105164, + 0.35966116189956665 + ], + [ + 0.043516743928194046, + -0.9947446584701538, + -0.09267863631248474, + -0.002393810311332345 + ], + [ + -0.451826810836792, + 0.0631415843963623, + -0.8898683786392212, + -0.10060067474842072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.8988727331161499, + 0.07390221953392029, + -0.4319331645965576, + 0.35833561420440674 + ], + [ + 0.03444771096110344, + -0.9945430755615234, + -0.09847550094127655, + -0.003206814406439662 + ], + [ + -0.43685370683670044, + 0.07363783568143845, + -0.8965134024620056, + -0.09946036338806152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9012334942817688, + 0.0676087737083435, + -0.4280271530151367, + 0.35626909136772156 + ], + [ + 0.030146140605211258, + -0.9951427578926086, + -0.09371290355920792, + -0.0034618815407156944 + ], + [ + -0.4322839379310608, + 0.07155384123325348, + -0.8988941311836243, + -0.09785893559455872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9043534994125366, + 0.06299938261508942, + -0.4221087396144867, + 0.35403645038604736 + ], + [ + 0.02869921177625656, + -0.9957832098007202, + -0.08713274449110031, + -0.003827937413007021 + ], + [ + -0.4258181154727936, + 0.06668461114168167, + -0.9023481011390686, + -0.09585262835025787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.900749146938324, + 0.06028234586119652, + -0.4301360547542572, + 0.35098567605018616 + ], + [ + 0.02752663940191269, + -0.9962539076805115, + -0.08197853714227676, + -0.003974250052124262 + ], + [ + -0.4334665834903717, + 0.062001898884773254, + -0.8990342020988464, + -0.09427132457494736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9016644954681396, + 0.060265108942985535, + -0.42821642756462097, + 0.34722989797592163 + ], + [ + 0.028094599023461342, + -0.996313214302063, + -0.0810595378279686, + -0.0041517214849591255 + ], + [ + -0.4315227270126343, + 0.061057936400175095, + -0.9000333547592163, + -0.09191866964101791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9070048928260803, + 0.0629379004240036, + -0.41639038920402527, + 0.34333521127700806 + ], + [ + 0.030002787709236145, + -0.9959137439727783, + -0.08517979830503464, + -0.004247778560966253 + ], + [ + -0.4200499653816223, + 0.06476561725139618, + -0.9051869511604309, + -0.09019726514816284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9123828411102295, + 0.0627400204539299, + -0.40450119972229004, + 0.33947187662124634 + ], + [ + 0.029307568445801735, + -0.9956603646278381, + -0.08832614123821259, + -0.004448970314115286 + ], + [ + -0.4082874059677124, + 0.06873230636119843, + -0.9102622270584106, + -0.08842895179986954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9159011244773865, + 0.059593673795461655, + -0.39695557951927185, + 0.33561763167381287 + ], + [ + 0.02737019583582878, + -0.9958881139755249, + -0.08635787665843964, + -0.004922669380903244 + ], + [ + -0.40046975016593933, + 0.0682305246591568, + -0.9137661457061768, + -0.08595046401023865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9201286435127258, + 0.05627083033323288, + -0.3875524699687958, + 0.3320404589176178 + ], + [ + 0.02430661953985691, + -0.9959209561347961, + -0.08689425885677338, + -0.00558832474052906 + ], + [ + -0.39086124300956726, + 0.07053380459547043, + -0.9177431464195251, + -0.08410600572824478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9243248105049133, + 0.052697163075208664, + -0.37795063853263855, + 0.3284686505794525 + ], + [ + 0.021004006266593933, + -0.9959434866905212, + -0.08749520778656006, + -0.00626085652038455 + ], + [ + -0.3810282349586487, + 0.07293551415205002, + -0.9216821193695068, + -0.08213692158460617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9298712611198425, + 0.04530427232384682, + -0.36508479714393616, + 0.32498130202293396 + ], + [ + 0.014847001992166042, + -0.9962012767791748, + -0.085805743932724, + -0.0071412865072488785 + ], + [ + -0.36758530139923096, + 0.07436788082122803, + -0.9270115494728088, + -0.07964769750833511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9361464977264404, + 0.039137061685323715, + -0.349425345659256, + 0.32169926166534424 + ], + [ + 0.010506683960556984, + -0.9964558482170105, + -0.08345862478017807, + -0.0076439036056399345 + ], + [ + -0.3514532446861267, + 0.07445819675922394, + -0.9332398176193237, + -0.0768437385559082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9402705430984497, + 0.03290357440710068, + -0.33883434534072876, + 0.31829312443733215 + ], + [ + 0.008164971135556698, + -0.9972114562988281, + -0.07417944073677063, + -0.007759709842503071 + ], + [ + -0.3403302729129791, + 0.06698217242956161, + -0.9379172325134277, + -0.07351517677307129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9439467191696167, + 0.028922230005264282, + -0.3288283050060272, + 0.31487613916397095 + ], + [ + 0.007461427245289087, + -0.9977691769599915, + -0.06634015589952469, + -0.007478367071598768 + ], + [ + -0.3300134241580963, + 0.06016804277896881, + -0.9420567750930786, + -0.07018651813268661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9482848644256592, + 0.02645825408399105, + -0.3163158595561981, + 0.311154305934906 + ], + [ + 0.006812772713601589, + -0.9979869723320007, + -0.06305260956287384, + -0.007064288016408682 + ], + [ + -0.31734737753868103, + 0.05763684958219528, + -0.9465562105178833, + -0.06701434403657913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.951094925403595, + 0.023852813988924026, + -0.3079764246940613, + 0.3072810471057892 + ], + [ + 0.00585249625146389, + -0.9982266426086426, + -0.059239067137241364, + -0.006666680797934532 + ], + [ + -0.3088432848453522, + 0.05453954637050629, + -0.9495479464530945, + -0.06402678042650223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9525228142738342, + 0.02176213450729847, + -0.3036884367465973, + 0.3029731810092926 + ], + [ + 0.004629085771739483, + -0.998362123966217, + -0.057022854685783386, + -0.006833785679191351 + ], + [ + -0.3044319748878479, + 0.05290977284312248, + -0.9510634541511536, + -0.06118495762348175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.956068754196167, + 0.022015446797013283, + -0.292314738035202, + 0.29850277304649353 + ], + [ + 0.004809231963008642, + -0.9982196688652039, + -0.059450630098581314, + -0.006983270402997732 + ], + [ + -0.2931031584739685, + 0.05543307960033417, + -0.9544724822044373, + -0.058577582240104675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9593511819839478, + 0.022683491930365562, + -0.28130200505256653, + 0.2939634919166565 + ], + [ + 0.004812473896890879, + -0.9979345202445984, + -0.06405851244926453, + -0.00713356863707304 + ], + [ + -0.2821740508079529, + 0.060100849717855453, + -0.9574788212776184, + -0.0564705953001976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9614947438240051, + 0.022443028166890144, + -0.2739053964614868, + 0.2894476056098938 + ], + [ + 0.0029016807675361633, + -0.9974334239959717, + -0.07154103368520737, + -0.007509106304496527 + ], + [ + -0.27480798959732056, + 0.06799154728651047, + -0.9590921401977539, + -0.05501747503876686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9644482731819153, + 0.02230987325310707, + -0.2633282244205475, + 0.2847999632358551 + ], + [ + -0.0005261459737084806, + -0.9962661862373352, + -0.08633337169885635, + -0.007994300685822964 + ], + [ + -0.264271080493927, + 0.083402618765831, + -0.9608354568481445, + -0.05407477542757988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9652876853942871, + 0.0201402697712183, + -0.26041120290756226, + 0.280243456363678 + ], + [ + -0.0062568229623138905, + -0.9949533939361572, + -0.10014263540506363, + -0.008713302202522755 + ], + [ + -0.2611139416694641, + 0.09829580038785934, + -0.9602903127670288, + -0.05355260148644447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9670488834381104, + 0.02065456472337246, + -0.25375160574913025, + 0.27527618408203125 + ], + [ + -0.008156569674611092, + -0.9936784505844116, + -0.11196696758270264, + -0.009384230710566044 + ], + [ + -0.2544601261615753, + 0.11034727096557617, + -0.9607671499252319, + -0.05258695036172867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9662154316902161, + 0.023909099400043488, + -0.2566245198249817, + 0.27026820182800293 + ], + [ + -0.00796600803732872, + -0.9924419522285461, + -0.12245623022317886, + -0.010193921625614166 + ], + [ + -0.25761276483535767, + 0.12036336958408356, + -0.9587222337722778, + -0.05159210041165352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9621067643165588, + 0.027404528111219406, + -0.27129238843917847, + 0.26552700996398926 + ], + [ + -0.00699256919324398, + -0.9921298027038574, + -0.12501806020736694, + -0.011025173589587212 + ], + [ + -0.27258333563804626, + 0.12217774987220764, + -0.9543431997299194, + -0.050455693155527115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9598936438560486, + 0.029482809826731682, + -0.2788098454475403, + 0.2609759271144867 + ], + [ + -0.005635550245642662, + -0.9922255277633667, + -0.12432532757520676, + -0.011678820475935936 + ], + [ + -0.28030771017074585, + 0.12091033905744553, + -0.9522648453712463, + -0.04826043173670769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9628101587295532, + 0.022852446883916855, + -0.2692106068134308, + 0.25687363743782043 + ], + [ + -0.006184636615216732, + -0.9942911863327026, + -0.1065211296081543, + -0.012456360273063183 + ], + [ + -0.2701079845428467, + 0.10422459989786148, + -0.9571723341941833, + -0.04567876085639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9709668159484863, + 0.004312452394515276, + -0.2391754388809204, + 0.2534363269805908 + ], + [ + -0.014424340799450874, + -0.9969626665115356, + -0.07653339952230453, + -0.013301853090524673 + ], + [ + -0.23877903819084167, + 0.07776133716106415, + -0.967955470085144, + -0.0429660901427269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9732249975204468, + -0.0039682332426309586, + -0.2298203557729721, + 0.24948285520076752 + ], + [ + -0.020088111981749535, + -0.9974936842918396, + -0.06784414499998093, + -0.014244877733290195 + ], + [ + -0.22897513210773468, + 0.07064427435398102, + -0.9708654880523682, + -0.042061224579811096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9707270860671997, + -0.005238216370344162, + -0.24012798070907593, + 0.24538536369800568 + ], + [ + -0.025186333805322647, + -0.9964702129364014, + -0.08007950335741043, + -0.014782805927097797 + ], + [ + -0.23886090517044067, + 0.08378329128026962, + -0.9674326181411743, + -0.042776137590408325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9716552495956421, + -0.01461323443800211, + -0.2359503209590912, + 0.24166420102119446 + ], + [ + -0.03687102720141411, + -0.995241105556488, + -0.09019795060157776, + -0.014937921427190304 + ], + [ + -0.2335093766450882, + 0.09634104371070862, + -0.9675700068473816, + -0.04374224320054054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9744057059288025, + -0.02196223847568035, + -0.22372129559516907, + 0.23771150410175323 + ], + [ + -0.044001586735248566, + -0.9945985078811646, + -0.09400888532400131, + -0.01559600979089737 + ], + [ + -0.22044822573661804, + 0.10144688189029694, + -0.9701088070869446, + -0.043956074863672256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9755638837814331, + -0.025252221152186394, + -0.21825993061065674, + 0.23345966637134552 + ], + [ + -0.04636797681450844, + -0.9946629405021667, + -0.09217211604118347, + -0.01555637177079916 + ], + [ + -0.21476750075817108, + 0.10004005581140518, + -0.9715281128883362, + -0.043840665370225906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9762141108512878, + -0.02466828189790249, + -0.21540077030658722, + 0.22878500819206238 + ], + [ + -0.04481648653745651, + -0.9950084686279297, + -0.08916094899177551, + -0.015501827001571655 + ], + [ + -0.21212615072727203, + 0.09669367969036102, + -0.9724467992782593, + -0.04322046786546707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9783101677894592, + -0.022306781262159348, + -0.20594090223312378, + 0.22375236451625824 + ], + [ + -0.04044623300433159, + -0.9956195950508118, + -0.08429550379514694, + -0.01564781367778778 + ], + [ + -0.203158438205719, + 0.09079667925834656, + -0.9749270081520081, + -0.04170512408018112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + } + ] +} diff --git a/dycheck_eval/source/paper-windmill__camera_2/caption.txt b/dycheck_eval/source/paper-windmill__camera_2/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..d6ea27952082d08d6433e06f964274210e2e0501 --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/caption.txt @@ -0,0 +1 @@ +A colorful pinwheel spins gently in a terracotta pot placed against a wooden fence, its vibrant blades catching the breeze and creating a playful, dynamic motion in the outdoor setting. diff --git a/dycheck_eval/source/paper-windmill__camera_2/extras/frame_mapping.json b/dycheck_eval/source/paper-windmill__camera_2/extras/frame_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..94e662e72f200f21e4fefa1d4bdcbec72aed437e --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/extras/frame_mapping.json @@ -0,0 +1,611 @@ +{ + "original_scene": "paper-windmill", + "source_frame_names": [ + "0_00077", + "0_00078", + "0_00079", + "0_00080", + "0_00081", + "0_00082", + "0_00083", + "0_00084", + "0_00085", + "0_00086", + "0_00087", + "0_00088", + "0_00089", + "0_00090", + "0_00091", + "0_00092", + "0_00093", + "0_00094", + "0_00095", + "0_00096", + "0_00097", + "0_00098", + "0_00099", + "0_00100", + "0_00101", + "0_00102", + "0_00103", + "0_00104", + "0_00105", + "0_00106", + "0_00107", + "0_00108", + "0_00109", + "0_00110", + "0_00111", + "0_00112", + "0_00113", + "0_00114", + "0_00115", + "0_00116", + "0_00117", + "0_00118", + "0_00119", + "0_00120", + "0_00121", + "0_00122", + "0_00123", + "0_00124", + "0_00125", + "0_00126", + "0_00127", + "0_00128", + "0_00129", + "0_00130", + "0_00131", + "0_00132", + "0_00133", + "0_00134", + "0_00135", + "0_00136", + "0_00137", + "0_00138", + "0_00139", + "0_00140", + "0_00141", + "0_00142", + "0_00143", + "0_00144", + "0_00145", + "0_00146", + "0_00147", + "0_00148", + "0_00149", + "0_00150", + "0_00151", + "0_00152", + "0_00153", + "0_00154", + "0_00155", + "0_00156", + "0_00157", + "0_00158", + "0_00159", + "0_00160", + "0_00161", + "0_00162", + "0_00163", + "0_00164", + "0_00165", + "0_00166", + "0_00167", + "0_00168", + "0_00169", + "0_00170", + "0_00171", + "0_00172", + "0_00173", + "0_00174", + "0_00175", + "0_00176", + "0_00177", + "0_00178", + "0_00179", + "0_00180", + "0_00181", + "0_00182", + "0_00183", + "0_00184", + "0_00185", + "0_00186", + "0_00187", + "0_00188", + "0_00189", + "0_00190", + "0_00191", + "0_00192", + "0_00193", + "0_00194", + "0_00195", + "0_00196", + "0_00197", + "0_00198", + "0_00199", + "0_00200", + "0_00201", + "0_00202", + "0_00203", + "0_00204", + "0_00205", + "0_00206", + "0_00207", + "0_00208", + "0_00209", + "0_00210", + "0_00211", + "0_00212", + "0_00213", + "0_00214", + "0_00215", + "0_00216", + "0_00217", + "0_00218", + "0_00219", + "0_00220", + "0_00221", + "0_00222", + "0_00223", + "0_00224", + "0_00225", + "0_00226", + "0_00227", + "0_00228", + "0_00229", + "0_00230", + "0_00231", + "0_00232", + "0_00233", + "0_00234", + "0_00235", + "0_00236", + "0_00237", + "0_00238", + "0_00239", + "0_00240", + "0_00241", + "0_00242", + "0_00243", + "0_00244", + "0_00245", + "0_00246", + "0_00247", + "0_00248", + "0_00249", + "0_00250", + "0_00251", + "0_00252", + "0_00253", + "0_00254", + "0_00255", + "0_00256", + "0_00257", + "0_00258", + "0_00259", + "0_00260", + "0_00261", + "0_00262", + "0_00263", + "0_00264", + "0_00265", + "0_00266", + "0_00267", + "0_00268", + "0_00269", + "0_00270", + "0_00271", + "0_00272", + "0_00273", + "0_00274", + "0_00275", + "0_00276" + ], + "target_frame_names": [ + "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_00159", + "2_00160", + "2_00161", + "2_00162", + "2_00163", + "2_00164", + "2_00165", + "2_00166", + "2_00167", + "2_00168", + "2_00169", + "2_00170", + "2_00171", + "2_00172", + "2_00173", + "2_00174", + "2_00175", + "2_00176", + "2_00177", + "2_00178", + "2_00179", + "2_00180", + "2_00181", + "2_00182", + "2_00183", + "2_00184", + "2_00185", + "2_00186", + "2_00187", + "2_00188", + "2_00189", + "2_00190", + "2_00191", + "2_00192", + "2_00193", + "2_00194", + "2_00195", + "2_00196", + "2_00197", + "2_00198", + "2_00199", + "2_00200", + "2_00201", + "2_00202", + "2_00203", + "2_00204", + "2_00205", + "2_00206", + "2_00207", + "2_00208", + "2_00209", + "2_00210", + "2_00211", + "2_00212", + "2_00213", + "2_00214", + "2_00215", + "2_00216", + "2_00217", + "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" + ], + "original_time_ids": [ + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268, + 269, + 270, + 271, + 272, + 273, + 274, + 275, + 276 + ], + "source_camera_id": 0, + "target_camera_id": 2 +} diff --git a/dycheck_eval/source/paper-windmill__camera_2/transforms.json b/dycheck_eval/source/paper-windmill__camera_2/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..83e410045d91e9b6ee26e0f7cbeb3b9c012be3d6 --- /dev/null +++ b/dycheck_eval/source/paper-windmill__camera_2/transforms.json @@ -0,0 +1,7013 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 200, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9327566027641296, + 0.09731032699346542, + -0.3471250534057617, + 0.282057523727417 + ], + [ + 0.05685006082057953, + -0.9905369877815247, + -0.12491811066865921, + 0.01170876994729042 + ], + [ + -0.3559960126876831, + 0.09678411483764648, + -0.9294620156288147, + -0.04399055987596512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9242390990257263, + 0.10859053581953049, + -0.3660467565059662, + 0.28661543130874634 + ], + [ + 0.06001898646354675, + -0.9881048798561096, + -0.1415856033563614, + 0.01201249472796917 + ], + [ + -0.3770674169063568, + 0.10888919234275818, + -0.9197626113891602, + -0.04457541182637215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9117971062660217, + 0.11788377165794373, + -0.3933566212654114, + 0.2910436689853668 + ], + [ + 0.05825340375304222, + -0.9853533506393433, + -0.16026648879051208, + 0.011997729539871216 + ], + [ + -0.4064880907535553, + 0.12321615219116211, + -0.9053094387054443, + -0.04552632197737694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9064404964447021, + 0.12060318142175674, + -0.40474745631217957, + 0.295301616191864 + ], + [ + 0.0567181259393692, + -0.9844403862953186, + -0.16631367802619934, + 0.011942685581743717 + ], + [ + -0.4185076951980591, + 0.127796933054924, + -0.8991770148277283, + -0.04604869708418846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9019808173179626, + 0.12209074199199677, + -0.41415515542030334, + 0.29827746748924255 + ], + [ + 0.05812617763876915, + -0.984792947769165, + -0.16371983289718628, + 0.012485678307712078 + ], + [ + -0.4278457462787628, + 0.12359888851642609, + -0.8953610062599182, + -0.04663882777094841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.8927198052406311, + 0.12624244391918182, + -0.43256697058677673, + 0.3007774353027344 + ], + [ + 0.0581541545689106, + -0.9842033982276917, + -0.16721776127815247, + 0.012718252837657928 + ], + [ + -0.44684386253356934, + 0.12412304431200027, + -0.8859593868255615, + -0.04802200570702553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.8881871700286865, + 0.1306280940771103, + -0.4405222535133362, + 0.3030218183994293 + ], + [ + 0.06383087486028671, + -0.9845188856124878, + -0.16324272751808167, + 0.013087824918329716 + ], + [ + -0.4550265669822693, + 0.116871178150177, + -0.8827751278877258, + -0.04967876896262169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.8907261490821838, + 0.12779700756072998, + -0.436205118894577, + 0.3055080473423004 + ], + [ + 0.06892658025026321, + -0.9865399599075317, + -0.14828377962112427, + 0.013678343035280704 + ], + [ + -0.44928398728370667, + 0.10201410949230194, + -0.8875455260276794, + -0.05177735909819603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.8922274708747864, + 0.12470296025276184, + -0.4340268075466156, + 0.30774086713790894 + ], + [ + 0.06851275265216827, + -0.9873707294464111, + -0.1428462266921997, + 0.013854815624654293 + ], + [ + -0.44635871052742004, + 0.09771496802568436, + -0.8895030617713928, + -0.05521908774971962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.892716109752655, + 0.12386086583137512, + -0.43326258659362793, + 0.30978924036026 + ], + [ + 0.06834451109170914, + -0.9875752329826355, + -0.14150698482990265, + 0.013674476183950901 + ], + [ + -0.44540658593177795, + 0.09671443700790405, + -0.8900895118713379, + -0.05943658575415611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.890802800655365, + 0.1259709745645523, + -0.43657952547073364, + 0.31128665804862976 + ], + [ + 0.0656687319278717, + -0.9864071607589722, + -0.1506272554397583, + 0.012606135569512844 + ], + [ + -0.4496198296546936, + 0.10550955682992935, + -0.8869665861129761, + -0.06477658450603485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.881193995475769, + 0.12650462985038757, + -0.4555147886276245, + 0.3133094906806946 + ], + [ + 0.05396430194377899, + -0.9841509461402893, + -0.16892236471176147, + 0.011787505820393562 + ], + [ + -0.4696647524833679, + 0.12427183240652084, + -0.8740546703338623, + -0.07112635672092438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.8738933205604553, + 0.12469229847192764, + -0.4698534905910492, + 0.3158379793167114 + ], + [ + 0.04488183930516243, + -0.9831101298332214, + -0.17742620408535004, + 0.01147556770592928 + ], + [ + -0.4840414226055145, + 0.1339636892080307, + -0.8647298216819763, + -0.07709598541259766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.8709260821342468, + 0.11903416365385056, + -0.47677940130233765, + 0.31909021735191345 + ], + [ + 0.04115397110581398, + -0.9844784140586853, + -0.17061243951320648, + 0.011642033234238625 + ], + [ + -0.4896877408027649, + 0.1289694607257843, + -0.8623066544532776, + -0.08214697241783142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.8659687638282776, + 0.11420059204101562, + -0.4868842661380768, + 0.3225308060646057 + ], + [ + 0.03957407549023628, + -0.9861729741096497, + -0.1609245240688324, + 0.012132800184190273 + ], + [ + -0.4985298216342926, + 0.1200876235961914, + -0.8585144281387329, + -0.08691070973873138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.8591976165771484, + 0.11562417447566986, + -0.49840793013572693, + 0.3254694938659668 + ], + [ + 0.04462212696671486, + -0.987352728843689, + -0.1521296352148056, + 0.0126511724665761 + ], + [ + -0.5096943378448486, + 0.1084694042801857, + -0.8534905314445496, + -0.09100660681724548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.8567473292350769, + 0.11327560991048813, + -0.5031428337097168, + 0.32903316617012024 + ], + [ + 0.04931673780083656, + -0.9891047477722168, + -0.13870707154273987, + 0.013600981794297695 + ], + [ + -0.513373076915741, + 0.09402354806661606, + -0.852999210357666, + -0.09462878108024597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.8526087999343872, + 0.11277520656585693, + -0.5102351903915405, + 0.3326008915901184 + ], + [ + 0.05614308640360832, + -0.9905515909194946, + -0.1251218467950821, + 0.014656650833785534 + ], + [ + -0.5195249319076538, + 0.07803381234407425, + -0.8508845567703247, + -0.09807617962360382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.8456370830535889, + 0.1028253585100174, + -0.5237603187561035, + 0.3367542028427124 + ], + [ + 0.0525168776512146, + -0.9925360083580017, + -0.11006493866443634, + 0.01600055769085884 + ], + [ + -0.5311684608459473, + 0.06556873768568039, + -0.8447253108024597, + -0.10118789970874786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.8467624187469482, + 0.09807645529508591, + -0.5228521227836609, + 0.34154313802719116 + ], + [ + 0.0558934360742569, + -0.9938203692436218, + -0.095900759100914, + 0.017625844106078148 + ], + [ + -0.5290267467498779, + 0.051981162279844284, + -0.8470116257667542, + -0.10360743850469589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.8436211347579956, + 0.09790293872356415, + -0.5279378890991211, + 0.3455352783203125 + ], + [ + 0.05885069817304611, + -0.994172215461731, + -0.09032253175973892, + 0.01968354359269142 + ], + [ + -0.5337040424346924, + 0.0451284795999527, + -0.8444663286209106, + -0.1058456301689148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.8422572612762451, + 0.1045210212469101, + -0.5288459658622742, + 0.34895822405815125 + ], + [ + 0.06735600531101227, + -0.9937399625778198, + -0.08912923187017441, + 0.022139297798275948 + ], + [ + -0.5348512530326843, + 0.03944879025220871, + -0.8440248370170593, + -0.10758210718631744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.8390015363693237, + 0.112028568983078, + -0.5324715971946716, + 0.3523853123188019 + ], + [ + 0.07867170870304108, + -0.9932688474655151, + -0.08501636981964111, + 0.024342749267816544 + ], + [ + -0.5384117364883423, + 0.029438409954309464, + -0.8421675562858582, + -0.10996151715517044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.8279232978820801, + 0.11919175833463669, + -0.5480295419692993, + 0.3552938401699066 + ], + [ + 0.0901942029595375, + -0.9927338361740112, + -0.07965230196714401, + 0.026337143033742905 + ], + [ + -0.553541362285614, + 0.01651690900325775, + -0.8326578736305237, + -0.11243131756782532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.8286586403846741, + 0.12820430099964142, + -0.5448747277259827, + 0.35858070850372314 + ], + [ + 0.0971851721405983, + -0.9915861487388611, + -0.08551007509231567, + 0.02761460840702057 + ], + [ + -0.5512530207633972, + 0.017904918640851974, + -0.8341460227966309, + -0.11492229253053665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.8286741971969604, + 0.13712254166603088, + -0.5426753163337708, + 0.3615114092826843 + ], + [ + 0.10205275565385818, + -0.9902908205986023, + -0.09438924491405487, + 0.028143834322690964 + ], + [ + -0.5503492951393127, + 0.02283642068505287, + -0.8346222043037415, + -0.1173938512802124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.8222156763076782, + 0.15053454041481018, + -0.5489086508750916, + 0.3640570044517517 + ], + [ + 0.11367381364107132, + -0.9883927702903748, + -0.10078699886798859, + 0.028273802250623703 + ], + [ + -0.557709276676178, + 0.020472107455134392, + -0.8297838568687439, + -0.11940766870975494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.8171581029891968, + 0.16295601427555084, + -0.5528995990753174, + 0.3670080900192261 + ], + [ + 0.1268792450428009, + -0.9865309596061707, + -0.10323891043663025, + 0.02786370739340782 + ], + [ + -0.5622760057449341, + 0.014211026020348072, + -0.8268275260925293, + -0.12104885280132294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.8165805339813232, + 0.1722860336303711, + -0.550920844078064, + 0.3710101246833801 + ], + [ + 0.135649636387825, + -0.9849662184715271, + -0.10696104168891907, + 0.027204327285289764 + ], + [ + -0.5610663294792175, + 0.012610092759132385, + -0.8276748061180115, + -0.12351375818252563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.816677451133728, + 0.17091166973114014, + -0.5512051582336426, + 0.3759080469608307 + ], + [ + 0.13488546013832092, + -0.9852142333984375, + -0.10563525557518005, + 0.026233477517962456 + ], + [ + -0.5611094832420349, + 0.01192037109285593, + -0.8276557922363281, + -0.12601295113563538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.8113364577293396, + 0.1679397076368332, + -0.5599370002746582, + 0.3801701068878174 + ], + [ + 0.13548068702220917, + -0.9857858419418335, + -0.0993543416261673, + 0.025225549936294556 + ], + [ + -0.568663477897644, + 0.0047491551376879215, + -0.8225565552711487, + -0.1277264654636383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8052579164505005, + 0.17348618805408478, + -0.5669763684272766, + 0.3836413025856018 + ], + [ + 0.1454077661037445, + -0.9848175048828125, + -0.09482135623693466, + 0.024929415434598923 + ], + [ + -0.5748184323310852, + -0.0060871196910738945, + -0.8182583451271057, + -0.12924206256866455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8042553663253784, + 0.17318060994148254, + -0.568490743637085, + 0.3874679207801819 + ], + [ + 0.15047913789749146, + -0.984768271446228, + -0.08710625767707825, + 0.024664554744958878 + ], + [ + -0.5749167799949646, + -0.015490323305130005, + -0.8180652260780334, + -0.1306251883506775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.792208194732666, + 0.17382866144180298, + -0.5849699378013611, + 0.3907768726348877 + ], + [ + 0.15695124864578247, + -0.9843643307685852, + -0.07995741069316864, + 0.02425096556544304 + ], + [ + -0.5897223949432373, + -0.028468843549489975, + -0.8071041107177734, + -0.13227799534797668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.7784677147865295, + 0.17235751450061798, + -0.6035568714141846, + 0.3945389688014984 + ], + [ + 0.16009731590747833, + -0.9842792749404907, + -0.07458673417568207, + 0.023729553446173668 + ], + [ + -0.6069241166114807, + -0.038564473390579224, + -0.7938235998153687, + -0.13462375104427338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.7746365666389465, + 0.16446271538734436, + -0.6106473803520203, + 0.39941805601119995 + ], + [ + 0.15411807596683502, + -0.9855744242668152, + -0.06993355602025986, + 0.02280278503894806 + ], + [ + -0.613339900970459, + -0.03993871062994003, + -0.7888086438179016, + -0.13767075538635254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.7660928964614868, + 0.15838587284088135, + -0.6229090094566345, + 0.40421801805496216 + ], + [ + 0.14600639045238495, + -0.9867094159126282, + -0.07132080942392349, + 0.021606173366308212 + ], + [ + -0.6259263753890991, + -0.036310333758592606, + -0.7790364027023315, + -0.14164073765277863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.7547895312309265, + 0.15651492774486542, + -0.6370211243629456, + 0.40891438722610474 + ], + [ + 0.1433292180299759, + -0.9870028495788574, + -0.07267779856920242, + 0.02090943232178688 + ], + [ + -0.640116810798645, + -0.036447301506996155, + -0.767412543296814, + -0.14600996673107147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.7503954172134399, + 0.15857064723968506, + -0.6416869163513184, + 0.41330763697624207 + ], + [ + 0.14212068915367126, + -0.9867985248565674, + -0.07765559107065201, + 0.020195243880152702 + ], + [ + -0.645529568195343, + -0.032924581319093704, + -0.7630252838134766, + -0.14988571405410767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.7434731125831604, + 0.1609489768743515, + -0.6491095423698425, + 0.4172363877296448 + ], + [ + 0.14246125519275665, + -0.9864458441734314, + -0.08142128586769104, + 0.01962195336818695 + ], + [ + -0.653416097164154, + -0.031938426196575165, + -0.7563248872756958, + -0.15316928923130035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.7319630980491638, + 0.16626328229904175, + -0.6607469916343689, + 0.42010676860809326 + ], + [ + 0.1514715552330017, + -0.9852100014686584, + -0.08011031895875931, + 0.019486121833324432 + ], + [ + -0.6642939448356628, + -0.04144657775759697, + -0.7463214993476868, + -0.15573330223560333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.7244680523872375, + 0.17319853603839874, + -0.6671943068504333, + 0.4233894944190979 + ], + [ + 0.158575639128685, + -0.983834445476532, + -0.08320770412683487, + 0.01974685862660408 + ], + [ + -0.6708202362060547, + -0.04551944136619568, + -0.7402217388153076, + -0.15821295976638794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.7109858393669128, + 0.1737585961818695, + -0.6814007759094238, + 0.4272575378417969 + ], + [ + 0.16382165253162384, + -0.9832571744918823, + -0.079798124730587, + 0.02020777389407158 + ], + [ + -0.6838578581809998, + -0.054892875254154205, + -0.7275474071502686, + -0.16053028404712677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.6975219249725342, + 0.17685732245445251, + -0.6943951845169067, + 0.43056365847587585 + ], + [ + 0.17145250737667084, + -0.9821068644523621, + -0.07791084051132202, + 0.02117888629436493 + ], + [ + -0.6957494020462036, + -0.06471128016710281, + -0.7153636813163757, + -0.1626731902360916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.6937311291694641, + 0.18413878977298737, + -0.6962974071502686, + 0.43458157777786255 + ], + [ + 0.17507651448249817, + -0.9808816313743591, + -0.08496703952550888, + 0.0219586081802845 + ], + [ + -0.6986310482025146, + -0.06296104937791824, + -0.7127065062522888, + -0.16504479944705963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.6863282918930054, + 0.18585093319416046, + -0.7031450271606445, + 0.43911609053611755 + ], + [ + 0.17684383690357208, + -0.9804282188415527, + -0.08652634173631668, + 0.022532254457473755 + ], + [ + -0.705464243888855, + -0.06496139615774155, + -0.7057622075080872, + -0.1671195775270462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.6766009330749512, + 0.18482589721679688, + -0.7127766013145447, + 0.44331884384155273 + ], + [ + 0.18173526227474213, + -0.9799563884735107, + -0.08159508556127548, + 0.023381762206554413 + ], + [ + -0.7135708928108215, + -0.07432933896780014, + -0.6966288089752197, + -0.1687009185552597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.6653905510902405, + 0.17934861779212952, + -0.72463059425354, + 0.44814586639404297 + ], + [ + 0.18152913451194763, + -0.9804462790489197, + -0.07597514241933823, + 0.02395213022828102 + ], + [ + -0.7240874171257019, + -0.08098842948675156, + -0.6849367022514343, + -0.1705767661333084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.65252685546875, + 0.17114752531051636, + -0.7381851077079773, + 0.4532715678215027 + ], + [ + 0.18011821806430817, + -0.9812716245651245, + -0.06828942894935608, + 0.024525076150894165 + ], + [ + -0.736047625541687, + -0.08839990198612213, + -0.6711328625679016, + -0.17257964611053467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.6438050866127014, + 0.16172565519809723, + -0.7479036450386047, + 0.45859816670417786 + ], + [ + 0.17894479632377625, + -0.9821281433105469, + -0.058336041867733, + 0.02521822787821293 + ], + [ + -0.7439716458320618, + -0.0962764248251915, + -0.6612390279769897, + -0.17464418709278107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.6304646134376526, + 0.1512773483991623, + -0.7613340616226196, + 0.46379804611206055 + ], + [ + 0.17722302675247192, + -0.9829720854759216, + -0.04855760931968689, + 0.02592826634645462 + ], + [ + -0.7557157874107361, + -0.10431207716464996, + -0.6465389728546143, + -0.1769576221704483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.6203688979148865, + 0.142465278506279, + -0.7712626457214355, + 0.4689079821109772 + ], + [ + 0.17689357697963715, + -0.9834421277046204, + -0.039373207837343216, + 0.02674056775867939 + ], + [ + -0.764101505279541, + -0.11200549453496933, + -0.6352980732917786, + -0.17917270958423615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.6189450621604919, + 0.13393551111221313, + -0.7739304304122925, + 0.4741033911705017 + ], + [ + 0.17628541588783264, + -0.9839032292366028, + -0.02929021790623665, + 0.027094915509223938 + ], + [ + -0.7653956413269043, + -0.11830361187458038, + -0.6325929164886475, + -0.18162040412425995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.6090896129608154, + 0.12384829670190811, + -0.7833718061447144, + 0.4787794351577759 + ], + [ + 0.17325352132320404, + -0.9846541881561279, + -0.020961711183190346, + 0.027114346623420715 + ], + [ + -0.7739464044570923, + -0.1229543685913086, + -0.6211997866630554, + -0.184553325176239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.5987192392349243, + 0.11353922635316849, + -0.7928707599639893, + 0.48308104276657104 + ], + [ + 0.1673169732093811, + -0.9857917428016663, + -0.014819742180407047, + 0.026884309947490692 + ], + [ + -0.7832881212234497, + -0.12378787249326706, + -0.6092095375061035, + -0.18766029179096222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.5975221991539001, + 0.1084221675992012, + -0.7944884300231934, + 0.4864054024219513 + ], + [ + 0.16324569284915924, + -0.9865142703056335, + -0.011853020638227463, + 0.026681721210479736 + ], + [ + -0.7850592732429504, + -0.12261437624692917, + -0.6071636080741882, + -0.19076041877269745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.5893014669418335, + 0.10461647808551788, + -0.8011112213134766, + 0.48912519216537476 + ], + [ + 0.1599096953868866, + -0.9870672821998596, + -0.011269958689808846, + 0.026142830029129982 + ], + [ + -0.7919297218322754, + -0.12146404385566711, + -0.5984094142913818, + -0.19400151073932648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.5820999145507812, + 0.10403086245059967, + -0.8064348697662354, + 0.49153023958206177 + ], + [ + 0.15604645013809204, + -0.987639307975769, + -0.014769129455089569, + 0.02561013400554657 + ], + [ + -0.7980032563209534, + -0.117244191467762, + -0.5911384224891663, + -0.1974370926618576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.5786840319633484, + 0.11339841783046722, + -0.8076295852661133, + 0.49301743507385254 + ], + [ + 0.154641792178154, + -0.9875776767730713, + -0.027860553935170174, + 0.02520449087023735 + ], + [ + -0.8007563352584839, + -0.10877083241939545, + -0.5890315771102905, + -0.20065955817699432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.5715155005455017, + 0.12376183271408081, + -0.8112046718597412, + 0.494124174118042 + ], + [ + 0.15691998600959778, + -0.986801028251648, + -0.03999742493033409, + 0.024570930749177933 + ], + [ + -0.8054477572441101, + -0.10443507879972458, + -0.5833927989006042, + -0.20331412553787231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.5681446194648743, + 0.13020823895931244, + -0.8125622868537903, + 0.4954768419265747 + ], + [ + 0.16080611944198608, + -0.9859341979026794, + -0.04555420204997063, + 0.02375074103474617 + ], + [ + -0.8070644736289978, + -0.10478361696004868, + -0.5810914635658264, + -0.20536592602729797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.5623016953468323, + 0.1326855570077896, + -0.8162177205085754, + 0.49702179431915283 + ], + [ + 0.16184739768505096, + -0.9856122136116028, + -0.04872405156493187, + 0.023681461811065674 + ], + [ + -0.8109390735626221, + -0.1047050878405571, + -0.5756862163543701, + -0.20758673548698425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.5524506568908691, + 0.126607283949852, + -0.823874294757843, + 0.4983581304550171 + ], + [ + 0.16125290095806122, + -0.985958993434906, + -0.043386850506067276, + 0.02320875972509384 + ], + [ + -0.8177993893623352, + -0.10888303816318512, + -0.5651094317436218, + -0.2094903141260147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.5453170537948608, + 0.12181752920150757, + -0.8293309807777405, + 0.49910467863082886 + ], + [ + 0.16183951497077942, + -0.9860687255859375, + -0.03842448443174362, + 0.022509537637233734 + ], + [ + -0.8224580883979797, + -0.11326499283313751, + -0.5574349761009216, + -0.21117296814918518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.539410412311554, + 0.12793798744678497, + -0.8322669267654419, + 0.4992840886116028 + ], + [ + 0.1635793000459671, + -0.9854816794395447, + -0.0454711951315403, + 0.02270880900323391 + ], + [ + -0.8260013461112976, + -0.11161400377750397, + -0.5525071024894714, + -0.21359212696552277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.5391107201576233, + 0.13608746230602264, + -0.8311677575111389, + 0.4994301497936249 + ], + [ + 0.16738173365592957, + -0.9844866991043091, + -0.05262356251478195, + 0.02305184304714203 + ], + [ + -0.8254349827766418, + -0.11075236648321152, + -0.5535259246826172, + -0.2152877151966095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.5425494909286499, + 0.1393136829137802, + -0.8283910751342773, + 0.5001334547996521 + ], + [ + 0.16879402101039886, + -0.9841182827949524, + -0.05495235323905945, + 0.023377355188131332 + ], + [ + -0.8228904008865356, + -0.11001308262348175, + -0.557448148727417, + -0.21657179296016693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.5434187054634094, + 0.14029228687286377, + -0.8276558518409729, + 0.5009778141975403 + ], + [ + 0.17177066206932068, + -0.9836583137512207, + -0.05395514518022537, + 0.024216458201408386 + ], + [ + -0.8217000365257263, + -0.1128467544913292, + -0.5586364269256592, + -0.21781215071678162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.5469827651977539, + 0.14239157736301422, + -0.8249451518058777, + 0.5022565126419067 + ], + [ + 0.17623212933540344, + -0.9829310178756714, + -0.052809759974479675, + 0.024663791060447693 + ], + [ + -0.8183838129043579, + -0.11649581789970398, + -0.5627402663230896, + -0.2187376767396927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.5590795278549194, + 0.14029954373836517, + -0.8171573281288147, + 0.5044351816177368 + ], + [ + 0.17510929703712463, + -0.9833276867866516, + -0.049024101346731186, + 0.02492455765604973 + ], + [ + -0.8104115128517151, + -0.11568346619606018, + -0.5743261575698853, + -0.21987582743167877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.5659979581832886, + 0.1387265920639038, + -0.812650740146637, + 0.5062753558158875 + ], + [ + 0.1728726625442505, + -0.983796238899231, + -0.04753965139389038, + 0.02558932825922966 + ], + [ + -0.806077778339386, + -0.11357775330543518, + -0.5808086395263672, + -0.22170989215373993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.5732412934303284, + 0.14038541913032532, + -0.807270884513855, + 0.5080510377883911 + ], + [ + 0.17302824556827545, + -0.9837364554405212, + -0.04820600524544716, + 0.02632245607674122 + ], + [ + -0.8009092211723328, + -0.11204700171947479, + -0.5882090330123901, + -0.22316351532936096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.5965316295623779, + 0.1468154489994049, + -0.7890470623970032, + 0.5100003480911255 + ], + [ + 0.17360137403011322, + -0.9834557771682739, + -0.05174316465854645, + 0.027066897600889206 + ], + [ + -0.7835895419120789, + -0.10611321777105331, + -0.6121498346328735, + -0.22436551749706268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6076979041099548, + 0.1572757214307785, + -0.7784392237663269, + 0.5108993053436279 + ], + [ + 0.1757090538740158, + -0.9825292229652405, + -0.06134064123034477, + 0.02797609195113182 + ], + [ + -0.7744866609573364, + -0.09950223565101624, + -0.6247157454490662, + -0.22629255056381226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.6085667610168457, + 0.1669987142086029, + -0.775730550289154, + 0.5117120742797852 + ], + [ + 0.17661581933498383, + -0.9815869927406311, + -0.07275883108377457, + 0.028613073751330376 + ], + [ + -0.7735976576805115, + -0.0927276760339737, + -0.6268558502197266, + -0.2284965068101883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.6171915531158447, + 0.17072594165802002, + -0.7680672407150269, + 0.5133781433105469 + ], + [ + 0.17346422374248505, + -0.9816811084747314, + -0.07881835103034973, + 0.028979824855923653 + ], + [ + -0.7674534320831299, + -0.08458615839481354, + -0.6355001330375671, + -0.23041357100009918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6169349551200867, + 0.16848066449165344, + -0.768768846988678, + 0.5153317451477051 + ], + [ + 0.17102771997451782, + -0.9821738600730896, + -0.07800045609474182, + 0.029746253043413162 + ], + [ + -0.7682061791419983, + -0.08335957676172256, + -0.6347522139549255, + -0.23161426186561584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6190203428268433, + 0.1651582419872284, + -0.7678128480911255, + 0.5173370838165283 + ], + [ + 0.1727597862482071, + -0.9823274612426758, + -0.07201970368623734, + 0.030281705781817436 + ], + [ + -0.7661382555961609, + -0.08806551247835159, + -0.6366134285926819, + -0.23222698271274567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6247614622116089, + 0.16314393281936646, + -0.7635818123817444, + 0.5192449688911438 + ], + [ + 0.17525644600391388, + -0.9822760820388794, + -0.06647474318742752, + 0.030592776834964752 + ], + [ + -0.7608931064605713, + -0.09229177236557007, + -0.6422802805900574, + -0.23292703926563263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6268027424812317, + 0.1642116904258728, + -0.7616776823997498, + 0.5209915041923523 + ], + [ + 0.17358075082302094, + -0.9824026823043823, + -0.06895451247692108, + 0.03118409961462021 + ], + [ + -0.7595973014831543, + -0.08899170160293579, + -0.6442766785621643, + -0.2348330318927765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.632375180721283, + 0.1676519364118576, + -0.7563031911849976, + 0.5225962400436401 + ], + [ + 0.1703210026025772, + -0.9825010895729065, + -0.07538172602653503, + 0.031465690582990646 + ], + [ + -0.7557065486907959, + -0.081144779920578, + -0.6498638987541199, + -0.236562579870224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6359002590179443, + 0.1679181307554245, + -0.7532824277877808, + 0.5240084528923035 + ], + [ + 0.16902226209640503, + -0.9826495051383972, + -0.07636361569166183, + 0.03159687668085098 + ], + [ + -0.7530354261398315, + -0.07876185327768326, + -0.6532489657402039, + -0.237517848610878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6369665861129761, + 0.16240467131137848, + -0.7535902857780457, + 0.5258837938308716 + ], + [ + 0.16832615435123444, + -0.9832693338394165, + -0.06962588429450989, + 0.031752947717905045 + ], + [ + -0.7522897720336914, + -0.08249958604574203, + -0.6536466479301453, + -0.2381269782781601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6360583305358887, + 0.16324719786643982, + -0.7541751265525818, + 0.5269370675086975 + ], + [ + 0.16946423053741455, + -0.9830566644668579, + -0.06986720114946365, + 0.03208214417099953 + ], + [ + -0.7528025507926941, + -0.08336609601974487, + -0.6529459953308105, + -0.23873022198677063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.6400476098060608, + 0.16848227381706238, + -0.7496351003646851, + 0.5278114676475525 + ], + [ + 0.17051319777965546, + -0.9824795126914978, + -0.07522835582494736, + 0.0325341634452343 + ], + [ + -0.7491757273674011, + -0.07967294007539749, + -0.6575621366500854, + -0.23940832912921906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6468296051025391, + 0.1681440770626068, + -0.7438675761222839, + 0.5288404226303101 + ], + [ + 0.17041920125484467, + -0.9825952053070068, + -0.07391823828220367, + 0.03317045420408249 + ], + [ + -0.7433496713638306, + -0.07895682007074356, + -0.6642267107963562, + -0.2402915358543396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.6452116966247559, + 0.16756181418895721, + -0.7454025149345398, + 0.5293846130371094 + ], + [ + 0.17235176265239716, + -0.9824256300926208, + -0.0716574490070343, + 0.03394061326980591 + ], + [ + -0.7443096041679382, + -0.08223721385002136, + -0.6627520322799683, + -0.24113264679908752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.645807683467865, + 0.17233915627002716, + -0.7437953948974609, + 0.5295997858047485 + ], + [ + 0.17242345213890076, + -0.9819448590278625, + -0.07781057804822922, + 0.034761764109134674 + ], + [ + -0.7437759041786194, + -0.0779971033334732, + -0.6638628840446472, + -0.2421828657388687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.6548624038696289, + 0.1771366447210312, + -0.7346957325935364, + 0.5299749970436096 + ], + [ + 0.17097246646881104, + -0.9816639423370361, + -0.0842868834733963, + 0.03532989323139191 + ], + [ + -0.7361546158790588, + -0.07041642814874649, + -0.673140287399292, + -0.24264416098594666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.6566435694694519, + 0.17777325212955475, + -0.7329500913619995, + 0.5301945209503174 + ], + [ + 0.17136238515377045, + -0.9815730452537537, + -0.08455339074134827, + 0.035821475088596344 + ], + [ + -0.7344754338264465, + -0.07007864117622375, + -0.6750072836875916, + -0.24229831993579865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.6589569449424744, + 0.17161625623703003, + -0.7323411703109741, + 0.5307562947273254 + ], + [ + 0.1707613468170166, + -0.9823343753814697, + -0.07654926180839539, + 0.035949401557445526 + ], + [ + -0.7325409650802612, + -0.07461288571357727, + -0.6766214966773987, + -0.24138393998146057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.6680333018302917, + 0.1712815761566162, + -0.7241506576538086, + 0.5313109755516052 + ], + [ + 0.16951201856136322, + -0.9825907349586487, + -0.07603392750024796, + 0.03588099032640457 + ], + [ + -0.7245669364929199, + -0.07195904105901718, + -0.6854375600814819, + -0.24055448174476624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.6747764945030212, + 0.17394910752773285, + -0.7172296643257141, + 0.5318910479545593 + ], + [ + 0.16267728805541992, + -0.9829806685447693, + -0.08535312116146088, + 0.0356454998254776 + ], + [ + -0.7198699712753296, + -0.05908270552754402, + -0.6915897727012634, + -0.2403779774904251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.6816536784172058, + 0.1686042696237564, + -0.7119837403297424, + 0.5330259799957275 + ], + [ + 0.15537197887897491, + -0.9842503070831299, + -0.08432624489068985, + 0.035420820116996765 + ], + [ + -0.7149879932403564, + -0.0531410314142704, + -0.6971142292022705, + -0.23962894082069397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.6819791793823242, + 0.1515609622001648, + -0.7154954075813293, + 0.5344797968864441 + ], + [ + 0.1518937051296234, + -0.9863129258155823, + -0.06414884328842163, + 0.035459261387586594 + ], + [ + -0.7154248356819153, + -0.06493107974529266, + -0.6956660151481628, + -0.23717254400253296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.6819822788238525, + 0.1449674367904663, + -0.7168574333190918, + 0.5343979001045227 + ], + [ + 0.1531483680009842, + -0.9867351055145264, + -0.05384611710906029, + 0.03554104268550873 + ], + [ + -0.7151543498039246, + -0.0730634480714798, + -0.6951373815536499, + -0.23586425185203552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.6869136095046997, + 0.14908260107040405, + -0.7112833857536316, + 0.5328693389892578 + ], + [ + 0.15963658690452576, + -0.9857815504074097, + -0.05244931951165199, + 0.0353969968855381 + ], + [ + -0.7089893221855164, + -0.07751870155334473, + -0.7009457945823669, + -0.23504281044006348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.6899759769439697, + 0.1641419678926468, + -0.7049756050109863, + 0.5304505825042725 + ], + [ + 0.16575279831886292, + -0.9838983416557312, + -0.06685842573642731, + 0.03547396883368492 + ], + [ + -0.704598605632782, + -0.07072097063064575, + -0.7060732245445251, + -0.23573628067970276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.6931841373443604, + 0.17787350714206696, + -0.6984674334526062, + 0.5281025767326355 + ], + [ + 0.16552342474460602, + -0.9824556708335876, + -0.08592329919338226, + 0.03554637357592583 + ], + [ + -0.7014967799186707, + -0.05605205148458481, + -0.7104649543762207, + -0.2373638153076172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.6954324245452881, + 0.18697147071361542, + -0.6938410997390747, + 0.525745153427124 + ], + [ + 0.16433197259902954, + -0.9813497066497803, + -0.09973843395709991, + 0.035739850252866745 + ], + [ + -0.6995489597320557, + -0.04465893656015396, + -0.7131877541542053, + -0.2384299337863922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.6943291425704956, + 0.19229872524738312, + -0.6934899091720581, + 0.5235046744346619 + ], + [ + 0.16507571935653687, + -0.9805021286010742, + -0.10660923272371292, + 0.03588090091943741 + ], + [ + -0.7004691958427429, + -0.04045645892620087, + -0.71253502368927, + -0.23871703445911407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.694122314453125, + 0.19334645569324493, + -0.6934056282043457, + 0.5215900540351868 + ], + [ + 0.16649147868156433, + -0.9802564382553101, + -0.10666724294424057, + 0.035995934158563614 + ], + [ + -0.7003390789031982, + -0.041406020522117615, + -0.7126083970069885, + -0.2381111979484558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.6965603828430176, + 0.19655728340148926, + -0.690049946308136, + 0.5197070240974426 + ], + [ + 0.1687130481004715, + -0.9796483516693115, + -0.10874313116073608, + 0.03616281971335411 + ], + [ + -0.6973804831504822, + -0.04067426919937134, + -0.7155459523200989, + -0.2368994504213333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.6975150108337402, + 0.19810564815998077, + -0.688641369342804, + 0.5183591842651367 + ], + [ + 0.168862447142601, + -0.9794020056724548, + -0.11071217060089111, + 0.03619387373328209 + ], + [ + -0.6963894367218018, + -0.0390622615814209, + -0.716600239276886, + -0.23550580441951752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.6981506943702698, + 0.19645726680755615, + -0.688469409942627, + 0.5176841020584106 + ], + [ + 0.16895410418510437, + -0.9796646237373352, + -0.10822091996669769, + 0.03606483340263367 + ], + [ + -0.6957299113273621, + -0.040765222162008286, + -0.7171458005905151, + -0.23383170366287231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.6990479826927185, + 0.19179792702198029, + -0.6888725757598877, + 0.5176708102226257 + ], + [ + 0.1669473797082901, + -0.9805096387863159, + -0.10358298569917679, + 0.035809069871902466 + ], + [ + -0.6953132152557373, + -0.0425959974527359, + -0.7174434661865234, + -0.23211993277072906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.7003898024559021, + 0.18463391065597534, + -0.6894667744636536, + 0.5180546641349792 + ], + [ + 0.16473600268363953, + -0.9816991090774536, + -0.09554559737443924, + 0.03576118126511574 + ], + [ + -0.6944898366928101, + -0.04666084423661232, + -0.7179878950119019, + -0.22987376153469086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.7017219066619873, + 0.1786031723022461, + -0.6897008419036865, + 0.5184333920478821 + ], + [ + 0.16234435141086578, + -0.9826850295066833, + -0.08929969370365143, + 0.0353739969432354 + ], + [ + -0.6937078833580017, + -0.04930548369884491, + -0.7185668349266052, + -0.22809238731861115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.7021892070770264, + 0.17173044383525848, + -0.6909695863723755, + 0.5187594294548035 + ], + [ + 0.1567770093679428, + -0.983950138092041, + -0.08522381633520126, + 0.03444598987698555 + ], + [ + -0.6945151686668396, + -0.04848489910364151, + -0.7178425192832947, + -0.22647394239902496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.7040009498596191, + 0.16396312415599823, + -0.6910128593444824, + 0.5189144611358643 + ], + [ + 0.15382330119609833, + -0.9850914478302002, + -0.07702738791704178, + 0.03375394269824028 + ], + [ + -0.693340539932251, + -0.05206652730703354, + -0.718726634979248, + -0.22454454004764557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.7050689458847046, + 0.162301167845726, + -0.6903159618377686, + 0.518397867679596 + ], + [ + 0.15504063665866852, + -0.9851868748664856, + -0.0732746347784996, + 0.03334944322705269 + ], + [ + -0.6919828057289124, + -0.05536336079239845, + -0.7197879552841187, + -0.22269731760025024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.7058717012405396, + 0.1623670905828476, + -0.6894795894622803, + 0.5176011323928833 + ], + [ + 0.15463948249816895, + -0.9852185845375061, + -0.0736953541636467, + 0.03306443989276886 + ], + [ + -0.6912537813186646, + -0.05460129678249359, + -0.7205462455749512, + -0.22125785052776337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.7151346802711487, + 0.16847679018974304, + -0.6783789396286011, + 0.5161378383636475 + ], + [ + 0.1586155742406845, + -0.9843140244483948, + -0.07724674791097641, + 0.032210998237133026 + ], + [ + -0.680752158164978, + -0.05235963314771652, + -0.7306401133537292, + -0.21962250769138336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.7152419090270996, + 0.17191235721111298, + -0.6774032711982727, + 0.5145807862281799 + ], + [ + 0.15848693251609802, + -0.9839199781417847, + -0.08236086368560791, + 0.031756337732076645 + ], + [ + -0.6806694865226746, + -0.04845162108540535, + -0.7309866547584534, + -0.21871064603328705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.7142531275749207, + 0.17087090015411377, + -0.6787087321281433, + 0.5130511522293091 + ], + [ + 0.15704597532749176, + -0.9841398000717163, + -0.08249527961015701, + 0.031161613762378693 + ], + [ + -0.6820403337478638, + -0.04766596481204033, + -0.7297595143318176, + -0.21759121119976044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.7172729969024658, + 0.17235060036182404, + -0.6751405000686646, + 0.5112977027893066 + ], + [ + 0.1588030606508255, + -0.9838617444038391, + -0.08244803547859192, + 0.03060312196612358 + ], + [ + -0.6784548759460449, + -0.04807663336396217, + -0.7330672740936279, + -0.2158118337392807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.7146149277687073, + 0.16876405477523804, + -0.6788550615310669, + 0.5093945264816284 + ], + [ + 0.1550084799528122, + -0.984538733959198, + -0.08158349990844727, + 0.029590271413326263 + ], + [ + -0.6821274757385254, + -0.04692750796675682, + -0.7297259569168091, + -0.21435223519802094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.7084041833877563, + 0.1664220094680786, + -0.6859061121940613, + 0.5069038271903992 + ], + [ + 0.15719521045684814, + -0.984596848487854, + -0.07654231786727905, + 0.028586823493242264 + ], + [ + -0.6880793571472168, + -0.053598254919052124, + -0.723653256893158, + -0.21222315728664398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.7163341045379639, + 0.1689070463180542, + -0.6770051121711731, + 0.5040112137794495 + ], + [ + 0.16500309109687805, + -0.9837452173233032, + -0.07084756344556808, + 0.02764703892171383 + ], + [ + -0.6779671907424927, + -0.0609574057161808, + -0.732560396194458, + -0.20924194157123566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.7208698391914368, + 0.17203155159950256, + -0.6713805198669434, + 0.501282274723053 + ], + [ + 0.16763223707675934, + -0.9832207560539246, + -0.07194720953702927, + 0.026533829048275948 + ], + [ + -0.6724924445152283, + -0.06068044528365135, + -0.737612247467041, + -0.2073424905538559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.7283712029457092, + 0.17420725524425507, + -0.6626667380332947, + 0.49892935156822205 + ], + [ + 0.16342227160930634, + -0.9833963513374329, + -0.07889740914106369, + 0.025391848757863045 + ], + [ + -0.6654085516929626, + -0.05082790181040764, + -0.7447469234466553, + -0.2063015252351761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.7425385117530823, + 0.17672766745090485, + -0.6460680365562439, + 0.4960073232650757 + ], + [ + 0.1594964563846588, + -0.9834707379341125, + -0.08570960909128189, + 0.024398373439908028 + ], + [ + -0.650536298751831, + -0.039402883499860764, + -0.7584523558616638, + -0.2051207423210144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.7435328364372253, + 0.1767248511314392, + -0.6449242234230042, + 0.49303218722343445 + ], + [ + 0.15559326112270355, + -0.9836968779563904, + -0.09017334878444672, + 0.023422282189130783 + ], + [ + -0.6503458023071289, + -0.03329901397228241, + -0.7589080929756165, + -0.2040390521287918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.7510566115379333, + 0.17541716992855072, + -0.6365082859992981, + 0.49007952213287354 + ], + [ + 0.15184356272220612, + -0.9841094613075256, + -0.09204372018575668, + 0.023165076971054077 + ], + [ + -0.6425398588180542, + -0.02751963585615158, + -0.7657579183578491, + -0.2023928165435791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.7585453391075134, + 0.17544813454151154, + -0.6275562644004822, + 0.48708438873291016 + ], + [ + 0.15050336718559265, + -0.9842028021812439, + -0.09323930740356445, + 0.022803951054811478 + ], + [ + -0.6340013146400452, + -0.023723086342215538, + -0.7729679942131042, + -0.20034392178058624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.7648717761039734, + 0.17186114192008972, + -0.6208340525627136, + 0.48433825373649597 + ], + [ + 0.1468648910522461, + -0.9848965406417847, + -0.09170346707105637, + 0.022192399948835373 + ], + [ + -0.6272175312042236, + -0.021037330850958824, + -0.7785599231719971, + -0.19814904034137726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.7709418535232544, + 0.16783340275287628, + -0.61439448595047, + 0.4815624952316284 + ], + [ + 0.14457044005393982, + -0.9855892062187195, + -0.08782529830932617, + 0.021603163331747055 + ], + [ + -0.6202806234359741, + -0.02111509069800377, + -0.7840957045555115, + -0.1956777572631836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.7728650569915771, + 0.1627117395401001, + -0.6133551597595215, + 0.47887134552001953 + ], + [ + 0.14025342464447021, + -0.9864635467529297, + -0.08496256917715073, + 0.021150927990674973 + ], + [ + -0.6188768744468689, + -0.020360557362437248, + -0.7852240800857544, + -0.1931907683610916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.7764390707015991, + 0.15744630992412567, + -0.6102073788642883, + 0.4761725068092346 + ], + [ + 0.13652369379997253, + -0.9873170256614685, + -0.08103326708078384, + 0.020730048418045044 + ], + [ + -0.6152265071868896, + -0.020390374585986137, + -0.7880866527557373, + -0.19070221483707428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.7811009883880615, + 0.1515568643808365, + -0.6057323813438416, + 0.47349613904953003 + ], + [ + 0.1318940371274948, + -0.9882541298866272, + -0.07718612998723984, + 0.02026175707578659 + ], + [ + -0.6103156208992004, + -0.019602328538894653, + -0.791915774345398, + -0.18821749091148376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.7864758372306824, + 0.14769701659679413, + -0.5997010469436646, + 0.47002294659614563 + ], + [ + 0.12823085486888885, + -0.9888757467269897, + -0.07537677139043808, + 0.019495155662298203 + ], + [ + -0.6041627526283264, + -0.017618171870708466, + -0.7966662049293518, + -0.18489140272140503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.7940955758094788, + 0.14988018572330475, + -0.5890230536460876, + 0.4662624001502991 + ], + [ + 0.12875430285930634, + -0.9886061549186707, + -0.0779753252863884, + 0.01886782795190811 + ], + [ + -0.5939987897872925, + -0.013919396325945854, + -0.8043454885482788, + -0.18191857635974884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.7990533113479614, + 0.15099260210990906, + -0.5819923281669617, + 0.4624137878417969 + ], + [ + 0.12788541615009308, + -0.9884862303733826, + -0.08087193220853806, + 0.01817740872502327 + ], + [ + -0.5875024199485779, + -0.009807338938117027, + -0.809162974357605, + -0.1792418509721756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.8012592196464539, + 0.15233038365840912, + -0.5786009430885315, + 0.45836472511291504 + ], + [ + 0.12752828001976013, + -0.9883061647415161, + -0.08359101414680481, + 0.017214249819517136 + ], + [ + -0.5845683217048645, + -0.006809908896684647, + -0.8113158941268921, + -0.17601308226585388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.8054505586624146, + 0.15244872868061066, + -0.572720468044281, + 0.4545760750770569 + ], + [ + 0.1268649846315384, + -0.9883012771606445, + -0.08465176075696945, + 0.01622840017080307 + ], + [ + -0.5789254307746887, + -0.004475363530218601, + -0.8153682351112366, + -0.17310084402561188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.8094124794006348, + 0.15044140815734863, + -0.5676432251930237, + 0.45108720660209656 + ], + [ + 0.12578092515468597, + -0.988608717918396, + -0.08265584707260132, + 0.015086522325873375 + ], + [ + -0.573611855506897, + -0.004496012814342976, + -0.8191148638725281, + -0.17015235126018524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.813514769077301, + 0.14697574079036713, + -0.5626649856567383, + 0.44813114404678345 + ], + [ + 0.12316560000181198, + -0.9891321063041687, + -0.08029892295598984, + 0.013609013520181179 + ], + [ + -0.5683519840240479, + -0.003976618871092796, + -0.8227759003639221, + -0.16676941514015198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.8205015659332275, + 0.14445364475250244, + -0.5530915856361389, + 0.44524580240249634 + ], + [ + 0.12091295421123505, + -0.9895095229148865, + -0.07906284183263779, + 0.01206601969897747 + ], + [ + -0.5587103366851807, + -0.002004752866923809, + -0.8293604254722595, + -0.1640038788318634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.8251906037330627, + 0.14377202093601227, + -0.5462509393692017, + 0.442150741815567 + ], + [ + 0.11831877380609512, + -0.9896068572998047, + -0.08172476291656494, + 0.010427845641970634 + ], + [ + -0.5523234009742737, + 0.002806761534884572, + -0.8336251974105835, + -0.16164521872997284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.8287912011146545, + 0.14276425540447235, + -0.5410393476486206, + 0.43927204608917236 + ], + [ + 0.11479439586400986, + -0.9897193908691406, + -0.08530982583761215, + 0.008325894363224506 + ], + [ + -0.5476562976837158, + 0.008595747873187065, + -0.8366592526435852, + -0.1588873714208603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.8411157131195068, + 0.14488495886325836, + -0.5210880041122437, + 0.4361453652381897 + ], + [ + 0.11492870002985, + -0.9893279671669006, + -0.08956338465213776, + 0.006616188213229179 + ], + [ + -0.5285032987594604, + 0.015445206314325333, + -0.8487907648086548, + -0.15598483383655548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.8447739481925964, + 0.14808803796768188, + -0.5142245888710022, + 0.43231356143951416 + ], + [ + 0.11555978655815125, + -0.988756537437439, + -0.09490235149860382, + 0.005114509724080563 + ], + [ + -0.5224968194961548, + 0.0207473486661911, + -0.8523887991905212, + -0.1534658968448639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.8450193405151367, + 0.1475420445203781, + -0.5139782428741455, + 0.42874598503112793 + ], + [ + 0.11118361353874207, + -0.9886534810066223, + -0.10100747644901276, + 0.0038189059123396873 + ], + [ + -0.5230492353439331, + 0.028207309544086456, + -0.8518355488777161, + -0.15172222256660461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.8536282181739807, + 0.15060099959373474, + -0.4986363649368286, + 0.42496976256370544 + ], + [ + 0.10959408432245255, + -0.9877904653549194, + -0.11072120070457458, + 0.002917013829573989 + ], + [ + -0.5092229843139648, + 0.03986714407801628, + -0.8597107529640198, + -0.14972610771656036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.8559358716011047, + 0.15508748590946198, + -0.4932764172554016, + 0.4204988479614258 + ], + [ + 0.11128614842891693, + -0.9868573546409607, + -0.11716639995574951, + 0.002373563125729561 + ], + [ + -0.5049644708633423, + 0.04539209604263306, + -0.8619456887245178, + -0.14757978916168213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.8530613780021667, + 0.15501654148101807, + -0.49825310707092285, + 0.41564425826072693 + ], + [ + 0.11227203160524368, + -0.9870168566703796, + -0.11485930532217026, + 0.0023843764793127775 + ], + [ + -0.5095893144607544, + 0.04204215109348297, + -0.8593900203704834, + -0.14510995149612427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.8516352772712708, + 0.1564968228340149, + -0.5002260804176331, + 0.41090095043182373 + ], + [ + 0.11407659947872162, + -0.9868491291999817, + -0.11452241241931915, + 0.0023224835749715567 + ], + [ + -0.5115700960159302, + 0.04046722874045372, + -0.8582881093025208, + -0.14273126423358917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.8490376472473145, + 0.15593531727790833, + -0.5047962069511414, + 0.40654945373535156 + ], + [ + 0.11163497716188431, + -0.9868287444114685, + -0.11707528680562973, + 0.0023069309536367655 + ], + [ + -0.5164036154747009, + 0.04304841160774231, + -0.8552626371383667, + -0.14077813923358917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.8485159873962402, + 0.15095163881778717, + -0.5071826577186584, + 0.4023783802986145 + ], + [ + 0.10653479397296906, + -0.9875555038452148, + -0.11569133400917053, + 0.0023153689689934254 + ], + [ + -0.5183348059654236, + 0.04413333907723427, + -0.8540381789207458, + -0.13788984715938568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.8507312536239624, + 0.14831885695457458, + -0.5042399168014526, + 0.3983742594718933 + ], + [ + 0.10641790181398392, + -0.9880953431129456, + -0.11109819263219833, + 0.0026264041662216187 + ], + [ + -0.5147150754928589, + 0.0408545546233654, + -0.8563873767852783, + -0.1351168155670166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.8480398058891296, + 0.14746057987213135, + -0.5090028047561646, + 0.3942054808139801 + ], + [ + 0.10683367401361465, + -0.98835688829422, + -0.10833825916051865, + 0.0030441523995250463 + ], + [ + -0.5190520882606506, + 0.03749650716781616, + -0.8539197444915771, + -0.13272307813167572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.8530142307281494, + 0.1482224464416504, + -0.5003966689109802, + 0.3905714154243469 + ], + [ + 0.10702359676361084, + -0.9881247282028198, + -0.1102517768740654, + 0.003011755645275116 + ], + [ + -0.510796070098877, + 0.040492091327905655, + -0.8587477803230286, + -0.12991584837436676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.8586591482162476, + 0.1503976583480835, + -0.48998475074768066, + 0.3867514133453369 + ], + [ + 0.10892923176288605, + -0.9876886010169983, + -0.11227487772703171, + 0.00340292789041996 + ], + [ + -0.5008382201194763, + 0.04303218796849251, + -0.8644705414772034, + -0.1271863430738449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.8568171262741089, + 0.14739574491977692, + -0.4941041171550751, + 0.38327956199645996 + ], + [ + 0.1077231615781784, + -0.9882955551147461, + -0.1080167219042778, + 0.003637447953224182 + ], + [ + -0.5042421221733093, + 0.03932411968708038, + -0.8626664876937866, + -0.12463052570819855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.8602032661437988, + 0.14148497581481934, + -0.4899309277534485, + 0.3805983066558838 + ], + [ + 0.10372104495763779, + -0.9892005920410156, + -0.10355712473392487, + 0.0031042108312249184 + ], + [ + -0.4992917478084564, + 0.03826403245329857, + -0.8655886054039001, + -0.12171421945095062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.8639869689941406, + 0.13497807085514069, + -0.48508504033088684, + 0.3781784176826477 + ], + [ + 0.09689449518918991, + -0.9899627566337585, + -0.10288441181182861, + 0.002756236121058464 + ], + [ + -0.49410325288772583, + 0.04188871756196022, + -0.8683935403823853, + -0.11941027641296387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.8665866851806641, + 0.12755146622657776, + -0.4824501574039459, + 0.3759981095790863 + ], + [ + 0.08849344402551651, + -0.9907390475273132, + -0.10298055410385132, + 0.0024154249113053083 + ], + [ + -0.49111753702163696, + 0.04654790461063385, + -0.8698487877845764, + -0.1172824278473854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.8719680309295654, + 0.12080250680446625, + -0.4744243621826172, + 0.3738386631011963 + ], + [ + 0.0827934741973877, + -0.991506814956665, + -0.10029681026935577, + 0.0019039777107536793 + ], + [ + -0.48251110315322876, + 0.04817637801170349, + -0.8745639324188232, + -0.11421704292297363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.874579906463623, + 0.11059889197349548, + -0.4720993936061859, + 0.37176796793937683 + ], + [ + 0.07717116177082062, + -0.9929779171943665, + -0.08966311812400818, + 0.0015848110197111964 + ], + [ + -0.4787009060382843, + 0.041985105723142624, + -0.876973569393158, + -0.11101053655147552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.8757206201553345, + 0.10245766490697861, + -0.4718218147754669, + 0.3693663477897644 + ], + [ + 0.07354186475276947, + -0.9941278696060181, + -0.07938142865896225, + 0.0008109738118946552 + ], + [ + -0.4771844446659088, + 0.034817300736904144, + -0.8781132102012634, + -0.10758937895298004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.8789336681365967, + 0.09759801626205444, + -0.4668513536453247, + 0.36720654368400574 + ], + [ + 0.06882251799106598, + -0.9945479035377502, + -0.07834500074386597, + 0.0003247261047363281 + ], + [ + -0.471952348947525, + 0.03673017397522926, + -0.8808586001396179, + -0.10529521107673645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.8807381391525269, + 0.09259651601314545, + -0.46446332335472107, + 0.3652631640434265 + ], + [ + 0.06227193772792816, + -0.9948278665542603, + -0.0802481472492218, + -0.00018792366608977318 + ], + [ + -0.46949172019958496, + 0.041754577308893204, + -0.8819490075111389, + -0.10372212529182434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.8850427865982056, + 0.08767203241586685, + -0.4571792185306549, + 0.363521933555603 + ], + [ + 0.05618961900472641, + -0.9950437545776367, + -0.08204066753387451, + -0.0007638934766873717 + ], + [ + -0.46210598945617676, + 0.0469207726418972, + -0.8855825662612915, + -0.10240699350833893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.8872092366218567, + 0.0838756263256073, + -0.45367899537086487, + 0.3613669276237488 + ], + [ + 0.05025904253125191, + -0.9950543642044067, + -0.08567846566438675, + -0.0016762297600507736 + ], + [ + -0.4586215913295746, + 0.05321325734257698, + -0.8870369791984558, + -0.1013624519109726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.8910436630249023, + 0.0805988684296608, + -0.44670459628105164, + 0.35966116189956665 + ], + [ + 0.043516743928194046, + -0.9947446584701538, + -0.09267863631248474, + -0.002393810311332345 + ], + [ + -0.451826810836792, + 0.0631415843963623, + -0.8898683786392212, + -0.10060067474842072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.8988727331161499, + 0.07390221953392029, + -0.4319331645965576, + 0.35833561420440674 + ], + [ + 0.03444771096110344, + -0.9945430755615234, + -0.09847550094127655, + -0.003206814406439662 + ], + [ + -0.43685370683670044, + 0.07363783568143845, + -0.8965134024620056, + -0.09946036338806152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9012334942817688, + 0.0676087737083435, + -0.4280271530151367, + 0.35626909136772156 + ], + [ + 0.030146140605211258, + -0.9951427578926086, + -0.09371290355920792, + -0.0034618815407156944 + ], + [ + -0.4322839379310608, + 0.07155384123325348, + -0.8988941311836243, + -0.09785893559455872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9043534994125366, + 0.06299938261508942, + -0.4221087396144867, + 0.35403645038604736 + ], + [ + 0.02869921177625656, + -0.9957832098007202, + -0.08713274449110031, + -0.003827937413007021 + ], + [ + -0.4258181154727936, + 0.06668461114168167, + -0.9023481011390686, + -0.09585262835025787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.900749146938324, + 0.06028234586119652, + -0.4301360547542572, + 0.35098567605018616 + ], + [ + 0.02752663940191269, + -0.9962539076805115, + -0.08197853714227676, + -0.003974250052124262 + ], + [ + -0.4334665834903717, + 0.062001898884773254, + -0.8990342020988464, + -0.09427132457494736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9016644954681396, + 0.060265108942985535, + -0.42821642756462097, + 0.34722989797592163 + ], + [ + 0.028094599023461342, + -0.996313214302063, + -0.0810595378279686, + -0.0041517214849591255 + ], + [ + -0.4315227270126343, + 0.061057936400175095, + -0.9000333547592163, + -0.09191866964101791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9070048928260803, + 0.0629379004240036, + -0.41639038920402527, + 0.34333521127700806 + ], + [ + 0.030002787709236145, + -0.9959137439727783, + -0.08517979830503464, + -0.004247778560966253 + ], + [ + -0.4200499653816223, + 0.06476561725139618, + -0.9051869511604309, + -0.09019726514816284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9123828411102295, + 0.0627400204539299, + -0.40450119972229004, + 0.33947187662124634 + ], + [ + 0.029307568445801735, + -0.9956603646278381, + -0.08832614123821259, + -0.004448970314115286 + ], + [ + -0.4082874059677124, + 0.06873230636119843, + -0.9102622270584106, + -0.08842895179986954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9159011244773865, + 0.059593673795461655, + -0.39695557951927185, + 0.33561763167381287 + ], + [ + 0.02737019583582878, + -0.9958881139755249, + -0.08635787665843964, + -0.004922669380903244 + ], + [ + -0.40046975016593933, + 0.0682305246591568, + -0.9137661457061768, + -0.08595046401023865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9201286435127258, + 0.05627083033323288, + -0.3875524699687958, + 0.3320404589176178 + ], + [ + 0.02430661953985691, + -0.9959209561347961, + -0.08689425885677338, + -0.00558832474052906 + ], + [ + -0.39086124300956726, + 0.07053380459547043, + -0.9177431464195251, + -0.08410600572824478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9243248105049133, + 0.052697163075208664, + -0.37795063853263855, + 0.3284686505794525 + ], + [ + 0.021004006266593933, + -0.9959434866905212, + -0.08749520778656006, + -0.00626085652038455 + ], + [ + -0.3810282349586487, + 0.07293551415205002, + -0.9216821193695068, + -0.08213692158460617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9298712611198425, + 0.04530427232384682, + -0.36508479714393616, + 0.32498130202293396 + ], + [ + 0.014847001992166042, + -0.9962012767791748, + -0.085805743932724, + -0.0071412865072488785 + ], + [ + -0.36758530139923096, + 0.07436788082122803, + -0.9270115494728088, + -0.07964769750833511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9361464977264404, + 0.039137061685323715, + -0.349425345659256, + 0.32169926166534424 + ], + [ + 0.010506683960556984, + -0.9964558482170105, + -0.08345862478017807, + -0.0076439036056399345 + ], + [ + -0.3514532446861267, + 0.07445819675922394, + -0.9332398176193237, + -0.0768437385559082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9402705430984497, + 0.03290357440710068, + -0.33883434534072876, + 0.31829312443733215 + ], + [ + 0.008164971135556698, + -0.9972114562988281, + -0.07417944073677063, + -0.007759709842503071 + ], + [ + -0.3403302729129791, + 0.06698217242956161, + -0.9379172325134277, + -0.07351517677307129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9439467191696167, + 0.028922230005264282, + -0.3288283050060272, + 0.31487613916397095 + ], + [ + 0.007461427245289087, + -0.9977691769599915, + -0.06634015589952469, + -0.007478367071598768 + ], + [ + -0.3300134241580963, + 0.06016804277896881, + -0.9420567750930786, + -0.07018651813268661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9482848644256592, + 0.02645825408399105, + -0.3163158595561981, + 0.311154305934906 + ], + [ + 0.006812772713601589, + -0.9979869723320007, + -0.06305260956287384, + -0.007064288016408682 + ], + [ + -0.31734737753868103, + 0.05763684958219528, + -0.9465562105178833, + -0.06701434403657913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.951094925403595, + 0.023852813988924026, + -0.3079764246940613, + 0.3072810471057892 + ], + [ + 0.00585249625146389, + -0.9982266426086426, + -0.059239067137241364, + -0.006666680797934532 + ], + [ + -0.3088432848453522, + 0.05453954637050629, + -0.9495479464530945, + -0.06402678042650223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9525228142738342, + 0.02176213450729847, + -0.3036884367465973, + 0.3029731810092926 + ], + [ + 0.004629085771739483, + -0.998362123966217, + -0.057022854685783386, + -0.006833785679191351 + ], + [ + -0.3044319748878479, + 0.05290977284312248, + -0.9510634541511536, + -0.06118495762348175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.956068754196167, + 0.022015446797013283, + -0.292314738035202, + 0.29850277304649353 + ], + [ + 0.004809231963008642, + -0.9982196688652039, + -0.059450630098581314, + -0.006983270402997732 + ], + [ + -0.2931031584739685, + 0.05543307960033417, + -0.9544724822044373, + -0.058577582240104675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9593511819839478, + 0.022683491930365562, + -0.28130200505256653, + 0.2939634919166565 + ], + [ + 0.004812473896890879, + -0.9979345202445984, + -0.06405851244926453, + -0.00713356863707304 + ], + [ + -0.2821740508079529, + 0.060100849717855453, + -0.9574788212776184, + -0.0564705953001976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9614947438240051, + 0.022443028166890144, + -0.2739053964614868, + 0.2894476056098938 + ], + [ + 0.0029016807675361633, + -0.9974334239959717, + -0.07154103368520737, + -0.007509106304496527 + ], + [ + -0.27480798959732056, + 0.06799154728651047, + -0.9590921401977539, + -0.05501747503876686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9644482731819153, + 0.02230987325310707, + -0.2633282244205475, + 0.2847999632358551 + ], + [ + -0.0005261459737084806, + -0.9962661862373352, + -0.08633337169885635, + -0.007994300685822964 + ], + [ + -0.264271080493927, + 0.083402618765831, + -0.9608354568481445, + -0.05407477542757988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9652876853942871, + 0.0201402697712183, + -0.26041120290756226, + 0.280243456363678 + ], + [ + -0.0062568229623138905, + -0.9949533939361572, + -0.10014263540506363, + -0.008713302202522755 + ], + [ + -0.2611139416694641, + 0.09829580038785934, + -0.9602903127670288, + -0.05355260148644447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9670488834381104, + 0.02065456472337246, + -0.25375160574913025, + 0.27527618408203125 + ], + [ + -0.008156569674611092, + -0.9936784505844116, + -0.11196696758270264, + -0.009384230710566044 + ], + [ + -0.2544601261615753, + 0.11034727096557617, + -0.9607671499252319, + -0.05258695036172867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9662154316902161, + 0.023909099400043488, + -0.2566245198249817, + 0.27026820182800293 + ], + [ + -0.00796600803732872, + -0.9924419522285461, + -0.12245623022317886, + -0.010193921625614166 + ], + [ + -0.25761276483535767, + 0.12036336958408356, + -0.9587222337722778, + -0.05159210041165352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9621067643165588, + 0.027404528111219406, + -0.27129238843917847, + 0.26552700996398926 + ], + [ + -0.00699256919324398, + -0.9921298027038574, + -0.12501806020736694, + -0.011025173589587212 + ], + [ + -0.27258333563804626, + 0.12217774987220764, + -0.9543431997299194, + -0.050455693155527115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9598936438560486, + 0.029482809826731682, + -0.2788098454475403, + 0.2609759271144867 + ], + [ + -0.005635550245642662, + -0.9922255277633667, + -0.12432532757520676, + -0.011678820475935936 + ], + [ + -0.28030771017074585, + 0.12091033905744553, + -0.9522648453712463, + -0.04826043173670769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9628101587295532, + 0.022852446883916855, + -0.2692106068134308, + 0.25687363743782043 + ], + [ + -0.006184636615216732, + -0.9942911863327026, + -0.1065211296081543, + -0.012456360273063183 + ], + [ + -0.2701079845428467, + 0.10422459989786148, + -0.9571723341941833, + -0.04567876085639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9709668159484863, + 0.004312452394515276, + -0.2391754388809204, + 0.2534363269805908 + ], + [ + -0.014424340799450874, + -0.9969626665115356, + -0.07653339952230453, + -0.013301853090524673 + ], + [ + -0.23877903819084167, + 0.07776133716106415, + -0.967955470085144, + -0.0429660901427269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9732249975204468, + -0.0039682332426309586, + -0.2298203557729721, + 0.24948285520076752 + ], + [ + -0.020088111981749535, + -0.9974936842918396, + -0.06784414499998093, + -0.014244877733290195 + ], + [ + -0.22897513210773468, + 0.07064427435398102, + -0.9708654880523682, + -0.042061224579811096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9707270860671997, + -0.005238216370344162, + -0.24012798070907593, + 0.24538536369800568 + ], + [ + -0.025186333805322647, + -0.9964702129364014, + -0.08007950335741043, + -0.014782805927097797 + ], + [ + -0.23886090517044067, + 0.08378329128026962, + -0.9674326181411743, + -0.042776137590408325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9716552495956421, + -0.01461323443800211, + -0.2359503209590912, + 0.24166420102119446 + ], + [ + -0.03687102720141411, + -0.995241105556488, + -0.09019795060157776, + -0.014937921427190304 + ], + [ + -0.2335093766450882, + 0.09634104371070862, + -0.9675700068473816, + -0.04374224320054054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9744057059288025, + -0.02196223847568035, + -0.22372129559516907, + 0.23771150410175323 + ], + [ + -0.044001586735248566, + -0.9945985078811646, + -0.09400888532400131, + -0.01559600979089737 + ], + [ + -0.22044822573661804, + 0.10144688189029694, + -0.9701088070869446, + -0.043956074863672256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9755638837814331, + -0.025252221152186394, + -0.21825993061065674, + 0.23345966637134552 + ], + [ + -0.04636797681450844, + -0.9946629405021667, + -0.09217211604118347, + -0.01555637177079916 + ], + [ + -0.21476750075817108, + 0.10004005581140518, + -0.9715281128883362, + -0.043840665370225906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9762141108512878, + -0.02466828189790249, + -0.21540077030658722, + 0.22878500819206238 + ], + [ + -0.04481648653745651, + -0.9950084686279297, + -0.08916094899177551, + -0.015501827001571655 + ], + [ + -0.21212615072727203, + 0.09669367969036102, + -0.9724467992782593, + -0.04322046786546707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9783101677894592, + -0.022306781262159348, + -0.20594090223312378, + 0.22375236451625824 + ], + [ + -0.04044623300433159, + -0.9956195950508118, + -0.08429550379514694, + -0.01564781367778778 + ], + [ + -0.203158438205719, + 0.09079667925834656, + -0.9749270081520081, + -0.04170512408018112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.9389214409722, + "fy": 832.7099491716867, + "cx": 414.7167860243055, + "cy": 246.27164909638554 + } + } + ] +} diff --git a/dycheck_eval/source/pillow/caption.txt b/dycheck_eval/source/pillow/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..e9f5dae9f46b1bcb10dc9b8ae1de30301b6f591d --- /dev/null +++ b/dycheck_eval/source/pillow/caption.txt @@ -0,0 +1 @@ +A person in a vibrant comic-themed shirt holds and adjusts a plush purple pillow while standing on a paved surface, occasionally shifting their stance and slightly turning the pillow to display its texture and shape. diff --git a/dycheck_eval/source/pillow/transforms.json b/dycheck_eval/source/pillow/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..4d8b1ef1bb161001e89971a2dafe32a004ff9f5c --- /dev/null +++ b/dycheck_eval/source/pillow/transforms.json @@ -0,0 +1,11563 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 330, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 4.179809387494515e-09, + 7.186813921755686e-10, + 7.692817216575776e-11 + ], + [ + 4.179809387494515e-09, + -1.0, + 2.2567096635839334e-08, + 1.0473219513862375e-11 + ], + [ + 7.186815031978711e-10, + -2.2567096635839334e-08, + -1.0, + 2.931404424755257e-11 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.99983811378479, + 0.0033444147557020187, + 0.01768011972308159, + -0.001406368799507618 + ], + [ + 0.003131735371425748, + -0.9999225735664368, + 0.012043328024446964, + 0.00013840742758475244 + ], + [ + 0.017719028517603874, + -0.01198600884526968, + -0.9997711777687073, + 0.001731484429910779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9992188811302185, + 0.015094755217432976, + 0.03652102127671242, + -0.002360873855650425 + ], + [ + 0.014098592102527618, + -0.9995256066322327, + 0.027381908148527145, + 4.0279002860188484e-05 + ], + [ + 0.03691701963543892, + -0.026845624670386314, + -0.9989576935768127, + 0.0038192938081920147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9989197254180908, + 0.017266258597373962, + 0.043142933398485184, + 0.0006249711150303483 + ], + [ + 0.015952616930007935, + -0.9994041323661804, + 0.03060954064130783, + 0.00381234148517251 + ], + [ + 0.04364573583006859, + -0.029888231307268143, + -0.9985998868942261, + 0.0001792955445125699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.998830258846283, + 0.01660643331706524, + 0.04541269317269325, + 0.00319855147972703 + ], + [ + 0.015120435506105423, + -0.9993451833724976, + 0.03287208452820778, + 0.007143440656363964 + ], + [ + 0.045928843319416046, + -0.03214697539806366, + -0.9984273314476013, + -0.002898967359215021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.998898446559906, + 0.010453701950609684, + 0.045745622366666794, + 0.003295379690825939 + ], + [ + 0.0089290551841259, + -0.9994019269943237, + 0.033407147973775864, + 0.0079173119738698 + ], + [ + 0.0460674911737442, + -0.0329618826508522, + -0.9983943700790405, + -0.0028796549886465073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9988145232200623, + 0.009115985594689846, + 0.047816623002290726, + 0.003584656398743391 + ], + [ + 0.0073221344500780106, + -0.9992676377296448, + 0.03755713999271393, + 0.008052476681768894 + ], + [ + 0.04812397435307503, + -0.03716249763965607, + -0.9981498122215271, + -0.0024914208333939314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9987026453018188, + 0.00610363157466054, + 0.05055484548211098, + 0.0038162400014698505 + ], + [ + 0.003949152305722237, + -0.9990841150283813, + 0.04260743409395218, + 0.00830740574747324 + ], + [ + 0.05076860263943672, + -0.04235250875353813, + -0.997812032699585, + -0.002146714134141803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.99882572889328, + 0.0018682851223275065, + 0.04841143637895584, + 0.003983397036790848 + ], + [ + -0.00022158924548421055, + -0.9990695118904114, + 0.04312773793935776, + 0.008608434349298477 + ], + [ + 0.04844696447253227, + -0.04308782145380974, + -0.9978959560394287, + -0.0024188566021621227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9986835718154907, + -0.00014988738985266536, + 0.05129386857151985, + 0.0038275718688964844 + ], + [ + -0.002181710209697485, + -0.9992148876190186, + 0.039557721465826035, + 0.008207316510379314 + ], + [ + 0.05124766752123833, + -0.03961755335330963, + -0.9978998303413391, + -0.002778658177703619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9986480474472046, + -0.002728697145357728, + 0.05191009119153023, + 0.0036481553688645363 + ], + [ + -0.004294842481613159, + -0.9995381832122803, + 0.030082765966653824, + 0.008021080866456032 + ], + [ + 0.05180403217673302, + -0.030265040695667267, + -0.9981985688209534, + -0.003586937440559268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9990502595901489, + -0.00431193970143795, + 0.043359361588954926, + 0.003372201696038246 + ], + [ + -0.0050414856523275375, + -0.9998473525047302, + 0.016730327159166336, + 0.008423777297139168 + ], + [ + 0.043280601501464844, + -0.016933033242821693, + -0.9989194273948669, + -0.004944611340761185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994775652885437, + -0.002788608893752098, + 0.03219960257411003, + 0.0030258146580308676 + ], + [ + -0.0030383095145225525, + -0.9999656677246094, + 0.007708447519689798, + 0.008927655406296253 + ], + [ + 0.03217700123786926, + -0.007802252657711506, + -0.999451756477356, + -0.005467845592647791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9995889067649841, + -0.003418226260691881, + 0.028465405106544495, + 0.0027832994237542152 + ], + [ + -0.0035071212332695723, + -0.9999891519546509, + 0.003073567058891058, + 0.009671088308095932 + ], + [ + 0.02845458872616291, + -0.0031721352133899927, + -0.9995900392532349, + -0.005882821045815945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9997634887695312, + -0.003117251442745328, + 0.02152402326464653, + 0.0024989740923047066 + ], + [ + -0.0031847641803324223, + -0.9999901056289673, + 0.0031030529644340277, + 0.010601235553622246 + ], + [ + 0.02151413820683956, + -0.0031708679161965847, + -0.9997634887695312, + -0.006171567365527153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998080134391785, + -0.0065476796589791775, + 0.01846938394010067, + 0.0025229996535927057 + ], + [ + -0.006651452276855707, + -0.9999623894691467, + 0.005562827922403812, + 0.01105942390859127 + ], + [ + 0.018432265147566795, + -0.005684607662260532, + -0.999813973903656, + -0.0055999755859375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9996245503425598, + -0.008169892244040966, + 0.026153624057769775, + 0.002292278688400984 + ], + [ + -0.008572342805564404, + -0.9998459815979004, + 0.015312986448407173, + 0.011757948435842991 + ], + [ + 0.02602449059486389, + -0.01553143560886383, + -0.9995406270027161, + -0.0044312854297459126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9995352029800415, + -0.009013183414936066, + 0.02912328392267227, + 0.0019253208301961422 + ], + [ + -0.0098554827272892, + -0.999533474445343, + 0.028908949345350266, + 0.012596203945577145 + ], + [ + 0.028849134221673012, + -0.029182536527514458, + -0.999157726764679, + -0.003556303447112441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994704127311707, + -0.006696526892483234, + 0.0318438783288002, + 0.0012720953673124313 + ], + [ + -0.007711144629865885, + -0.9994630217552185, + 0.03184693679213524, + 0.01327827200293541 + ], + [ + 0.031613513827323914, + -0.03207562491297722, + -0.9989853501319885, + -0.003316570073366165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993247985839844, + -0.004923677537590265, + 0.03641056269407272, + 0.0007465440430678427 + ], + [ + -0.006051880307495594, + -0.9995028972625732, + 0.0309405829757452, + 0.013701347634196281 + ], + [ + 0.036240119487047195, + -0.03114004246890545, + -0.9988577961921692, + -0.0037957343738526106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999389111995697, + -0.007221725769340992, + 0.0341944582760334, + 0.0008873686310835183 + ], + [ + -0.008380469866096973, + -0.9993912577629089, + 0.03386573866009712, + 0.012709654867649078 + ], + [ + 0.03392907232046127, + -0.03413161635398865, + -0.9988412261009216, + -0.004536333493888378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9995514750480652, + -0.010112488642334938, + 0.028189172968268394, + 0.0009707284043543041 + ], + [ + -0.01101636327803135, + -0.9994240999221802, + 0.03209591656923294, + 0.01172609068453312 + ], + [ + 0.027848368510603905, + -0.03239206224679947, + -0.9990872144699097, + -0.0056855641305446625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9995059967041016, + -0.013315469957888126, + 0.028468633070588112, + 0.0007658521644771099 + ], + [ + -0.01411164365708828, + -0.9995096921920776, + 0.027951151132583618, + 0.010751985013484955 + ], + [ + 0.02808249182999134, + -0.0283390823751688, + -0.9992038011550903, + -0.007102392613887787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.999076247215271, + -0.0234492477029562, + 0.03601125255227089, + 0.0010116796474903822 + ], + [ + -0.02456231601536274, + -0.9992242455482483, + 0.03078397922217846, + 0.009246413595974445 + ], + [ + 0.03526145592331886, + -0.03164006024599075, + -0.9988771080970764, + -0.007562350016087294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.998508632183075, + -0.03641803190112114, + 0.04067183658480644, + 0.00105656695086509 + ], + [ + -0.0378393717110157, + -0.9986797571182251, + 0.034741226583719254, + 0.008045310154557228 + ], + [ + 0.03935293108224869, + -0.03622841089963913, + -0.9985684156417847, + -0.008455073460936546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9980800151824951, + -0.0441216304898262, + 0.043469127267599106, + 0.00038039975333958864 + ], + [ + -0.04544525220990181, + -0.9985178709030151, + 0.029946794733405113, + 0.007455404382199049 + ], + [ + 0.04208339750766754, + -0.03186476230621338, + -0.9986058473587036, + -0.010207749903202057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9981534481048584, + -0.044611480087041855, + 0.04122548922896385, + -0.0006688282010145485 + ], + [ + -0.045564793050289154, + -0.9987083673477173, + 0.022481152787804604, + 0.00795617513358593 + ], + [ + 0.04016932472586632, + -0.024318071082234383, + -0.9988968968391418, + -0.011954554356634617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9990060925483704, + -0.04070687294006348, + 0.01816115714609623, + -0.0019342106534168124 + ], + [ + -0.04102684557437897, + -0.9990028738975525, + 0.017608176916837692, + 0.008806725963950157 + ], + [ + 0.017426272854208946, + -0.018335770815610886, + -0.9996799826622009, + -0.013813406229019165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9991697669029236, + -0.04016391187906265, + -0.006833352614194155, + -0.002858741208910942 + ], + [ + -0.0400637686252594, + -0.9990960955619812, + 0.014209489338099957, + 0.00919489935040474 + ], + [ + -0.007397884037345648, + -0.01392392162233591, + -0.9998756647109985, + -0.01584245078265667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.999100923538208, + -0.04167564958333969, + -0.0077801854349672794, + -0.0038528493605554104 + ], + [ + -0.04158144071698189, + -0.9990642070770264, + 0.011901921592652798, + 0.009313857182860374 + ], + [ + -0.008268925361335278, + -0.011567709036171436, + -0.9998989105224609, + -0.017309896647930145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9992072582244873, + -0.03975233808159828, + 0.0021370931062847376, + -0.005215202458202839 + ], + [ + -0.0397782027721405, + -0.9991124272346497, + 0.013857555575668812, + 0.009915701113641262 + ], + [ + 0.0015843260334804654, + -0.013931579887866974, + -0.9999017119407654, + -0.018569977954030037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9991797208786011, + -0.04043541103601456, + -0.00220246403478086, + -0.006290939636528492 + ], + [ + -0.04039229452610016, + -0.9990395307540894, + 0.016985321417450905, + 0.010528713464736938 + ], + [ + -0.0028871570248156786, + -0.016882427036762238, + -0.9998533129692078, + -0.019917570054531097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9989966750144958, + -0.04438730701804161, + -0.00594822084531188, + -0.006602277513593435 + ], + [ + -0.04426956921815872, + -0.9988455772399902, + 0.018646633252501488, + 0.011267146095633507 + ], + [ + -0.006769028026610613, + -0.018364598974585533, + -0.9998084306716919, + -0.02147015370428562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9992488026618958, + -0.038435112684965134, + -0.004956156015396118, + -0.007627501618117094 + ], + [ + -0.03837388753890991, + -0.999192476272583, + 0.011907429434359074, + 0.011724120937287807 + ], + [ + -0.005409817676991224, + -0.01170829776674509, + -0.9999167919158936, + -0.023188434541225433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9995588064193726, + -0.02964630350470543, + -0.00181288318708539, + -0.00927836261689663 + ], + [ + -0.02963782660663128, + -0.9995504021644592, + 0.004536458756774664, + 0.012620070017874241 + ], + [ + -0.0019465574296191335, + -0.004480727482587099, + -0.9999880790710449, + -0.02451394684612751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9997049570083618, + -0.024090275168418884, + 0.0031111417338252068, + -0.011287828907370567 + ], + [ + -0.024102792143821716, + -0.9997012615203857, + 0.004050109069794416, + 0.013089548796415329 + ], + [ + 0.003012644127011299, + -0.004123901017010212, + -0.9999869465827942, + -0.02533753216266632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.999647319316864, + -0.02381203882396221, + 0.01175692304968834, + -0.013676750473678112 + ], + [ + -0.023854661732912064, + -0.9997093081474304, + 0.0034985810052603483, + 0.012475992552936077 + ], + [ + 0.011670196428894997, + -0.0037778045516461134, + -0.9999247789382935, + -0.024892626330256462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9993060827255249, + -0.03080459125339985, + 0.02093731239438057, + -0.016182512044906616 + ], + [ + -0.030903007835149765, + -0.9995127320289612, + 0.004393270239233971, + 0.012546858750283718 + ], + [ + 0.020791778340935707, + -0.005037248134613037, + -0.9997711181640625, + -0.02482452616095543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9984143376350403, + -0.034908492118120193, + 0.04416080564260483, + -0.019491057842969894 + ], + [ + -0.03523190692067146, + -0.9993575811386108, + 0.006566313561052084, + 0.012901232577860355 + ], + [ + 0.04390321671962738, + -0.008111771196126938, + -0.9990028738975525, + -0.024635622277855873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9970163702964783, + -0.03393665328621864, + 0.06933041661977768, + -0.023487966507673264 + ], + [ + -0.034887608140707016, + -0.9993124008178711, + 0.012551468797028065, + 0.01362209115177393 + ], + [ + 0.06885679066181183, + -0.014932791702449322, + -0.9975147843360901, + -0.024462968111038208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9964197874069214, + -0.028723370283842087, + 0.0795147716999054, + -0.027894359081983566 + ], + [ + -0.03092067688703537, + -0.9991693496704102, + 0.02654176764190197, + 0.014477246440947056 + ], + [ + 0.07868635654449463, + -0.028905391693115234, + -0.9964802861213684, + -0.0237230584025383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9963633418083191, + -0.021465791389346123, + 0.08245798945426941, + -0.0325779914855957 + ], + [ + -0.024866266176104546, + -0.998872697353363, + 0.04043566435575485, + 0.015016129240393639 + ], + [ + 0.08149705082178116, + -0.042339034378528595, + -0.9957739114761353, + -0.02303929813206196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.996071457862854, + -0.025618523359298706, + 0.08476641774177551, + -0.03642100840806961 + ], + [ + -0.029295656830072403, + -0.9986701011657715, + 0.0424237996339798, + 0.01588696427643299 + ], + [ + 0.08356685191392899, + -0.04474042356014252, + -0.9954972863197327, + -0.021984903141856194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9951114654541016, + -0.05340037867426872, + 0.08307603001594543, + -0.03891339525580406 + ], + [ + -0.05569315329194069, + -0.9981215000152588, + 0.02552875503897667, + 0.017571957781910896 + ], + [ + 0.08155672997236252, + -0.03003072179853916, + -0.9962161779403687, + -0.02296558953821659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9936578273773193, + -0.06924387067556381, + 0.08859714865684509, + -0.042476147413253784 + ], + [ + -0.07013783603906631, + -0.9975126385688782, + 0.007013379596173763, + 0.019081220030784607 + ], + [ + 0.08789114654064178, + -0.013182911090552807, + -0.9960428476333618, + -0.02430478110909462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9948776960372925, + -0.05184873193502426, + 0.08677574247121811, + -0.04768283665180206 + ], + [ + -0.052181266248226166, + -0.9986364245414734, + 0.0015666602412238717, + 0.021303467452526093 + ], + [ + 0.0865761861205101, + -0.006086703389883041, + -0.9962266683578491, + -0.024131229147315025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9959478378295898, + -0.03472664952278137, + 0.08295731991529465, + -0.05459119379520416 + ], + [ + -0.035238441079854965, + -0.9993678331375122, + 0.004712739959359169, + 0.022381795570254326 + ], + [ + 0.08274121582508087, + -0.007616930175572634, + -0.9965419769287109, + -0.023777935653924942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.995739221572876, + -0.020872285589575768, + 0.08982037007808685, + -0.06207234784960747 + ], + [ + -0.022131137549877167, + -0.9996700286865234, + 0.013042080216109753, + 0.023321690037846565 + ], + [ + 0.08951850980520248, + -0.014974338002502918, + -0.9958725571632385, + -0.022433456033468246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9946722984313965, + -0.004336639307439327, + 0.10299640148878098, + -0.06957822293043137 + ], + [ + -0.006902681197971106, + -0.9996742606163025, + 0.024570554494857788, + 0.024875249713659286 + ], + [ + 0.10285630077123642, + -0.0251506008207798, + -0.9943782091140747, + -0.020234687253832817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9942955374717712, + 0.013337474316358566, + 0.10582271218299866, + -0.0780368372797966 + ], + [ + 0.010125450789928436, + -0.9994732737541199, + 0.030832309275865555, + 0.026199745014309883 + ], + [ + 0.10617819428443909, + -0.02958492562174797, + -0.9939069151878357, + -0.019075049087405205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9940778613090515, + 0.014934089034795761, + 0.10763902962207794, + -0.08626768738031387 + ], + [ + 0.012084564194083214, + -0.9995602965354919, + 0.027076834812760353, + 0.02802976593375206 + ], + [ + 0.10799606889486313, + -0.025615712627768517, + -0.9938212633132935, + -0.018659286201000214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9937023520469666, + 0.015089182183146477, + 0.11103136092424393, + -0.09418363124132156 + ], + [ + 0.013166829012334347, + -0.9997507929801941, + 0.018026551231741905, + 0.030010826885700226 + ], + [ + 0.11127569526433945, + -0.016451094299554825, + -0.993653416633606, + -0.019039390608668327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9925954341888428, + 0.02693256363272667, + 0.11844386160373688, + -0.10301705449819565 + ], + [ + 0.025567645207047462, + -0.9995881915092468, + 0.013028483837842941, + 0.03165620565414429 + ], + [ + 0.11874597519636154, + -0.009903683327138424, + -0.9928752779960632, + -0.019755177199840546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9911985993385315, + 0.03479151427745819, + 0.12772955000400543, + -0.11222080886363983 + ], + [ + 0.033502425998449326, + -0.9993638396263123, + 0.012227577157318592, + 0.033186234533786774 + ], + [ + 0.12807372212409973, + -0.007840707898139954, + -0.9917336702346802, + -0.02011531963944435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.98955237865448, + 0.041357990354299545, + 0.1381143480539322, + -0.12084513157606125 + ], + [ + 0.0400158166885376, + -0.9991210699081421, + 0.012481640093028545, + 0.03441533073782921 + ], + [ + 0.13850916922092438, + -0.006824478507041931, + -0.990337610244751, + -0.020538581535220146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9862995147705078, + 0.051765698939561844, + 0.1566319763660431, + -0.12939453125 + ], + [ + 0.04983573779463768, + -0.9986255764961243, + 0.01622649095952511, + 0.03541626036167145 + ], + [ + 0.15725667774677277, + -0.008198308758437634, + -0.9875237345695496, + -0.020988130941987038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.984306275844574, + 0.04622218385338783, + 0.170307457447052, + -0.1372266262769699 + ], + [ + 0.04363279789686203, + -0.9988685250282288, + 0.018917826935648918, + 0.0367233008146286 + ], + [ + 0.17098918557167053, + -0.011189945042133331, + -0.9852093458175659, + -0.020934371277689934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9834174513816833, + 0.03818284720182419, + 0.17729121446609497, + -0.14412634074687958 + ], + [ + 0.03552212566137314, + -0.9992039203643799, + 0.018158666789531708, + 0.038071438670158386 + ], + [ + 0.17784342169761658, + -0.011559788137674332, + -0.9839909076690674, + -0.021163316443562508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.981341540813446, + 0.03356339409947395, + 0.18932068347930908, + -0.15092207491397858 + ], + [ + 0.031624045222997665, + -0.999411940574646, + 0.01325617078691721, + 0.03952564671635628 + ], + [ + 0.18965427577495575, + -0.007021745201200247, + -0.9818258285522461, + -0.022035738453269005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9784899353981018, + 0.035839978605508804, + 0.20315741002559662, + -0.15803329646587372 + ], + [ + 0.03451337665319443, + -0.9993535280227661, + 0.010070106945931911, + 0.04026692733168602 + ], + [ + 0.20338697731494904, + -0.002841850044205785, + -0.9790943264961243, + -0.022242089733481407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9753698110580444, + 0.045579977333545685, + 0.21581532061100006, + -0.16582775115966797 + ], + [ + 0.04357967525720596, + -0.9989515542984009, + 0.014020735397934914, + 0.04131442680954933 + ], + [ + 0.21622812747955322, + -0.004270239267498255, + -0.9763335585594177, + -0.02264733426272869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9708402752876282, + 0.06460239738225937, + 0.23085853457450867, + -0.17446626722812653 + ], + [ + 0.060261089354753494, + -0.9978488087654114, + 0.025814643129706383, + 0.04260188341140747 + ], + [ + 0.23202960193157196, + -0.011150108650326729, + -0.9726448059082031, + -0.023023486137390137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9656692743301392, + 0.08569502830505371, + 0.24523289501667023, + -0.18336011469364166 + ], + [ + 0.07896718382835388, + -0.9961845278739929, + 0.03715602308511734, + 0.04276826232671738 + ], + [ + 0.2474813014268875, + -0.016515081748366356, + -0.9687519073486328, + -0.023311259225010872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9620997309684753, + 0.10501604527235031, + 0.25166600942611694, + -0.19174179434776306 + ], + [ + 0.09705337882041931, + -0.9943113327026367, + 0.04388203099370003, + 0.04325946047902107 + ], + [ + 0.2548426687717438, + -0.01779385469853878, + -0.9668188095092773, + -0.0242270827293396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9583520293235779, + 0.12536390125751495, + 0.2566033899784088, + -0.19998735189437866 + ], + [ + 0.11786643415689468, + -0.992033839225769, + 0.04445652291178703, + 0.04391712695360184 + ], + [ + 0.26013249158859253, + -0.012360073626041412, + -0.9654937982559204, + -0.026070749387145042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9543125629425049, + 0.13868065178394318, + 0.264679491519928, + -0.20729194581508636 + ], + [ + 0.13286328315734863, + -0.9903330206871033, + 0.03984793275594711, + 0.04437526687979698 + ], + [ + 0.26764699816703796, + -0.0028611954767256975, + -0.9635127782821655, + -0.028420140966773033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9496145248413086, + 0.1446687877178192, + 0.2780345678329468, + -0.21359321475028992 + ], + [ + 0.1396147459745407, + -0.9894763827323914, + 0.03800300881266594, + 0.04485655948519707 + ], + [ + 0.2806064784526825, + 0.0027295169420540333, + -0.9598190188407898, + -0.03043207898736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9447887539863586, + 0.15403147041797638, + 0.2892204821109772, + -0.21979665756225586 + ], + [ + 0.14791208505630493, + -0.9880636930465698, + 0.043037161231040955, + 0.04526793956756592 + ], + [ + 0.29239732027053833, + 0.0021181784104555845, + -0.956294596195221, + -0.032102424651384354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9438828229904175, + 0.16129767894744873, + 0.28821560740470886, + -0.22565703094005585 + ], + [ + 0.15527361631393433, + -0.9868999123573303, + 0.04380249232053757, + 0.04589923098683357 + ], + [ + 0.29150518774986267, + 0.0034078608732670546, + -0.9565631747245789, + -0.03382106497883797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9422971606254578, + 0.1662890464067459, + 0.2905580401420593, + -0.23282258212566376 + ], + [ + 0.16112473607063293, + -0.9860489964485168, + 0.041787728667259216, + 0.046672772616147995 + ], + [ + 0.29345330595970154, + 0.007439627777785063, + -0.9559444785118103, + -0.03534875810146332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9377971291542053, + 0.17271123826503754, + 0.30117669701576233, + -0.2386842519044876 + ], + [ + 0.16570396721363068, + -0.9849640727043152, + 0.04886716604232788, + 0.04754669591784477 + ], + [ + 0.3050881028175354, + 0.004078683443367481, + -0.9523153901100159, + -0.03664742410182953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9358951449394226, + 0.1779935359954834, + 0.3040042221546173, + -0.24411168694496155 + ], + [ + 0.17021088302135468, + -0.9840272665023804, + 0.05214056000113487, + 0.04857167229056358 + ], + [ + 0.308429092168808, + 0.0029467283748090267, + -0.9512427449226379, + -0.037976812571287155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9337133765220642, + 0.186527281999588, + 0.30559274554252625, + -0.250864177942276 + ], + [ + 0.17856855690479279, + -0.982441246509552, + 0.05405965819954872, + 0.048946917057037354 + ], + [ + 0.3103105127811432, + 0.004093030001968145, + -0.9506264328956604, + -0.038378432393074036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9279485940933228, + 0.1951771229505539, + 0.31751736998558044, + -0.2562291622161865 + ], + [ + 0.18364520370960236, + -0.9807631373405457, + 0.06616714596748352, + 0.05003221705555916 + ], + [ + 0.3243236541748047, + -0.003089170204475522, + -0.945941150188446, + -0.03897278010845184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9238162040710449, + 0.19669048488140106, + 0.32844558358192444, + -0.26049113273620605 + ], + [ + 0.18334856629371643, + -0.9804486036300659, + 0.07144119590520859, + 0.05109729990363121 + ], + [ + 0.3360758125782013, + -0.005778506863862276, + -0.9418172240257263, + -0.04007278010249138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9216097593307495, + 0.20032227039337158, + 0.33242514729499817, + -0.26734259724617004 + ], + [ + 0.18722562491893768, + -0.9797238111495972, + 0.07132896035909653, + 0.0517752580344677 + ], + [ + 0.3399735987186432, + -0.0034989637788385153, + -0.9404284954071045, + -0.04059941694140434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9158811569213867, + 0.21418550610542297, + 0.3395383358001709, + -0.272514283657074 + ], + [ + 0.1968712955713272, + -0.9767301082611084, + 0.08508826047182083, + 0.05195070803165436 + ], + [ + 0.3498619794845581, + -0.011085381731390953, + -0.9367356896400452, + -0.040685903280973434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9108303189277649, + 0.22166211903095245, + 0.3482155203819275, + -0.2771630585193634 + ], + [ + 0.20048460364341736, + -0.9749605655670166, + 0.09621734917163849, + 0.051945727318525314 + ], + [ + 0.3608241379261017, + -0.01782582700252533, + -0.932463526725769, + -0.041100893169641495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9027479887008667, + 0.2322867512702942, + 0.362062007188797, + -0.2800906002521515 + ], + [ + 0.20715057849884033, + -0.9724003672599792, + 0.10735993832349777, + 0.050317391753196716 + ], + [ + 0.37700751423835754, + -0.021917618811130524, + -0.925950825214386, + -0.04025956988334656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.892962634563446, + 0.24167704582214355, + 0.3797498941421509, + -0.2838560938835144 + ], + [ + 0.21287259459495544, + -0.9700729846954346, + 0.11680611222982407, + 0.050094250589609146 + ], + [ + 0.3966144621372223, + -0.023465141654014587, + -0.917685329914093, + -0.04115304350852966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8875889182090759, + 0.24125856161117554, + 0.39240312576293945, + -0.28655728697776794 + ], + [ + 0.21358826756477356, + -0.9703139662742615, + 0.11344961822032928, + 0.05041355639696121 + ], + [ + 0.4081249237060547, + -0.01688392460346222, + -0.9127699732780457, + -0.04259447380900383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.8872004747390747, + 0.23867836594581604, + 0.39485177397727966, + -0.28284355998039246 + ], + [ + 0.21125498414039612, + -0.9709639549255371, + 0.1122511476278305, + 0.049640897661447525 + ], + [ + 0.4101787805557251, + -0.01617486961185932, + -0.9118617177009583, + -0.0412735752761364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.889481246471405, + 0.23909135162830353, + 0.38943353295326233, + -0.28351858258247375 + ], + [ + 0.2110058218240738, + -0.970805287361145, + 0.11407709121704102, + 0.050261229276657104 + ], + [ + 0.40533900260925293, + -0.019296690821647644, + -0.9139627814292908, + -0.041186220943927765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.892019510269165, + 0.23546956479549408, + 0.38581761717796326, + -0.2840943932533264 + ], + [ + 0.20942631363868713, + -0.9717447757720947, + 0.10886998474597931, + 0.05129878595471382 + ], + [ + 0.40055182576179504, + -0.016313789412379265, + -0.9161288738250732, + -0.04144482687115669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.8918665051460266, + 0.23372754454612732, + 0.38722801208496094, + -0.2777651846408844 + ], + [ + 0.20731477439403534, + -0.9721500277519226, + 0.10929255932569504, + 0.051071152091026306 + ], + [ + 0.4019884169101715, + -0.0171962883323431, + -0.9154832363128662, + -0.03984501212835312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.8914158344268799, + 0.2346855103969574, + 0.3876860737800598, + -0.2776321470737457 + ], + [ + 0.20643126964569092, + -0.9718384146690369, + 0.1136493980884552, + 0.05187379941344261 + ], + [ + 0.40344008803367615, + -0.021278349682688713, + -0.9147586226463318, + -0.03964449465274811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.890605628490448, + 0.23667998611927032, + 0.38833510875701904, + -0.2781742811203003 + ], + [ + 0.20808005332946777, + -0.9713510870933533, + 0.11480315029621124, + 0.052467964589595795 + ], + [ + 0.40438133478164673, + -0.02143954671919346, + -0.9143391847610474, + -0.03990679234266281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.8872567415237427, + 0.24400855600833893, + 0.39145275950431824, + -0.27515530586242676 + ], + [ + 0.21323162317276, + -0.9694786071777344, + 0.121010422706604, + 0.05118592083454132 + ], + [ + 0.4090326428413391, + -0.023897208273410797, + -0.912206768989563, + -0.03916674479842186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.8826533555984497, + 0.24923864006996155, + 0.39850109815597534, + -0.27520960569381714 + ], + [ + 0.2161887139081955, + -0.9681028127670288, + 0.12664692103862762, + 0.05110187828540802 + ], + [ + 0.41735532879829407, + -0.02563389390707016, + -0.9083817601203918, + -0.03974321857094765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.8816727995872498, + 0.25334808230400085, + 0.39808014035224915, + -0.2750883996486664 + ], + [ + 0.22156967222690582, + -0.9671294093132019, + 0.12476992607116699, + 0.050718825310468674 + ], + [ + 0.41660523414611816, + -0.021803760901093483, + -0.9088259935379028, + -0.04077373817563057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.8811606764793396, + 0.25866836309432983, + 0.39578601717948914, + -0.27511635422706604 + ], + [ + 0.2279839813709259, + -0.9657852053642273, + 0.12362129241228104, + 0.050382308661937714 + ], + [ + 0.4142211973667145, + -0.018697349354624748, + -0.9099841713905334, + -0.04190545901656151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.8798891305923462, + 0.2654130160808563, + 0.39414599537849426, + -0.2754277288913727 + ], + [ + 0.2343093752861023, + -0.9639562964439392, + 0.1260453462600708, + 0.049969375133514404 + ], + [ + 0.4133935570716858, + -0.018553825095295906, + -0.9103633761405945, + -0.0431244820356369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.8784522414207458, + 0.27033212780952454, + 0.3940078318119049, + -0.27454090118408203 + ], + [ + 0.2394922524690628, + -0.9626210927963257, + 0.12650737166404724, + 0.048953358083963394 + ], + [ + 0.4134792685508728, + -0.016768859699368477, + -0.9103590846061707, + -0.04459052160382271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.8800128698348999, + 0.27050039172172546, + 0.39039328694343567, + -0.2736113667488098 + ], + [ + 0.24205903708934784, + -0.9626412391662598, + 0.12136422842741013, + 0.04827003926038742 + ], + [ + 0.40863773226737976, + -0.012303857132792473, + -0.9126137495040894, + -0.046191371977329254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.8822624683380127, + 0.27187490463256836, + 0.38431358337402344, + -0.2728692889213562 + ], + [ + 0.24435093998908997, + -0.9622606039047241, + 0.11977943032979965, + 0.04786086454987526 + ], + [ + 0.40237486362457275, + -0.011769512668251991, + -0.9153993129730225, + -0.04759219288825989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.882716715335846, + 0.27238771319389343, + 0.38290488719940186, + -0.27117207646369934 + ], + [ + 0.2452199012041092, + -0.9621217846870422, + 0.11911695450544357, + 0.048161908984184265 + ], + [ + 0.4008471369743347, + -0.011250631883740425, + -0.9160758852958679, + -0.04847544804215431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.8853266835212708, + 0.2685289680957794, + 0.37959033250808716, + -0.26915425062179565 + ], + [ + 0.24320180714130402, + -0.9632316827774048, + 0.11418243497610092, + 0.0484929196536541 + ], + [ + 0.3962947130203247, + -0.008771705441176891, + -0.9180814623832703, + -0.04954756051301956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.8930930495262146, + 0.26493391394615173, + 0.36358606815338135, + -0.26710644364356995 + ], + [ + 0.24378108978271484, + -0.9642579555511475, + 0.10381430387496948, + 0.04866691306233406 + ], + [ + 0.37809470295906067, + -0.0040804240852594376, + -0.9257579445838928, + -0.050659310072660446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.8986698389053345, + 0.26571959257125854, + 0.34897804260253906, + -0.2652667760848999 + ], + [ + 0.24648141860961914, + -0.9640449285507202, + 0.09931916743516922, + 0.04923800006508827 + ], + [ + 0.3628215491771698, + -0.0032385368831455708, + -0.9318529963493347, + -0.05109970644116402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9038875699043274, + 0.26454898715019226, + 0.33615642786026, + -0.26296618580818176 + ], + [ + 0.24589255452156067, + -0.9643554091453552, + 0.09775219857692719, + 0.0497266985476017 + ], + [ + 0.3500345051288605, + -0.005698631517589092, + -0.9367194771766663, + -0.0512307770550251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9108555912971497, + 0.26261457800865173, + 0.3183954358100891, + -0.26040399074554443 + ], + [ + 0.24524104595184326, + -0.9648695588111877, + 0.09425270557403564, + 0.050153978168964386 + ], + [ + 0.3319621980190277, + -0.007766969967633486, + -0.9432607293128967, + -0.05161174759268761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9180064797401428, + 0.26095589995384216, + 0.29860690236091614, + -0.257522314786911 + ], + [ + 0.24607813358306885, + -0.9653290510177612, + 0.08709435909986496, + 0.05133538693189621 + ], + [ + 0.3109816908836365, + -0.006472561042755842, + -0.9503938555717468, + -0.05241354554891586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9252237677574158, + 0.25628066062927246, + 0.27978774905204773, + -0.2541082799434662 + ], + [ + 0.24351507425308228, + -0.9665839076042175, + 0.08009945601224899, + 0.05220785364508629 + ], + [ + 0.290966272354126, + -0.005977388005703688, + -0.9567146301269531, + -0.052907537668943405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9298092722892761, + 0.2518133819103241, + 0.2684116065502167, + -0.25046586990356445 + ], + [ + 0.23985940217971802, + -0.9677488803863525, + 0.07700356096029282, + 0.052813705056905746 + ], + [ + 0.2791455388069153, + -0.00721757672727108, + -0.9602216482162476, + -0.05320378765463829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9352705478668213, + 0.2461705207824707, + 0.2543010711669922, + -0.24702303111553192 + ], + [ + 0.23600587248802185, + -0.9692099094390869, + 0.07023786008358002, + 0.052921734750270844 + ], + [ + 0.26376160979270935, + -0.005674852058291435, + -0.9645711779594421, + -0.05317215248942375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9403175711631775, + 0.23785191774368286, + 0.2433706820011139, + -0.24262861907482147 + ], + [ + 0.22931118309497833, + -0.9712944030761719, + 0.06327343732118607, + 0.05332394316792488 + ], + [ + 0.2514342963695526, + -0.003689506556838751, + -0.9678673148155212, + -0.05338548868894577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9428036212921143, + 0.23141758143901825, + 0.2399316281080246, + -0.23769299685955048 + ], + [ + 0.22384409606456757, + -0.9728530645370483, + 0.05874287709593773, + 0.053855497390031815 + ], + [ + 0.24701236188411713, + -0.0016757204430177808, + -0.9690108895301819, + -0.053878575563430786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9465228915214539, + 0.22755596041679382, + 0.2287197709083557, + -0.23357100784778595 + ], + [ + 0.22189000248908997, + -0.9737606644630432, + 0.05054694041609764, + 0.054105404764413834 + ], + [ + 0.23422056436538696, + 0.0029067941941320896, + -0.972179114818573, + -0.054438360035419464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9491713047027588, + 0.22469788789749146, + 0.22041933238506317, + -0.22899985313415527 + ], + [ + 0.21973532438278198, + -0.9744213819503784, + 0.047110043466091156, + 0.054427217692136765 + ], + [ + 0.22536683082580566, + 0.003718410152941942, + -0.9742668867111206, + -0.05449497699737549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9505728483200073, + 0.22203248739242554, + 0.21705485880374908, + -0.22380352020263672 + ], + [ + 0.21594110131263733, + -0.97503662109375, + 0.05170144885778427, + 0.05474497377872467 + ], + [ + 0.22311583161354065, + -0.0022749267518520355, + -0.9747892618179321, + -0.05404440686106682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9521917700767517, + 0.21874327957630157, + 0.21326561272144318, + -0.21826423704624176 + ], + [ + 0.21199415624141693, + -0.975760817527771, + 0.05430794507265091, + 0.05504278093576431 + ], + [ + 0.21997572481632233, + -0.006500510964542627, + -0.9754837155342102, + -0.05378751829266548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9534626603126526, + 0.21442469954490662, + 0.21196921169757843, + -0.2123989313840866 + ], + [ + 0.20713505148887634, + -0.976691722869873, + 0.05628783628344536, + 0.05603308230638504 + ], + [ + 0.2190980762243271, + -0.009762097150087357, + -0.9756540060043335, + -0.05296022444963455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9557152986526489, + 0.21053196489810944, + 0.2056320458650589, + -0.2065773606300354 + ], + [ + 0.20311547815799713, + -0.9775070548057556, + 0.056780632585287094, + 0.05628914758563042 + ], + [ + 0.21296092867851257, + -0.012499067932367325, + -0.9769807457923889, + -0.05262712761759758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9595184326171875, + 0.20641599595546722, + 0.19161644577980042, + -0.20056895911693573 + ], + [ + 0.19957199692726135, + -0.9783624410629272, + 0.05457072705030441, + 0.0564730204641819 + ], + [ + 0.1987345963716507, + -0.014120340347290039, + -0.9799516201019287, + -0.05240635946393013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9637314081192017, + 0.20010390877723694, + 0.17657917737960815, + -0.19605545699596405 + ], + [ + 0.19420954585075378, + -0.979672908782959, + 0.05023549497127533, + 0.056994032114744186 + ], + [ + 0.18304216861724854, + -0.014120163396000862, + -0.9830036759376526, + -0.0523856058716774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9669103622436523, + 0.1939810961484909, + 0.16569755971431732, + -0.1903035044670105 + ], + [ + 0.1894257813692093, + -0.9809521436691284, + 0.04302060231566429, + 0.05735307186841965 + ], + [ + 0.1708865612745285, + -0.010209676809608936, + -0.9852378368377686, + -0.052678413689136505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9698290824890137, + 0.19281816482543945, + 0.14917360246181488, + -0.18410752713680267 + ], + [ + 0.18911641836166382, + -0.9811897873878479, + 0.03875091299414635, + 0.05755934491753578 + ], + [ + 0.15383949875831604, + -0.009370583109557629, + -0.9880514144897461, + -0.0528075285255909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9687671661376953, + 0.2072921246290207, + 0.13608887791633606, + -0.18116091191768646 + ], + [ + 0.20217753946781158, + -0.9780439734458923, + 0.05053945258259773, + 0.05706509202718735 + ], + [ + 0.14357733726501465, + -0.021446850150823593, + -0.9894067049026489, + -0.05162994563579559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9705423712730408, + 0.20631681382656097, + 0.12442227452993393, + -0.1755567342042923 + ], + [ + 0.20042301714420319, + -0.9779735207557678, + 0.05829622223973274, + 0.056937675923109055 + ], + [ + 0.13370917737483978, + -0.03164186328649521, + -0.9905153512954712, + -0.05073455721139908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9738060832023621, + 0.19854013621807098, + 0.1108311265707016, + -0.16926971077919006 + ], + [ + 0.19407439231872559, + -0.9797202944755554, + 0.04983238875865936, + 0.05682701990008354 + ], + [ + 0.1184772327542305, + -0.02701760083436966, + -0.9925891160964966, + -0.05057940632104874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9765044450759888, + 0.1915120929479599, + 0.09880382567644119, + -0.162599578499794 + ], + [ + 0.18794354796409607, + -0.9811789393424988, + 0.04432949796319008, + 0.05686432495713234 + ], + [ + 0.1054338738322258, + -0.024718409404158592, + -0.9941190481185913, + -0.05069495365023613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9791537523269653, + 0.18274259567260742, + 0.0886736512184143, + -0.1555183380842209 + ], + [ + 0.17995084822177887, + -0.9829185009002686, + 0.03858567774295807, + 0.0570678673684597 + ], + [ + 0.09421022236347198, + -0.021824415773153305, + -0.9953131079673767, + -0.05123153701424599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9816557765007019, + 0.17371226847171783, + 0.07858727872371674, + -0.14837129414081573 + ], + [ + 0.17196694016456604, + -0.9846901297569275, + 0.028508566319942474, + 0.05726168677210808 + ], + [ + 0.08233640342950821, + -0.014471185393631458, + -0.9964995384216309, + -0.052179258316755295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.983752965927124, + 0.1660192608833313, + 0.06832089275121689, + -0.14075098931789398 + ], + [ + 0.16478537023067474, + -0.9860528707504272, + 0.02335546910762787, + 0.057654090225696564 + ], + [ + 0.0712454691529274, + -0.011717728339135647, + -0.9973899722099304, + -0.052563030272722244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9852088093757629, + 0.15997570753097534, + 0.06141110882163048, + -0.13354045152664185 + ], + [ + 0.1586875468492508, + -0.9870035648345947, + 0.02534102089703083, + 0.058001451194286346 + ], + [ + 0.06466693431138992, + -0.015221020206809044, + -0.9977908134460449, + -0.05258386582136154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9867863059043884, + 0.1524723768234253, + 0.05481717735528946, + -0.12634354829788208 + ], + [ + 0.15134966373443604, + -0.9881863594055176, + 0.02410455048084259, + 0.058313485234975815 + ], + [ + 0.0578448623418808, + -0.015489478595554829, + -0.9982054233551025, + -0.05271187424659729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.988197386264801, + 0.14517046511173248, + 0.048902444541454315, + -0.1182824969291687 + ], + [ + 0.14428231120109558, + -0.9893084764480591, + 0.021245580166578293, + 0.059146665036678314 + ], + [ + 0.05146383121609688, + -0.013939070515334606, + -0.9985775947570801, + -0.052776217460632324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9892261028289795, + 0.1390971541404724, + 0.04564770311117172, + -0.11066459864377975 + ], + [ + 0.13825301826000214, + -0.9901705980300903, + 0.021171484142541885, + 0.059760816395282745 + ], + [ + 0.0481439083814621, + -0.0146324522793293, + -0.9987332224845886, + -0.05274767801165581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9906389117240906, + 0.13120238482952118, + 0.037688784301280975, + -0.10286769270896912 + ], + [ + 0.13062113523483276, + -0.9912778735160828, + 0.017501981928944588, + 0.06024927645921707 + ], + [ + 0.03965635970234871, + -0.01241519208997488, + -0.9991362690925598, + -0.05307738482952118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.991646409034729, + 0.12453240901231766, + 0.03360159322619438, + -0.09375137090682983 + ], + [ + 0.12423747032880783, + -0.992194414138794, + 0.010735235176980495, + 0.061989180743694305 + ], + [ + 0.0346761979162693, + -0.006470981054008007, + -0.9993776679039001, + -0.05374123901128769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9923779368400574, + 0.11935741454362869, + 0.030656659975647926, + -0.08577049523591995 + ], + [ + 0.11912724375724792, + -0.992836058139801, + 0.009234525263309479, + 0.06259255856275558 + ], + [ + 0.03153924643993378, + -0.005512095522135496, + -0.9994873404502869, + -0.054276663810014725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9933951497077942, + 0.112062007188797, + 0.024661246687173843, + -0.077805295586586 + ], + [ + 0.11194907873868942, + -0.9936963319778442, + 0.005917479749768972, + 0.06299470365047455 + ], + [ + 0.02516891621053219, + -0.00311759184114635, + -0.999678373336792, + -0.055084794759750366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9941843152046204, + 0.10671859979629517, + 0.014447963796555996, + -0.06832024455070496 + ], + [ + 0.10676109790802002, + -0.9942822456359863, + -0.002200774382799864, + 0.0645352303981781 + ], + [ + 0.014130489900708199, + 0.003730455646291375, + -0.9998931884765625, + -0.05657143518328667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9946922063827515, + 0.1027413010597229, + 0.005628267768770456, + -0.06002077832818031 + ], + [ + 0.10278531163930893, + -0.9946699142456055, + -0.008184760808944702, + 0.06500165909528732 + ], + [ + 0.004757355432957411, + 0.008719820529222488, + -0.999950647354126, + -0.05772431567311287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9951773881912231, + 0.0979652926325798, + -0.0049810633063316345, + -0.05121074616909027 + ], + [ + 0.09791538864374161, + -0.9951500296592712, + -0.009432941675186157, + 0.0659768208861351 + ], + [ + -0.005881006363779306, + 0.008899726904928684, + -0.9999430775642395, + -0.05853927880525589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9950489401817322, + 0.09689754992723465, + -0.022100331261754036, + -0.04349302127957344 + ], + [ + 0.0966833308339119, + -0.9952591061592102, + -0.010566181503236294, + 0.06644897162914276 + ], + [ + -0.023019392043352127, + 0.0083771338686347, + -0.9996999502182007, + -0.05957501754164696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9939433336257935, + 0.10023906081914902, + -0.04504188522696495, + -0.03689797967672348 + ], + [ + 0.09951889514923096, + -0.9948735237121582, + -0.01796211674809456, + 0.06660249084234238 + ], + [ + -0.0466114841401577, + 0.013370808213949203, + -0.9988235831260681, + -0.0609469972550869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.992068350315094, + 0.10616789013147354, + -0.06729582697153091, + -0.03064901754260063 + ], + [ + 0.10463438183069229, + -0.9941727519035339, + -0.025926783680915833, + 0.0668131485581398 + ], + [ + -0.06965626776218414, + 0.018679684028029442, + -0.9973961710929871, + -0.06206958740949631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9901765584945679, + 0.10979857295751572, + -0.08657180517911911, + -0.025053828954696655 + ], + [ + 0.10798817127943039, + -0.9938291907310486, + -0.025339344516396523, + 0.06669249385595322 + ], + [ + -0.08881980925798416, + 0.01574169471859932, + -0.9959233403205872, + -0.061265379190444946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.987821102142334, + 0.11347465962171555, + -0.1064564511179924, + -0.018965480849146843 + ], + [ + 0.11186111718416214, + -0.9935013651847839, + -0.021026942878961563, + 0.06706772744655609 + ], + [ + -0.1081506609916687, + 0.008862520568072796, + -0.9940950274467468, + -0.060793060809373856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9857499003410339, + 0.11487612128257751, + -0.12288456410169601, + -0.013017923571169376 + ], + [ + 0.11367180198431015, + -0.9933764934539795, + -0.016790343448519707, + 0.06696784496307373 + ], + [ + -0.1239994466304779, + 0.0025825698394328356, + -0.9922789335250854, + -0.05911403149366379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9846528172492981, + 0.11419990658760071, + -0.13197427988052368, + -0.006349817384034395 + ], + [ + 0.11356110125780106, + -0.993453860282898, + -0.01238179299980402, + 0.06730128079652786 + ], + [ + -0.13252435624599457, + -0.002795377979055047, + -0.9911758303642273, + -0.05827226862311363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9833523631095886, + 0.1114710196852684, + -0.1435004025697708, + 0.0008715508156456053 + ], + [ + 0.11139648407697678, + -0.9937390089035034, + -0.008579119108617306, + 0.06793845444917679 + ], + [ + -0.14355826377868652, + -0.0075491429306566715, + -0.9896130561828613, + -0.0580587200820446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9806929230690002, + 0.1106637567281723, + -0.16122935712337494, + 0.006192260421812534 + ], + [ + 0.1107010468840599, + -0.9938149452209473, + -0.008779823780059814, + 0.06750436127185822 + ], + [ + -0.1612037569284439, + -0.009237946011126041, + -0.9868779182434082, + -0.056761905550956726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9792629480361938, + 0.10709302872419357, + -0.171974316239357, + 0.013172715902328491 + ], + [ + 0.10719195753335953, + -0.9941999316215515, + -0.008738337084650993, + 0.06758356094360352 + ], + [ + -0.17191267013549805, + -0.009877135045826435, + -0.9850626587867737, + -0.056299351155757904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9784040451049805, + 0.10174117982387543, + -0.1799284964799881, + 0.021125201135873795 + ], + [ + 0.10249336808919907, + -0.9947203993797302, + -0.005135974381119013, + 0.06803666800260544 + ], + [ + -0.17950108647346497, + -0.013416419737040997, + -0.9836663007736206, + -0.05614084750413895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9759573340415955, + 0.09969306737184525, + -0.19382604956626892, + 0.026545776054263115 + ], + [ + 0.1011296808719635, + -0.994870126247406, + -0.0024939849972724915, + 0.06830152124166489 + ], + [ + -0.1930803805589676, + -0.01716754212975502, + -0.9810327291488647, + -0.05544542148709297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9747830629348755, + 0.09791506826877594, + -0.20052599906921387, + 0.03313243016600609 + ], + [ + 0.09964703768491745, + -0.9950217604637146, + -0.0014630623627454042, + 0.06858464330434799 + ], + [ + -0.19967098534107208, + -0.01855565421283245, + -0.9796872735023499, + -0.055435892194509506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9740980267524719, + 0.09483283758163452, + -0.20527967810630798, + 0.04049564525485039 + ], + [ + 0.09726470708847046, + -0.9952569603919983, + 0.001764977816492319, + 0.06891844421625137 + ], + [ + -0.20413866639137268, + -0.021685730665922165, + -0.9787017703056335, + -0.05568385496735573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.970637321472168, + 0.09529108554124832, + -0.22086836397647858, + 0.04435419663786888 + ], + [ + 0.09856975078582764, + -0.9951227307319641, + 0.003844622988253832, + 0.06900888681411743 + ], + [ + -0.219424769282341, + -0.025502674281597137, + -0.9752960801124573, + -0.05535615235567093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9673356413841248, + 0.0978267714381218, + -0.2338624745607376, + 0.04956134036183357 + ], + [ + 0.10112267732620239, + -0.9948717355728149, + 0.002114431466907263, + 0.06900597363710403 + ], + [ + -0.23245631158351898, + -0.025694165378808975, + -0.9722673892974854, + -0.055547941476106644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9661830067634583, + 0.09801861643791199, + -0.2385011613368988, + 0.05600238963961601 + ], + [ + 0.10166005045175552, + -0.9948146939277649, + 0.0029846939723938704, + 0.06912054866552353 + ], + [ + -0.236971914768219, + -0.027129800990223885, + -0.9711376428604126, + -0.05596620589494705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9633328914642334, + 0.09784557670354843, + -0.24983200430870056, + 0.06235114857554436 + ], + [ + 0.10188324749469757, + -0.9947910308837891, + 0.0032484654802829027, + 0.06907141208648682 + ], + [ + -0.2482127994298935, + -0.028583047911524773, + -0.9682837724685669, + -0.056526895612478256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9595569968223572, + 0.09930325299501419, + -0.2634183168411255, + 0.06497124582529068 + ], + [ + 0.10290369391441345, + -0.9946913123130798, + -0.00012952911492902786, + 0.06853148341178894 + ], + [ + -0.26203277707099915, + -0.02698242850601673, + -0.9646816849708557, + -0.056338436901569366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9577592611312866, + 0.09897550195455551, + -0.2700018882751465, + 0.07023023813962936 + ], + [ + 0.10206799954175949, + -0.9947740435600281, + -0.002598811872303486, + 0.06845727562904358 + ], + [ + -0.26884809136390686, + -0.025069518014788628, + -0.9628562927246094, + -0.05702937766909599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9549217224121094, + 0.09710094332695007, + -0.28052791953086853, + 0.07615100592374802 + ], + [ + 0.10005499422550201, + -0.9949746131896973, + -0.0038081458769738674, + 0.06844213604927063 + ], + [ + -0.2794879376888275, + -0.024431737139821053, + -0.959838330745697, + -0.057867418974637985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9500954151153564, + 0.09723290055990219, + -0.2964193820953369, + 0.07781010121107101 + ], + [ + 0.09975236654281616, + -0.9949900507926941, + -0.006651073694229126, + 0.06780386716127396 + ], + [ + -0.29558104276657104, + -0.02324938029050827, + -0.9550347328186035, + -0.05811305344104767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9469042420387268, + 0.09570461511611938, + -0.3069413900375366, + 0.08279328048229218 + ], + [ + 0.09814336895942688, + -0.9951438903808594, + -0.00751769682392478, + 0.06757413595914841 + ], + [ + -0.30617034435272217, + -0.02300572395324707, + -0.9516987204551697, + -0.05864019691944122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9459838271141052, + 0.0915636345744133, + -0.3110155463218689, + 0.08869650214910507 + ], + [ + 0.09406550973653793, + -0.995541512966156, + -0.006980189587920904, + 0.06753998249769211 + ], + [ + -0.3102680444717407, + -0.02265268936753273, + -0.9503791928291321, + -0.0593363493680954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9426634907722473, + 0.09176863729953766, + -0.32088008522987366, + 0.09013884514570236 + ], + [ + 0.09410545974969864, + -0.9955280423164368, + -0.008253755047917366, + 0.0672803521156311 + ], + [ + -0.3202025294303894, + -0.02241605333983898, + -0.9470838904380798, + -0.059653181582689285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9382954835891724, + 0.09170399606227875, + -0.3334546387195587, + 0.09490305930376053 + ], + [ + 0.09491357207298279, + -0.9954630136489868, + -0.006690450012683868, + 0.06730973720550537 + ], + [ + -0.33255529403686523, + -0.025371750816702843, + -0.9427424073219299, + -0.060008298605680466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.936507523059845, + 0.08895159512758255, + -0.33917728066444397, + 0.09955921769142151 + ], + [ + 0.09250127524137497, + -0.9956961274147034, + -0.005721529945731163, + 0.06903403252363205 + ], + [ + -0.33822643756866455, + -0.026016075164079666, + -0.9407050609588623, + -0.06094246730208397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9348491430282593, + 0.08699106425046921, + -0.3442233204841614, + 0.10478298366069794 + ], + [ + 0.09018546342849731, + -0.9959020614624023, + -0.006753705907613039, + 0.0700346902012825 + ], + [ + -0.3434002101421356, + -0.024730242788791656, + -0.9388635158538818, + -0.061978403478860855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9329249858856201, + 0.08537446707487106, + -0.34980303049087524, + 0.110392726957798 + ], + [ + 0.0893656462430954, + -0.995987594127655, + -0.004746852442622185, + 0.07052518427371979 + ], + [ + -0.3488047122955322, + -0.026831917464733124, + -0.9368112683296204, + -0.06275641918182373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9335037469863892, + 0.08086040616035461, + -0.3493313193321228, + 0.11643403768539429 + ], + [ + 0.0858611986041069, + -0.9963064193725586, + -0.0011736464221030474, + 0.07100383192300797 + ], + [ + -0.34813591837882996, + -0.02889840118587017, + -0.9369985461235046, + -0.06355975568294525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9329827427864075, + 0.07548624277114868, + -0.35191622376441956, + 0.12133108079433441 + ], + [ + 0.08105291426181793, + -0.9967092275619507, + 0.0010887130629271269, + 0.07348498702049255 + ], + [ + -0.3506759703159332, + -0.02953958697617054, + -0.9360308647155762, + -0.06544434279203415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9312680959701538, + 0.07385953515768051, + -0.3567695617675781, + 0.12687397003173828 + ], + [ + 0.07980067282915115, + -0.9968089461326599, + 0.001939553301781416, + 0.07437179237604141 + ], + [ + -0.3554878532886505, + -0.030276695266366005, + -0.9341903924942017, + -0.06661219894886017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9312818050384521, + 0.0716237872838974, + -0.357189416885376, + 0.13260990381240845 + ], + [ + 0.07846220582723618, + -0.9969061613082886, + 0.0046704416163265705, + 0.07514441013336182 + ], + [ + -0.35574978590011597, + -0.03237536549568176, + -0.9340202808380127, + -0.06761181354522705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.930363655090332, + 0.06810718774795532, + -0.36025670170783997, + 0.13487905263900757 + ], + [ + 0.07556435465812683, + -0.9971188306808472, + 0.006637957878410816, + 0.07699838280677795 + ], + [ + -0.3587666451931, + -0.033398281782865524, + -0.9328296184539795, + -0.06918029487133026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9296770691871643, + 0.06488673388957977, + -0.3626158833503723, + 0.14025628566741943 + ], + [ + 0.07281570881605148, + -0.9973114728927612, + 0.008225802332162857, + 0.07791727781295776 + ], + [ + -0.3611072599887848, + -0.03405147045850754, + -0.9319024085998535, + -0.07036101818084717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9293913841247559, + 0.060514185577631, + -0.36410120129585266, + 0.14628922939300537 + ], + [ + 0.06898293644189835, + -0.9975647926330566, + 0.010286490432918072, + 0.07873572409152985 + ], + [ + -0.36259207129478455, + -0.03467694669961929, + -0.9313026070594788, + -0.07168414443731308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9272843599319458, + 0.05756565183401108, + -0.3699053227901459, + 0.15111000835895538 + ], + [ + 0.06593997031450272, + -0.9977732300758362, + 0.010023199953138828, + 0.0803636834025383 + ], + [ + -0.3685046434402466, + -0.03368590027093887, + -0.9290153980255127, + -0.07311020791530609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.924820065498352, + 0.05512889102101326, + -0.3763890266418457, + 0.1568933129310608 + ], + [ + 0.06369026005268097, + -0.9979162812232971, + 0.010329763405025005, + 0.08106011897325516 + ], + [ + -0.37503525614738464, + -0.033525485545396805, + -0.9264041185379028, + -0.07465715706348419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9240468144416809, + 0.05284368246793747, + -0.3786093294620514, + 0.16286174952983856 + ], + [ + 0.06066373363137245, + -0.9981199502944946, + 0.008747265674173832, + 0.08151870965957642 + ], + [ + -0.37743526697158813, + -0.03105073794722557, + -0.9255152344703674, + -0.07638794928789139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9228122234344482, + 0.051728423684835434, + -0.3817614018917084, + 0.16649538278579712 + ], + [ + 0.059895724058151245, + -0.9981591105461121, + 0.009532944299280643, + 0.08334314078092575 + ], + [ + -0.38056549429893494, + -0.031662993133068085, + -0.9242117404937744, + -0.07875263690948486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9200537204742432, + 0.05064912512898445, + -0.38850465416908264, + 0.17172832787036896 + ], + [ + 0.060255441814661026, + -0.9981037974357605, + 0.012574266642332077, + 0.08396491408348083 + ], + [ + -0.38713109493255615, + -0.03497852012515068, + -0.921360969543457, + -0.0803893432021141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.917990505695343, + 0.05028577521443367, + -0.39340150356292725, + 0.17716684937477112 + ], + [ + 0.05904559791088104, + -0.9982032775878906, + 0.01018773578107357, + 0.08422916382551193 + ], + [ + -0.3921823799610138, + -0.032580871134996414, + -0.9193103313446045, + -0.08239585906267166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9157825112342834, + 0.050605691969394684, + -0.398473858833313, + 0.18178445100784302 + ], + [ + 0.05859419330954552, + -0.9982507228851318, + 0.007886014878749847, + 0.08590222150087357 + ], + [ + -0.39737775921821594, + -0.030570128932595253, + -0.9171457886695862, + -0.08527877926826477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9121411442756653, + 0.05122743174433708, + -0.40666231513023376, + 0.1868142932653427 + ], + [ + 0.059903547167778015, + -0.9981669187545776, + 0.008623769506812096, + 0.0864546149969101 + ], + [ + -0.40547510981559753, + -0.03222661092877388, + -0.913537859916687, + -0.0874151811003685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9081563353538513, + 0.05278152599930763, + -0.415290504693985, + 0.1917884349822998 + ], + [ + 0.06104482337832451, + -0.9981129765510559, + 0.0066370852291584015, + 0.08673939108848572 + ], + [ + -0.4141565263271332, + -0.0313788466155529, + -0.9096646308898926, + -0.08960217237472534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.903003454208374, + 0.05441230162978172, + -0.4261738061904907, + 0.19852381944656372 + ], + [ + 0.061342742294073105, + -0.9981135129928589, + 0.0025413352996110916, + 0.08760444819927216 + ], + [ + -0.42523157596588135, + -0.028437504544854164, + -0.9046377539634705, + -0.09207107126712799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.8971235752105713, + 0.054259732365608215, + -0.4384348690509796, + 0.20404018461704254 + ], + [ + 0.06248272955417633, + -0.9980366230010986, + 0.004337088204920292, + 0.08803143352270126 + ], + [ + -0.4373387396335602, + -0.03128551319241524, + -0.8987525105476379, + -0.09377656877040863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.8934791088104248, + 0.05226203054189682, + -0.4460535943508148, + 0.20965532958507538 + ], + [ + 0.06252450495958328, + -0.9980088472366333, + 0.00830924790352583, + 0.08838149160146713 + ], + [ + -0.4447311460971832, + -0.03531341999769211, + -0.8949676752090454, + -0.09524769335985184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.8912796378135681, + 0.04888065159320831, + -0.45081186294555664, + 0.21658974885940552 + ], + [ + 0.060195885598659515, + -0.9981282949447632, + 0.010785439983010292, + 0.0877823680639267 + ], + [ + -0.4494408965110779, + -0.036749862134456635, + -0.8925538063049316, + -0.09570524096488953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.8890500068664551, + 0.044913213700056076, + -0.45560169219970703, + 0.2230587750673294 + ], + [ + 0.057707421481609344, + -0.9982324838638306, + 0.014203093014657497, + 0.08771061152219772 + ], + [ + -0.4541585147380829, + -0.038918860256671906, + -0.8900704383850098, + -0.09664744883775711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.885239839553833, + 0.04284288361668587, + -0.4631575644016266, + 0.2289787381887436 + ], + [ + 0.05665977671742439, + -0.9982661008834839, + 0.01595330610871315, + 0.08799488097429276 + ], + [ + -0.46167099475860596, + -0.04036490619182587, + -0.8861323595046997, + -0.09805021435022354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.8807780742645264, + 0.04270403832197189, + -0.4715997576713562, + 0.2345360815525055 + ], + [ + 0.05645805969834328, + -0.9982916116714478, + 0.015046530403196812, + 0.0862731859087944 + ], + [ + -0.47015151381492615, + -0.03987826034426689, + -0.8816843628883362, + -0.09756816923618317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.8777271509170532, + 0.04131384566426277, + -0.4773763418197632, + 0.24023641645908356 + ], + [ + 0.05580667406320572, + -0.9983099699020386, + 0.016211550682783127, + 0.08564909547567368 + ], + [ + -0.4758998155593872, + -0.04087010398507118, + -0.8785493969917297, + -0.09802999347448349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.8733748197555542, + 0.04116963595151901, + -0.485305517911911, + 0.24578966200351715 + ], + [ + 0.05741012096405029, + -0.998176634311676, + 0.01863977499306202, + 0.08577633649110794 + ], + [ + -0.4836532473564148, + -0.04414095729589462, + -0.8741459250450134, + -0.09894177317619324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.8691186904907227, + 0.04182498902082443, + -0.4928320050239563, + 0.249920055270195 + ], + [ + 0.059618689119815826, + -0.9980118870735168, + 0.02044079452753067, + 0.0844222828745842 + ], + [ + -0.4909972846508026, + -0.0471474714577198, + -0.8698843717575073, + -0.09818804264068604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.8662143349647522, + 0.039975855499506, + -0.49807098507881165, + 0.25553807616233826 + ], + [ + 0.05879221111536026, + -0.998024582862854, + 0.022144967690110207, + 0.08432941883802414 + ], + [ + -0.4962018132209778, + -0.048464979976415634, + -0.8668534755706787, + -0.09872052073478699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.8626561164855957, + 0.03854890167713165, + -0.5043197274208069, + 0.2614571452140808 + ], + [ + 0.059588994830846786, + -0.9978933334350586, + 0.02565261721611023, + 0.08428151160478592 + ], + [ + -0.5022684335708618, + -0.052181292325258255, + -0.8631358742713928, + -0.09904897212982178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.8584250211715698, + 0.03745834156870842, + -0.5115694403648376, + 0.26704901456832886 + ], + [ + 0.06056484952569008, + -0.9977552890777588, + 0.028571145609021187, + 0.0822954848408699 + ], + [ + -0.5093508958816528, + -0.05550931394100189, + -0.8587667942047119, + -0.09689230471849442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.856450617313385, + 0.034602370113134384, + -0.515067994594574, + 0.2735481858253479 + ], + [ + 0.05751404911279678, + -0.9979351758956909, + 0.02859237976372242, + 0.08175843209028244 + ], + [ + -0.51301509141922, + -0.05411160737276077, + -0.8566722869873047, + -0.0971885472536087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.8535550236701965, + 0.032892681658267975, + -0.5199633836746216, + 0.2787777781486511 + ], + [ + 0.05453362315893173, + -0.9981634616851807, + 0.02637719176709652, + 0.08042537420988083 + ], + [ + -0.5181408524513245, + -0.05086987093091011, + -0.8537812232971191, + -0.09696847200393677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.8501909971237183, + 0.030272388830780983, + -0.5256032943725586, + 0.284778356552124 + ], + [ + 0.05290689319372177, + -0.9982043504714966, + 0.028087595477700233, + 0.0798155888915062 + ], + [ + -0.5238091945648193, + -0.05168785899877548, + -0.8502659797668457, + -0.09715955704450607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.8474487662315369, + 0.025775106623768806, + -0.530251145362854, + 0.2914596498012543 + ], + [ + 0.04844816401600838, + -0.9984075427055359, + 0.028898146003484726, + 0.07968166470527649 + ], + [ + -0.5286619067192078, + -0.05017939209938049, + -0.8473479747772217, + -0.09817556291818619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.8459898233413696, + 0.021960781887173653, + -0.5327466130256653, + 0.29798582196235657 + ], + [ + 0.04287991672754288, + -0.9987174272537231, + 0.026923414319753647, + 0.07840510457754135 + ], + [ + -0.5314720273017883, + -0.04562106356024742, + -0.84584641456604, + -0.0988621711730957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.8459377884864807, + 0.016956927254796028, + -0.5330119132995605, + 0.3044734299182892 + ], + [ + 0.04005105793476105, + -0.998691737651825, + 0.031792834401130676, + 0.07786428928375244 + ], + [ + -0.5317754745483398, + -0.04824245348572731, + -0.8455101847648621, + -0.09924182295799255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.8463507294654846, + 0.0115076694637537, + -0.5325016379356384, + 0.31084346771240234 + ], + [ + 0.03639403358101845, + -0.9986793994903564, + 0.036262135952711105, + 0.07780755311250687 + ], + [ + -0.5313811302185059, + -0.05007036775350571, + -0.8456518650054932, + -0.0999825969338417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.844244122505188, + 0.007822088897228241, + -0.5359017252922058, + 0.3169493079185486 + ], + [ + 0.03136739507317543, + -0.9989007115364075, + 0.03483521193265915, + 0.07769111543893814 + ], + [ + -0.5350401401519775, + -0.04621926322579384, + -0.8435614109039307, + -0.10125069320201874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.8385785222053528, + 0.005063660442829132, + -0.5447571873664856, + 0.32262012362480164 + ], + [ + 0.02825631946325302, + -0.9990151524543762, + 0.03421059623360634, + 0.07703495770692825 + ], + [ + -0.544047474861145, + -0.044081106781959534, + -0.8378956913948059, + -0.10186558961868286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.8331617712974548, + 0.0040953257121145725, + -0.5530142188072205, + 0.32810842990875244 + ], + [ + 0.02683168835937977, + -0.9990943074226379, + 0.033025406301021576, + 0.07687390595674515 + ], + [ + -0.5523781180381775, + -0.04235381260514259, + -0.8325170278549194, + -0.10288915038108826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.8289322853088379, + 0.0023835531901568174, + -0.5593438744544983, + 0.33370721340179443 + ], + [ + 0.02403292804956436, + -0.9992192387580872, + 0.031358130276203156, + 0.07675964385271072 + ], + [ + -0.5588324069976807, + -0.03943643718957901, + -0.8283423781394958, + -0.10413272678852081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.8218919038772583, + -0.00018395160441286862, + -0.5696434378623962, + 0.3421984910964966 + ], + [ + 0.020225349813699722, + -0.9993600249290466, + 0.029504219070076942, + 0.07711245119571686 + ], + [ + -0.5692843198776245, + -0.035770516842603683, + -0.8213621973991394, + -0.10599634796380997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.8137971758842468, + 8.574180537834764e-05, + -0.5811489820480347, + 0.3480837643146515 + ], + [ + 0.016755564138293266, + -0.9995877146720886, + 0.023315751925110817, + 0.07729417085647583 + ], + [ + -0.58090740442276, + -0.028711771592497826, + -0.8134631514549255, + -0.10797794163227081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.8091093897819519, + 0.0010833910200744867, + -0.5876570343971252, + 0.35361626744270325 + ], + [ + 0.015601084567606449, + -0.9996854662895203, + 0.01963719166815281, + 0.07762711495161057 + ], + [ + -0.5874509215354919, + -0.02505672350525856, + -0.8088718056678772, + -0.10944287478923798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.8083131909370422, + -0.0012549918610602617, + -0.5887514352798462, + 0.36136266589164734 + ], + [ + 0.013829204253852367, + -0.9996813535690308, + 0.0211174339056015, + 0.07917044311761856 + ], + [ + -0.5885903239250183, + -0.025211462751030922, + -0.8080382347106934, + -0.11049912124872208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.8078417778015137, + -0.002736598253250122, + -0.5893930196762085, + 0.3676873445510864 + ], + [ + 0.013513597659766674, + -0.9996403455734253, + 0.02316359616816044, + 0.08013459295034409 + ], + [ + -0.5892444849014282, + -0.026677342131733894, + -0.8075142502784729, + -0.1112036257982254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.8044857382774353, + -0.0021096430718898773, + -0.5939682722091675, + 0.372612863779068 + ], + [ + 0.01613512821495533, + -0.9995470643043518, + 0.02540399879217148, + 0.08106119185686111 + ], + [ + -0.5937528014183044, + -0.030020907521247864, + -0.8040872812271118, + -0.11055617034435272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.8023923635482788, + -0.004051064141094685, + -0.5967831611633301, + 0.378377765417099 + ], + [ + 0.015812106430530548, + -0.9994816184043884, + 0.028044486418366432, + 0.08190229535102844 + ], + [ + -0.5965874195098877, + -0.031939078122377396, + -0.8019123077392578, + -0.11055635660886765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.8031668066978455, + -0.007310833781957626, + -0.5957093238830566, + 0.38469964265823364 + ], + [ + 0.013359131291508675, + -0.9994522333145142, + 0.030277250334620476, + 0.08250082284212112 + ], + [ + -0.5956043601036072, + -0.032275840640068054, + -0.8026292324066162, + -0.11107612401247025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.8014317750930786, + -0.009465992450714111, + -0.598011314868927, + 0.3907466232776642 + ], + [ + 0.01248201448470354, + -0.9993922710418701, + 0.03254741430282593, + 0.08296740055084229 + ], + [ + -0.5979559421539307, + -0.03354891762137413, + -0.8008265495300293, + -0.1118229404091835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.7981624603271484, + -0.010566754266619682, + -0.602349579334259, + 0.3936193585395813 + ], + [ + 0.010262790136039257, + -0.9994626045227051, + 0.03113216906785965, + 0.08345750719308853 + ], + [ + -0.602354884147644, + -0.031030315905809402, + -0.7976250648498535, + -0.11179709434509277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.7956886291503906, + -0.01197043526917696, + -0.6055876016616821, + 0.3984048366546631 + ], + [ + 0.0065830303356051445, + -0.9995747208595276, + 0.028407758101820946, + 0.08381007611751556 + ], + [ + -0.605670154094696, + -0.02659033238887787, + -0.7952714562416077, + -0.11290263384580612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.7922588586807251, + -0.013075903989374638, + -0.6100450158119202, + 0.40036529302597046 + ], + [ + 0.00580358924344182, + -0.9995636940002441, + 0.0289620328694582, + 0.08425887674093246 + ], + [ + -0.6101575493812561, + -0.026485878974199295, + -0.7918372750282288, + -0.11311358958482742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.7891924977302551, + -0.015043415129184723, + -0.6139616370201111, + 0.4039483368396759 + ], + [ + 0.003672719234600663, + -0.9995664954185486, + 0.02921253629028797, + 0.08439837396144867 + ], + [ + -0.6141349077224731, + -0.02530922368168831, + -0.7887951135635376, + -0.11395035684108734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.7850642800331116, + -0.019415155053138733, + -0.6191099286079407, + 0.4087163805961609 + ], + [ + -0.002694307593628764, + -0.9996062517166138, + 0.027930911630392075, + 0.0843941792845726 + ], + [ + -0.6194084286689758, + -0.020259488373994827, + -0.7848074436187744, + -0.1151798740029335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.7807883024215698, + -0.023312071338295937, + -0.6243606209754944, + 0.41342392563819885 + ], + [ + -0.004125202540308237, + -0.9994742274284363, + 0.03215914964675903, + 0.08426833152770996 + ], + [ + -0.6247820854187012, + -0.022533873096108437, + -0.7804739475250244, + -0.11575490981340408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.7753514647483826, + -0.022610703483223915, + -0.6311250329017639, + 0.41262421011924744 + ], + [ + -0.00038542214315384626, + -0.9993756413459778, + 0.0353301577270031, + 0.08303573727607727 + ], + [ + -0.6315298080444336, + -0.027150040492415428, + -0.774876058101654, + -0.11481382697820663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.7689582705497742, + -0.02025463618338108, + -0.6389780640602112, + 0.4150683283805847 + ], + [ + 3.702915273606777e-05, + -0.999496579170227, + 0.03172709047794342, + 0.08281902223825455 + ], + [ + -0.6392990350723267, + -0.024420468136668205, + -0.7685703635215759, + -0.11541832238435745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.7679167985916138, + -0.019770827144384384, + -0.6402443647384644, + 0.4179660379886627 + ], + [ + -0.0003718225925695151, + -0.9995371103286743, + 0.030419863760471344, + 0.08286312967538834 + ], + [ + -0.6405494809150696, + -0.023121867328882217, + -0.7675687074661255, + -0.11590289324522018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.7714807391166687, + -0.01968441903591156, + -0.6359480619430542, + 0.4144214689731598 + ], + [ + 0.0005288420943543315, + -0.99950110912323, + 0.03157898038625717, + 0.08089607954025269 + ], + [ + -0.6362524032592773, + -0.0246988907456398, + -0.7710855007171631, + -0.11499224603176117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.7698755264282227, + -0.019890954717993736, + -0.6378840208053589, + 0.4159659743309021 + ], + [ + -0.0005420821253210306, + -0.9995341897010803, + 0.030513936653733253, + 0.08061084151268005 + ], + [ + -0.6381938457489014, + -0.023146146908402443, + -0.7695276737213135, + -0.11525648832321167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.7637983560562134, + -0.017742542549967766, + -0.6452109813690186, + 0.4176963269710541 + ], + [ + -0.0027578670997172594, + -0.9997026920318604, + 0.02422589436173439, + 0.08042960613965988 + ], + [ + -0.6454490423202515, + -0.016724292188882828, + -0.7636202573776245, + -0.11604374647140503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.7598994970321655, + -0.016218282282352448, + -0.6498382091522217, + 0.4109179377555847 + ], + [ + -0.0032272685784846544, + -0.9997705221176147, + 0.021177824586629868, + 0.07908248901367188 + ], + [ + -0.6500325202941895, + -0.013995816931128502, + -0.7597774863243103, + -0.11493472754955292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.7597420811653137, + -0.018606161698698997, + -0.6499583125114441, + 0.4106464087963104 + ], + [ + -0.005115638952702284, + -0.9997305870056152, + 0.02263927273452282, + 0.07847505807876587 + ], + [ + -0.6502044796943665, + -0.013875055126845837, + -0.7596325874328613, + -0.11482956260442734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.762604832649231, + -0.02118532545864582, + -0.6465176343917847, + 0.41130876541137695 + ], + [ + -0.005529765039682388, + -0.9996405243873596, + 0.026233909651637077, + 0.0779886469244957 + ], + [ + -0.6468410491943359, + -0.016431014984846115, + -0.7624478340148926, + -0.11460556089878082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.7643221616744995, + -0.02213415317237377, + -0.6444545388221741, + 0.4054666757583618 + ], + [ + -0.00257432390935719, + -0.999507486820221, + 0.03127549961209297, + 0.07776761800050735 + ], + [ + -0.6448293924331665, + -0.02224552258849144, + -0.7640027403831482, + -0.11282748728990555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.7654951810836792, + -0.02093987725675106, + -0.6431008577346802, + 0.40362727642059326 + ], + [ + 0.000601939857006073, + -0.9994465708732605, + 0.033259280025959015, + 0.07772432267665863 + ], + [ + -0.643441379070282, + -0.025846924632787704, + -0.7650589346885681, + -0.11198698729276657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.7675557732582092, + -0.020418060943484306, + -0.6406568884849548, + 0.40263861417770386 + ], + [ + 0.0009794748621061444, + -0.9994540214538574, + 0.033026594668626785, + 0.0777575671672821 + ], + [ + -0.6409813761711121, + -0.02597726136445999, + -0.7671167254447937, + -0.11166508495807648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.7644580006599426, + -0.01991787739098072, + -0.6443657279014587, + 0.3994714319705963 + ], + [ + 0.0038829571567475796, + -0.9993622303009033, + 0.035497743636369705, + 0.07841476052999496 + ], + [ + -0.6446618437767029, + -0.029638580977916718, + -0.7638931274414062, + -0.11093950271606445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.7565836310386658, + -0.018276426941156387, + -0.6536415219306946, + 0.3980156481266022 + ], + [ + 0.00865053478628397, + -0.9992420673370361, + 0.03795265033841133, + 0.07864809781312943 + ], + [ + -0.6538397669792175, + -0.03436870127916336, + -0.7558521032333374, + -0.11014970391988754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.754599928855896, + -0.017086807638406754, + -0.6559626460075378, + 0.3969402015209198 + ], + [ + 0.009498865343630314, + -0.9992717504501343, + 0.03695668652653694, + 0.07886948436498642 + ], + [ + -0.6561164259910583, + -0.0341184139251709, + -0.7538880705833435, + -0.10971074551343918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.7588127255439758, + -0.0181376114487648, + -0.6510562896728516, + 0.3952568769454956 + ], + [ + 0.010355474427342415, + -0.9991498589515686, + 0.03990447148680687, + 0.07844733446836472 + ], + [ + -0.6512265801429749, + -0.03702201694250107, + -0.7579797506332397, + -0.10811284929513931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.7624300718307495, + -0.019383970648050308, + -0.6467801928520203, + 0.39382198452949524 + ], + [ + 0.011577649042010307, + -0.9989825487136841, + 0.04358728975057602, + 0.0786169096827507 + ], + [ + -0.6469669938087463, + -0.04072045534849167, + -0.7614299058914185, + -0.10725411027669907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.7680238485336304, + -0.01781000941991806, + -0.6401734948158264, + 0.3919544816017151 + ], + [ + 0.012597866356372833, + -0.9989996552467346, + 0.04290657863020897, + 0.07885025441646576 + ], + [ + -0.6402972936630249, + -0.04101809859275818, + -0.767031192779541, + -0.10682466626167297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.7735172510147095, + -0.015967845916748047, + -0.6335740685462952, + 0.3892759382724762 + ], + [ + 0.013557027094066143, + -0.999036967754364, + 0.04173002764582634, + 0.078630730509758 + ], + [ + -0.6336302161216736, + -0.04086827486753464, + -0.7725558280944824, + -0.10626023262739182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.7778307795524597, + -0.013551369309425354, + -0.6283276677131653, + 0.3867049515247345 + ], + [ + 0.015647325664758682, + -0.9990400075912476, + 0.04091707989573479, + 0.07872620224952698 + ], + [ + -0.6282789707183838, + -0.04165821149945259, + -0.7768720388412476, + -0.10576918721199036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.782047688961029, + -0.01194493193179369, + -0.6231040954589844, + 0.3840641379356384 + ], + [ + 0.01785479299724102, + -0.998976469039917, + 0.04155967757105827, + 0.07881014794111252 + ], + [ + -0.6229627728462219, + -0.043627046048641205, + -0.781033992767334, + -0.10524184256792068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 240, + "c2w": [ + [ + 0.7870141267776489, + -0.011345939710736275, + -0.6168306469917297, + 0.38099005818367004 + ], + [ + 0.020768601447343826, + -0.998776912689209, + 0.04487008601427078, + 0.07789693027734756 + ], + [ + -0.6165853142738342, + -0.048124101012945175, + -0.7858158946037292, + -0.10408389568328857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 241, + "c2w": [ + [ + 0.7891659140586853, + -0.009822948835790157, + -0.6141015291213989, + 0.37771761417388916 + ], + [ + 0.023518187925219536, + -0.9986554980278015, + 0.046196747571229935, + 0.07775238901376724 + ], + [ + -0.6137296557426453, + -0.0508994534611702, + -0.7878738045692444, + -0.10346090793609619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 242, + "c2w": [ + [ + 0.790764331817627, + -0.008556811138987541, + -0.6120609045028687, + 0.37427210807800293 + ], + [ + 0.02348347380757332, + -0.9987421035766602, + 0.04430268704891205, + 0.07781185209751129 + ], + [ + -0.6116700768470764, + -0.049406301230192184, + -0.7895687222480774, + -0.1032450944185257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 243, + "c2w": [ + [ + 0.7943567633628845, + -0.00951387733221054, + -0.6073769927024841, + 0.37067192792892456 + ], + [ + 0.02396303042769432, + -0.9986082315444946, + 0.04698207601904869, + 0.07682578265666962 + ], + [ + -0.6069786548614502, + -0.051875121891498566, + -0.7930232286453247, + -0.10101158171892166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 244, + "c2w": [ + [ + 0.7955766916275024, + -0.011429447680711746, + -0.6057450771331787, + 0.3668065071105957 + ], + [ + 0.0238430704921484, + -0.9984568357467651, + 0.0501544363796711, + 0.07677086442708969 + ], + [ + -0.6053835153579712, + -0.05434452369809151, + -0.7940765023231506, + -0.09987688064575195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 245, + "c2w": [ + [ + 0.7962696552276611, + -0.00842990167438984, + -0.6048831343650818, + 0.3620377480983734 + ], + [ + 0.023298097774386406, + -0.9987337589263916, + 0.04458843916654587, + 0.07720238715410233 + ], + [ + -0.6044930815696716, + -0.04959704726934433, + -0.7950649261474609, + -0.0992918461561203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 246, + "c2w": [ + [ + 0.8028858304023743, + -0.003637064713984728, + -0.5961217284202576, + 0.3580564558506012 + ], + [ + 0.028063775971531868, + -0.998642086982727, + 0.04389059171080589, + 0.07698648422956467 + ], + [ + -0.5954718589782715, + -0.05196855962276459, + -0.8016935586929321, + -0.09739013761281967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 247, + "c2w": [ + [ + 0.8151018023490906, + -9.544775093672797e-05, + -0.5793177485466003, + 0.35315099358558655 + ], + [ + 0.036242496222257614, + -0.9980327486991882, + 0.05115773156285286, + 0.07747939229011536 + ], + [ + -0.5781829953193665, + -0.06269467622041702, + -0.8134948015213013, + -0.09489049017429352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 248, + "c2w": [ + [ + 0.828475296497345, + 0.003402749774977565, + -0.5600152611732483, + 0.34798455238342285 + ], + [ + 0.04375333711504936, + -0.9973182678222656, + 0.058667927980422974, + 0.07798808068037033 + ], + [ + -0.5583138465881348, + -0.07310746610164642, + -0.8264024257659912, + -0.09229781478643417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 249, + "c2w": [ + [ + 0.8385898470878601, + 0.004933931864798069, + -0.5447409749031067, + 0.3412448465824127 + ], + [ + 0.0474710650742054, + -0.9968169927597046, + 0.06404975056648254, + 0.0779155045747757 + ], + [ + -0.5426910519599915, + -0.07957090437412262, + -0.8361548185348511, + -0.08971934020519257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 250, + "c2w": [ + [ + 0.8449521660804749, + 0.006859326269477606, + -0.5347978472709656, + 0.3356648087501526 + ], + [ + 0.048173803836107254, + -0.9968295097351074, + 0.06332669407129288, + 0.07808367908000946 + ], + [ + -0.532667875289917, + -0.07927127927541733, + -0.8426036834716797, + -0.08842077851295471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 251, + "c2w": [ + [ + 0.8487296104431152, + 0.008314543403685093, + -0.528761625289917, + 0.33021700382232666 + ], + [ + 0.04884494096040726, + -0.9968346953392029, + 0.06272755563259125, + 0.0783419981598854 + ], + [ + -0.5265663862228394, + -0.07906606793403625, + -0.8464492559432983, + -0.08758191764354706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 252, + "c2w": [ + [ + 0.8510493636131287, + 0.01131901890039444, + -0.5249636769294739, + 0.3244952857494354 + ], + [ + 0.049970585852861404, + -0.9969759583473206, + 0.05951392278075218, + 0.07817014306783676 + ], + [ + -0.5227025151252747, + -0.0768820270895958, + -0.8490414023399353, + -0.08671443909406662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 253, + "c2w": [ + [ + 0.8533351421356201, + 0.015405449084937572, + -0.5211350917816162, + 0.3187248110771179 + ], + [ + 0.05137325078248978, + -0.9971835017204285, + 0.05464329570531845, + 0.07824648916721344 + ], + [ + -0.5188255310058594, + -0.07340145111083984, + -0.8517231345176697, + -0.08613007515668869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 254, + "c2w": [ + [ + 0.8553824424743652, + 0.017188359051942825, + -0.5177116990089417, + 0.3132462799549103 + ], + [ + 0.051881205290555954, + -0.9972665309906006, + 0.052610162645578384, + 0.07832057029008865 + ], + [ + -0.5153922438621521, + -0.07186131924390793, + -0.8539360165596008, + -0.08541656285524368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 255, + "c2w": [ + [ + 0.8580073714256287, + 0.01769292540848255, + -0.5133326053619385, + 0.3089660704135895 + ], + [ + 0.0524030365049839, + -0.99720698595047, + 0.0532182902097702, + 0.07785043865442276 + ], + [ + -0.5109572410583496, + -0.07256186753511429, + -0.8565380573272705, + -0.08412787318229675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 256, + "c2w": [ + [ + 0.8635196089744568, + 0.018624166026711464, + -0.50397127866745, + 0.30365148186683655 + ], + [ + 0.05561547726392746, + -0.9967394471168518, + 0.058458905667066574, + 0.07786934822797775 + ], + [ + -0.5012392997741699, + -0.07850901782512665, + -0.8617398142814636, + -0.08216612786054611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 257, + "c2w": [ + [ + 0.8685205578804016, + 0.019226599484682083, + -0.49528011679649353, + 0.29811298847198486 + ], + [ + 0.05792825669050217, + -0.9963369369506836, + 0.06290523707866669, + 0.07802624255418777 + ], + [ + -0.49225640296936035, + -0.08332520723342896, + -0.8664528727531433, + -0.08037803322076797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 258, + "c2w": [ + [ + 0.872444212436676, + 0.02108997106552124, + -0.488258421421051, + 0.29251226782798767 + ], + [ + 0.059808120131492615, + -0.9961664080619812, + 0.06383941322565079, + 0.07816999405622482 + ], + [ + -0.48504024744033813, + -0.08489814400672913, + -0.8703609704971313, + -0.07905049622058868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 259, + "c2w": [ + [ + 0.8781058192253113, + 0.022720733657479286, + -0.47792670130729675, + 0.28704288601875305 + ], + [ + 0.06125372275710106, + -0.9959908723831177, + 0.06519327312707901, + 0.0782342404127121 + ], + [ + -0.4745294153690338, + -0.08652138710021973, + -0.875977098941803, + -0.07794292271137238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 260, + "c2w": [ + [ + 0.880111575126648, + 0.02371816895902157, + -0.4741741120815277, + 0.281542032957077 + ], + [ + 0.06229943409562111, + -0.9958848357200623, + 0.06581946462392807, + 0.07827422767877579 + ], + [ + -0.4706616699695587, + -0.08746924996376038, + -0.877967357635498, + -0.07712043076753616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 261, + "c2w": [ + [ + 0.8804730772972107, + 0.02751988172531128, + -0.4732967019081116, + 0.2766687273979187 + ], + [ + 0.06496628373861313, + -0.9958999156951904, + 0.06294997036457062, + 0.07851436734199524 + ], + [ + -0.4696238040924072, + -0.08617407828569412, + -0.878650963306427, + -0.07649226486682892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 262, + "c2w": [ + [ + 0.8833582401275635, + 0.030264686793088913, + -0.46772024035453796, + 0.2711782455444336 + ], + [ + 0.06570093333721161, + -0.9960557818412781, + 0.0596342533826828, + 0.0786125659942627 + ], + [ + -0.4640706479549408, + -0.08340806514024734, + -0.8818625211715698, + -0.07597239315509796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 263, + "c2w": [ + [ + 0.8865094184875488, + 0.03149117901921272, + -0.4616376757621765, + 0.26557740569114685 + ], + [ + 0.06558967381715775, + -0.996159553527832, + 0.05800139531493187, + 0.0786544680595398 + ], + [ + -0.45803824067115784, + -0.08169744908809662, + -0.8851703405380249, + -0.0752084031701088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 264, + "c2w": [ + [ + 0.8873553276062012, + 0.03361063823103905, + -0.45985960960388184, + 0.2606908082962036 + ], + [ + 0.06727217882871628, + -0.9961048364639282, + 0.05700567364692688, + 0.07979754358530045 + ], + [ + -0.45615237951278687, + -0.08152004331350327, + -0.8861599564552307, + -0.07443149387836456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 265, + "c2w": [ + [ + 0.8895763754844666, + 0.03630828857421875, + -0.4553411304950714, + 0.25479090213775635 + ], + [ + 0.0692029595375061, + -0.9960421919822693, + 0.05577518045902252, + 0.0801064670085907 + ], + [ + -0.4515138864517212, + -0.08112724125385284, + -0.8885682821273804, + -0.07343994081020355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 266, + "c2w": [ + [ + 0.8933069705963135, + 0.03835846111178398, + -0.4478072226047516, + 0.2487352192401886 + ], + [ + 0.0712113231420517, + -0.995845377445221, + 0.05675315856933594, + 0.08032192289829254 + ], + [ + -0.44376981258392334, + -0.08258693665266037, + -0.8923271298408508, + -0.07214584201574326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 267, + "c2w": [ + [ + 0.894439160823822, + 0.04064455255866051, + -0.44533872604370117, + 0.24434413015842438 + ], + [ + 0.07303693890571594, + -0.9957664012908936, + 0.05581059679389, + 0.08099742233753204 + ], + [ + -0.44118496775627136, + -0.08244536072015762, + -0.893621027469635, + -0.0708019882440567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 268, + "c2w": [ + [ + 0.8959786891937256, + 0.04358331486582756, + -0.44195330142974854, + 0.23901070654392242 + ], + [ + 0.07430382072925568, + -0.9958564043045044, + 0.052430685609579086, + 0.08132762461900711 + ], + [ + -0.4378369152545929, + -0.07981559634208679, + -0.8955044746398926, + -0.0697844997048378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 269, + "c2w": [ + [ + 0.8990082144737244, + 0.044970083981752396, + -0.43561676144599915, + 0.23315182328224182 + ], + [ + 0.07510452717542648, + -0.9958086013793945, + 0.05219722539186478, + 0.08134753257036209 + ], + [ + -0.43144360184669495, + -0.07964252680540085, + -0.8986175656318665, + -0.06859957426786423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 270, + "c2w": [ + [ + 0.9022036194801331, + 0.04662466421723366, + -0.4287829101085663, + 0.22845454514026642 + ], + [ + 0.076619453728199, + -0.9956533908843994, + 0.0529506616294384, + 0.08311733603477478 + ], + [ + -0.4244503676891327, + -0.08062539249658585, + -0.9018544554710388, + -0.06656229496002197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 271, + "c2w": [ + [ + 0.9063988327980042, + 0.04718588665127754, + -0.4197792410850525, + 0.22283929586410522 + ], + [ + 0.07634859532117844, + -0.9956750869750977, + 0.0529337003827095, + 0.08317538350820541 + ], + [ + -0.4154660105705261, + -0.08002860099077225, + -0.9060813784599304, + -0.0653914213180542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 272, + "c2w": [ + [ + 0.9127042293548584, + 0.044633254408836365, + -0.4061758518218994, + 0.21735553443431854 + ], + [ + 0.0724315270781517, + -0.9959472417831421, + 0.053317293524742126, + 0.08301245421171188 + ], + [ + -0.4021500051021576, + -0.0780828595161438, + -0.9122381806373596, + -0.06435293704271317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 273, + "c2w": [ + [ + 0.9182880520820618, + 0.042197566479444504, + -0.39365774393081665, + 0.21318452060222626 + ], + [ + 0.0691712275147438, + -0.9961106181144714, + 0.05457956716418266, + 0.08388599753379822 + ], + [ + -0.3898235261440277, + -0.07734955102205276, + -0.9176353812217712, + -0.06184975802898407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 274, + "c2w": [ + [ + 0.9209781885147095, + 0.04251697286963463, + -0.38728728890419006, + 0.20753176510334015 + ], + [ + 0.06852679699659348, + -0.9962087273597717, + 0.05359305068850517, + 0.08397769927978516 + ], + [ + -0.3835403621196747, + -0.07589758932590485, + -0.920400083065033, + -0.06070244684815407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 275, + "c2w": [ + [ + 0.9250136017799377, + 0.042371634393930435, + -0.37756386399269104, + 0.20179693400859833 + ], + [ + 0.06749618798494339, + -0.996281087398529, + 0.053556062281131744, + 0.08395310491323471 + ], + [ + -0.3738904893398285, + -0.07502420991659164, + -0.9244334697723389, + -0.05960492417216301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 276, + "c2w": [ + [ + 0.9292356371879578, + 0.04080276936292648, + -0.3672277629375458, + 0.1977272480726242 + ], + [ + 0.06556810438632965, + -0.9963194131851196, + 0.05521268770098686, + 0.08384017646312714 + ], + [ + -0.36362332105636597, + -0.07538402825593948, + -0.9284908771514893, + -0.058869846165180206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 277, + "c2w": [ + [ + 0.9309430122375488, + 0.04160669818520546, + -0.3627864122390747, + 0.19270431995391846 + ], + [ + 0.06512841582298279, + -0.9964767694473267, + 0.05284304544329643, + 0.08375737071037292 + ], + [ + -0.3593096137046814, + -0.07282156497240067, + -0.9303728342056274, + -0.05833776667714119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 278, + "c2w": [ + [ + 0.933343768119812, + 0.04246397688984871, + -0.3564635217189789, + 0.18712401390075684 + ], + [ + 0.06486788392066956, + -0.9965832233428955, + 0.05112766847014427, + 0.0836712121963501 + ], + [ + -0.35307446122169495, + -0.07084272056818008, + -0.9329092502593994, + -0.05769985169172287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 279, + "c2w": [ + [ + 0.9369657635688782, + 0.04044746607542038, + -0.3470723032951355, + 0.18182453513145447 + ], + [ + 0.06279270350933075, + -0.9965983629226685, + 0.0533742792904377, + 0.0841180831193924 + ], + [ + -0.3437328338623047, + -0.07180348038673401, + -0.9363183379173279, + -0.05740123987197876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 280, + "c2w": [ + [ + 0.9399687051773071, + 0.039779920130968094, + -0.33893418312072754, + 0.17643341422080994 + ], + [ + 0.06279085576534271, + -0.9963865280151367, + 0.05719476565718651, + 0.08403980731964111 + ], + [ + -0.3354342579841614, + -0.07504326105117798, + -0.939069926738739, + -0.05649414286017418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 281, + "c2w": [ + [ + 0.943051815032959, + 0.03863624110817909, + -0.330394446849823, + 0.16970935463905334 + ], + [ + 0.06116548553109169, + -0.9964374303817749, + 0.05806281045079231, + 0.08433426916599274 + ], + [ + -0.3269740641117096, + -0.0749649778008461, + -0.942055344581604, + -0.055741529911756516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 282, + "c2w": [ + [ + 0.9461483955383301, + 0.03906384855508804, + -0.3213678002357483, + 0.16360339522361755 + ], + [ + 0.0597538985311985, + -0.9967095255851746, + 0.05476822331547737, + 0.08450828492641449 + ], + [ + -0.3181709051132202, + -0.07102184742689133, + -0.9453693628311157, + -0.05539891496300697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 283, + "c2w": [ + [ + 0.9477834701538086, + 0.0411880686879158, + -0.3162437081336975, + 0.15783879160881042 + ], + [ + 0.06059257686138153, + -0.9968191981315613, + 0.05176887661218643, + 0.08456574380397797 + ], + [ + -0.3131055533885956, + -0.06822770833969116, + -0.9472644329071045, + -0.054919447749853134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 284, + "c2w": [ + [ + 0.949252188205719, + 0.04232030361890793, + -0.31165575981140137, + 0.15217341482639313 + ], + [ + 0.06167310103774071, + -0.9967146515846252, + 0.0525004081428051, + 0.08462362736463547 + ], + [ + -0.30841004848480225, + -0.0690569058060646, + -0.9487435817718506, + -0.05415813997387886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 285, + "c2w": [ + [ + 0.9516776204109192, + 0.0432090200483799, + -0.30404385924339294, + 0.14405012130737305 + ], + [ + 0.062151260673999786, + -0.9966639876365662, + 0.052897270768880844, + 0.08511734008789062 + ], + [ + -0.3007439076900482, + -0.0692378580570221, + -0.951188325881958, + -0.05281767621636391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 286, + "c2w": [ + [ + 0.9546177387237549, + 0.04325345903635025, + -0.2946762442588806, + 0.13790087401866913 + ], + [ + 0.06145749241113663, + -0.9967125058174133, + 0.05279405042529106, + 0.0851685181260109 + ], + [ + -0.2914239466190338, + -0.06850820034742355, + -0.9541376829147339, + -0.05205512419342995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 287, + "c2w": [ + [ + 0.9579555988311768, + 0.044436000287532806, + -0.28345468640327454, + 0.13173288106918335 + ], + [ + 0.06258954852819443, + -0.9965056777000427, + 0.05530788004398346, + 0.08525251597166061 + ], + [ + -0.2800065577030182, + -0.07072379440069199, + -0.9573894143104553, + -0.051101699471473694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 288, + "c2w": [ + [ + 0.9605370163917542, + 0.043524522334337234, + -0.27472567558288574, + 0.12368329614400864 + ], + [ + 0.06179055944085121, + -0.996391773223877, + 0.058184027671813965, + 0.08590133488178253 + ], + [ + -0.2712019681930542, + -0.07286336272954941, + -0.9597606062889099, + -0.049119651317596436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 289, + "c2w": [ + [ + 0.9602347016334534, + 0.03963267430663109, + -0.27636662125587463, + 0.11742658913135529 + ], + [ + 0.05744260549545288, + -0.9967405200004578, + 0.05664537474513054, + 0.08603727072477341 + ], + [ + -0.27322080731391907, + -0.07026807218790054, + -0.9593814611434937, + -0.048573605716228485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 290, + "c2w": [ + [ + 0.9596325755119324, + 0.036821890622377396, + -0.27883583307266235, + 0.11121318489313126 + ], + [ + 0.05460109934210777, + -0.9969217777252197, + 0.05626411736011505, + 0.08614648878574371 + ], + [ + -0.2759057581424713, + -0.06921762228012085, + -0.9586891531944275, + -0.04767914488911629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 291, + "c2w": [ + [ + 0.9604801535606384, + 0.037983834743499756, + -0.27574455738067627, + 0.10345076769590378 + ], + [ + 0.056179746985435486, + -0.9967118501663208, + 0.058389537036418915, + 0.08702351897954941 + ], + [ + -0.27261999249458313, + -0.07157324999570847, + -0.9594559073448181, + -0.044442836195230484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 292, + "c2w": [ + [ + 0.9632251262664795, + 0.03811142221093178, + -0.2659790515899658, + 0.09680639952421188 + ], + [ + 0.05534619465470314, + -0.9968042373657227, + 0.057603102177381516, + 0.08735022693872452 + ], + [ + -0.2629337012767792, + -0.0702056884765625, + -0.9622561931610107, + -0.04284846410155296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 293, + "c2w": [ + [ + 0.9651198387145996, + 0.037275031208992004, + -0.25914138555526733, + 0.09030243754386902 + ], + [ + 0.05350138619542122, + -0.9970049858093262, + 0.055845413357019424, + 0.0875866562128067 + ], + [ + -0.25628361105918884, + -0.06776194274425507, + -0.9642235636711121, + -0.04141460731625557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 294, + "c2w": [ + [ + 0.9670581221580505, + 0.03692827373743057, + -0.25186288356781006, + 0.08312194794416428 + ], + [ + 0.05291743949055672, + -0.9969704151153564, + 0.057006582617759705, + 0.08779752999544144 + ], + [ + -0.24899469316005707, + -0.06845661997795105, + -0.9660824537277222, + -0.039635103195905685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 295, + "c2w": [ + [ + 0.9698463678359985, + 0.03581233695149422, + -0.24107150733470917, + 0.0764661356806755 + ], + [ + 0.051043376326560974, + -0.9970551133155823, + 0.05723348259925842, + 0.08798366785049438 + ], + [ + -0.23831191658973694, + -0.06781279295682907, + -0.9688183069229126, + -0.03825369104743004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 296, + "c2w": [ + [ + 0.9729282855987549, + 0.033799320459365845, + -0.22862230241298676, + 0.06988610327243805 + ], + [ + 0.048148263245821, + -0.9971850514411926, + 0.05747745931148529, + 0.08815564215183258 + ], + [ + -0.22603605687618256, + -0.06692921370267868, + -0.9718169569969177, + -0.037038326263427734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 297, + "c2w": [ + [ + 0.9764643311500549, + 0.030543021857738495, + -0.21350541710853577, + 0.06328222900629044 + ], + [ + 0.044202402234077454, + -0.9972493052482605, + 0.05949760228395462, + 0.08792247623205185 + ], + [ + -0.21110089123249054, + -0.06753473728895187, + -0.9751284122467041, + -0.03547694534063339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 298, + "c2w": [ + [ + 0.9788936376571655, + 0.02589867264032364, + -0.2027226835489273, + 0.05701623111963272 + ], + [ + 0.03833026438951492, + -0.9976013898849487, + 0.05763884261250496, + 0.08801965415477753 + ], + [ + -0.2007436603307724, + -0.06419271230697632, + -0.9775383472442627, + -0.03482786938548088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 299, + "c2w": [ + [ + 0.9805108308792114, + 0.023685483261942863, + -0.19503213465213776, + 0.05137864872813225 + ], + [ + 0.03523341938853264, + -0.9978113770484924, + 0.055955421179533005, + 0.08800631016492844 + ], + [ + -0.1932799518108368, + -0.061736542731523514, + -0.9791994094848633, + -0.034751854836940765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 300, + "c2w": [ + [ + 0.981979250907898, + 0.02314099669456482, + -0.18756677210330963, + 0.04491521045565605 + ], + [ + 0.03435390442609787, + -0.9977970719337463, + 0.05675205588340759, + 0.08795453608036041 + ], + [ + -0.18584027886390686, + -0.06217299401760101, + -0.9806109666824341, + -0.034248802810907364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 301, + "c2w": [ + [ + 0.9836960434913635, + 0.021892253309488297, + -0.17850174009799957, + 0.0381045825779438 + ], + [ + 0.032442428171634674, + -0.9978809952735901, + 0.05640071630477905, + 0.08779799193143845 + ], + [ + -0.17688874900341034, + -0.061272189021110535, + -0.9823217988014221, + -0.03359514847397804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 302, + "c2w": [ + [ + 0.9855846166610718, + 0.021556515246629715, + -0.1678042709827423, + 0.030989812687039375 + ], + [ + 0.03132721409201622, + -0.9979504346847534, + 0.05579885095357895, + 0.08767463266849518 + ], + [ + -0.16625751554965973, + -0.060251329094171524, + -0.984239935874939, + -0.032860737293958664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 303, + "c2w": [ + [ + 0.986893355846405, + 0.022597085684537888, + -0.15978369116783142, + 0.024223191663622856 + ], + [ + 0.03210137039422989, + -0.99784916639328, + 0.05715318024158478, + 0.08716423064470291 + ], + [ + -0.15814852714538574, + -0.061533372849226, + -0.9854961633682251, + -0.033610615879297256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 304, + "c2w": [ + [ + 0.9884855151176453, + 0.02334006130695343, + -0.14950472116470337, + 0.0168861523270607 + ], + [ + 0.03230205550789833, + -0.9978054761886597, + 0.057799313217401505, + 0.0870884582400322 + ], + [ + -0.14782759547233582, + -0.06196309253573418, + -0.9870702028274536, + -0.03328816965222359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 305, + "c2w": [ + [ + 0.9903618693351746, + 0.02251153439283371, + -0.13666215538978577, + 0.009610445238649845 + ], + [ + 0.03041628748178482, + -0.9979655742645264, + 0.056031566113233566, + 0.0870891734957695 + ], + [ + -0.13512276113033295, + -0.05964828282594681, + -0.9890317916870117, + -0.03289894014596939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 306, + "c2w": [ + [ + 0.9916970729827881, + 0.023468617349863052, + -0.12643633782863617, + 0.005955985747277737 + ], + [ + 0.030940670520067215, + -0.9978681802749634, + 0.05746122822165489, + 0.08637219667434692 + ], + [ + -0.12481825798749924, + -0.06089615449309349, + -0.9903090596199036, + -0.03438106179237366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 307, + "c2w": [ + [ + 0.9925408363342285, + 0.024794595316052437, + -0.11936458945274353, + -0.0009465472539886832 + ], + [ + 0.032144609838724136, + -0.9976776838302612, + 0.06004982441663742, + 0.08614595234394073 + ], + [ + -0.11759847402572632, + -0.06343883275985718, + -0.9910328388214111, + -0.03418109565973282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 308, + "c2w": [ + [ + 0.9936089515686035, + 0.02563450112938881, + -0.1099279448390007, + -0.005447672680020332 + ], + [ + 0.03203917667269707, + -0.9978657960891724, + 0.056897442787885666, + 0.08567123115062714 + ], + [ + -0.10823480039834976, + -0.06005580723285675, + -0.9923096895217896, + -0.0352448932826519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 309, + "c2w": [ + [ + 0.9948108792304993, + 0.026972297579050064, + -0.09810102730989456, + -0.011195538565516472 + ], + [ + 0.03272999823093414, + -0.9978051781654358, + 0.05756370723247528, + 0.08528485894203186 + ], + [ + -0.0963330864906311, + -0.060475848615169525, + -0.9935102462768555, + -0.03544679656624794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 310, + "c2w": [ + [ + 0.9955013394355774, + 0.028185062110424042, + -0.09045807272195816, + -0.017797989770770073 + ], + [ + 0.03376917913556099, + -0.9975781440734863, + 0.06080673635005951, + 0.08501079678535461 + ], + [ + -0.08852515369653702, + -0.06358788162469864, + -0.9940422177314758, + -0.035311028361320496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 311, + "c2w": [ + [ + 0.9959492087364197, + 0.029703106731176376, + -0.0848698690533638, + -0.024461328983306885 + ], + [ + 0.034596312791109085, + -0.9977871775627136, + 0.056778598576784134, + 0.08474162220954895 + ], + [ + -0.08299557119607925, + -0.05948478728532791, + -0.9947729706764221, + -0.0357167012989521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 312, + "c2w": [ + [ + 0.9966839551925659, + 0.029910467565059662, + -0.07567352801561356, + -0.02702292613685131 + ], + [ + 0.034007903188467026, + -0.9979912638664246, + 0.053449951112270355, + 0.08473815023899078 + ], + [ + -0.07392280548810959, + -0.055846206843853, + -0.9956990480422974, + -0.036679577082395554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 313, + "c2w": [ + [ + 0.9973729252815247, + 0.0306162778288126, + -0.06564957648515701, + -0.03312598168849945 + ], + [ + 0.03434676304459572, + -0.99781334400177, + 0.056469544768333435, + 0.08452092111110687 + ], + [ + -0.0637771338224411, + -0.05857604369521141, + -0.9962435960769653, + -0.036867398768663406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 314, + "c2w": [ + [ + 0.9978249073028564, + 0.03173813596367836, + -0.05777664855122566, + -0.03965602070093155 + ], + [ + 0.035251785069704056, + -0.9975243806838989, + 0.06084712594747543, + 0.08426354080438614 + ], + [ + -0.055702440440654755, + -0.06275150924921036, + -0.9964735507965088, + -0.036938633769750595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 315, + "c2w": [ + [ + 0.9982426166534424, + 0.033323097974061966, + -0.0490022711455822, + -0.04240023344755173 + ], + [ + 0.03630911186337471, + -0.9974547624588013, + 0.061364881694316864, + 0.084602490067482 + ], + [ + -0.04683268070220947, + -0.06303627043962479, + -0.9969118237495422, + -0.03761252760887146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 316, + "c2w": [ + [ + 0.998598575592041, + 0.03722376003861427, + -0.03761960193514824, + -0.04858063533902168 + ], + [ + 0.039455875754356384, + -0.997391402721405, + 0.0604451447725296, + 0.08447478711605072 + ], + [ + -0.03527146950364113, + -0.06184475123882294, + -0.9974623322486877, + -0.037764307111501694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 317, + "c2w": [ + [ + 0.9987664222717285, + 0.040499597787857056, + -0.0287298783659935, + -0.05285647138953209 + ], + [ + 0.04220142215490341, + -0.9972246289253235, + 0.061335716396570206, + 0.08561031520366669 + ], + [ + -0.026166072115302086, + -0.062472496181726456, + -0.9977036118507385, + -0.03875238820910454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 318, + "c2w": [ + [ + 0.9989511966705322, + 0.04147643968462944, + -0.019395338371396065, + -0.05792976915836334 + ], + [ + 0.04266560450196266, + -0.9969363212585449, + 0.06555649638175964, + 0.08597585558891296 + ], + [ + -0.01661686599254608, + -0.06631525605916977, + -0.9976603388786316, + -0.03898158296942711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 319, + "c2w": [ + [ + 0.9990283250808716, + 0.04303719103336334, + -0.009499004110693932, + -0.06363514065742493 + ], + [ + 0.04358919337391853, + -0.9966872930526733, + 0.06866146624088287, + 0.08585456013679504 + ], + [ + -0.006512540392577648, + -0.06900880485773087, + -0.9975947737693787, + -0.0389329269528389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 320, + "c2w": [ + [ + 0.9990078806877136, + 0.044403087347745895, + -0.0034046799410134554, + -0.06794098019599915 + ], + [ + 0.04453141242265701, + -0.9967663288116455, + 0.06688634306192398, + 0.08684932440519333 + ], + [ + -0.00042371024028398097, + -0.06697160005569458, + -0.9977548122406006, + -0.03951643407344818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 321, + "c2w": [ + [ + 0.9989534616470337, + 0.04561036452651024, + 0.003411282552406192, + -0.07292469590902328 + ], + [ + 0.04528578743338585, + -0.9967864751815796, + 0.06607486307621002, + 0.087293341755867 + ], + [ + 0.006414019037038088, + -0.06585123389959335, + -0.9978088140487671, + -0.03969787061214447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 322, + "c2w": [ + [ + 0.9987781047821045, + 0.04832136631011963, + 0.010358976200222969, + -0.07852381467819214 + ], + [ + 0.047503381967544556, + -0.9965282678604126, + 0.06837247312068939, + 0.08729109913110733 + ], + [ + 0.013626864179968834, + -0.06779684126377106, + -0.997606098651886, + -0.03958975896239281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 323, + "c2w": [ + [ + 0.99854975938797, + 0.050688087940216064, + 0.018140284344553947, + -0.08409874886274338 + ], + [ + 0.04927777498960495, + -0.9962447285652161, + 0.07119119167327881, + 0.08719891309738159 + ], + [ + 0.02168070711195469, + -0.07019403576850891, + -0.9972977042198181, + -0.03948817029595375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 324, + "c2w": [ + [ + 0.9981984496116638, + 0.05281825363636017, + 0.028462812304496765, + -0.0867341160774231 + ], + [ + 0.05063017085194588, + -0.9960625767707825, + 0.07277319580316544, + 0.08790965378284454 + ], + [ + 0.03219449520111084, + -0.07120101153850555, + -0.9969422817230225, + -0.03923351690173149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 325, + "c2w": [ + [ + 0.9976330399513245, + 0.057196591049432755, + 0.03816917538642883, + -0.0916869044303894 + ], + [ + 0.054226819425821304, + -0.9957258105278015, + 0.07476335763931274, + 0.08798734098672867 + ], + [ + 0.04228224232792854, + -0.07251659780740738, + -0.99647057056427, + -0.03935123607516289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 326, + "c2w": [ + [ + 0.9970793128013611, + 0.05995553731918335, + 0.04730900004506111, + -0.09662771224975586 + ], + [ + 0.05633582919836044, + -0.9956318736076355, + 0.0744541734457016, + 0.08794722706079483 + ], + [ + 0.051566287875175476, + -0.07157152891159058, + -0.9961016178131104, + -0.03969461843371391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 327, + "c2w": [ + [ + 0.996532678604126, + 0.0603938065469265, + 0.05722911283373833, + -0.0972018912434578 + ], + [ + 0.056158993393182755, + -0.9957553744316101, + 0.07292069494724274, + 0.08833315223455429 + ], + [ + 0.06139015406370163, + -0.06945393234491348, + -0.9956944584846497, + -0.03906753286719322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 328, + "c2w": [ + [ + 0.995781421661377, + 0.062223102897405624, + 0.06743660569190979, + -0.10099542886018753 + ], + [ + 0.057205382734537125, + -0.9956203103065491, + 0.07394396513700485, + 0.0882963016629219 + ], + [ + 0.07174228131771088, + -0.06977429240942001, + -0.9949796795845032, + -0.03915421664714813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + }, + { + "frame_index": 329, + "c2w": [ + [ + 0.9951283931732178, + 0.06358400732278824, + 0.07534300535917282, + -0.10369100421667099 + ], + [ + 0.05820496752858162, + -0.9957365989685059, + 0.07155950367450714, + 0.08931335806846619 + ], + [ + 0.07957183569669724, + -0.06682555377483368, + -0.994586706161499, + -0.039462096989154816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 839.4537000868055, + "fy": 840.2316923945783, + "cx": 415.5501980251736, + "cy": 245.01093044051203 + } + } + ] +} diff --git a/dycheck_eval/source/space-out__camera_1/extras/frame_mapping.json b/dycheck_eval/source/space-out__camera_1/extras/frame_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..3b5cbf920e300536aea4aa79995c7e6658a8756d --- /dev/null +++ b/dycheck_eval/source/space-out__camera_1/extras/frame_mapping.json @@ -0,0 +1,1019 @@ +{ + "original_scene": "space-out", + "source_frame_names": [ + "0_00000", + "0_00001", + "0_00002", + "0_00003", + "0_00004", + "0_00005", + "0_00006", + "0_00007", + "0_00008", + "0_00009", + "0_00010", + "0_00011", + "0_00012", + "0_00013", + "0_00014", + "0_00015", + "0_00016", + "0_00017", + "0_00018", + "0_00019", + "0_00020", + "0_00021", + "0_00022", + "0_00023", + "0_00024", + "0_00025", + "0_00026", + "0_00027", + "0_00028", + "0_00029", + "0_00030", + "0_00031", + "0_00032", + "0_00033", + "0_00034", + "0_00035", + "0_00036", + "0_00037", + "0_00038", + "0_00039", + "0_00040", + "0_00041", + "0_00042", + "0_00043", + "0_00044", + "0_00045", + "0_00046", + "0_00047", + "0_00048", + "0_00049", + "0_00050", + "0_00051", + "0_00052", + "0_00053", + "0_00054", + "0_00055", + "0_00056", + "0_00057", + "0_00058", + "0_00059", + "0_00060", + "0_00061", + "0_00062", + "0_00063", + "0_00064", + "0_00065", + "0_00066", + "0_00067", + "0_00068", + "0_00069", + "0_00070", + "0_00071", + "0_00072", + "0_00073", + "0_00074", + "0_00075", + "0_00076", + "0_00077", + "0_00078", + "0_00079", + "0_00080", + "0_00081", + "0_00082", + "0_00083", + "0_00084", + "0_00085", + "0_00086", + "0_00087", + "0_00088", + "0_00089", + "0_00090", + "0_00091", + "0_00092", + "0_00093", + "0_00094", + "0_00095", + "0_00096", + "0_00097", + "0_00098", + "0_00099", + "0_00100", + "0_00101", + "0_00102", + "0_00103", + "0_00104", + "0_00105", + "0_00106", + "0_00107", + "0_00108", + "0_00109", + "0_00110", + "0_00111", + "0_00112", + "0_00113", + "0_00114", + "0_00115", + "0_00116", + "0_00117", + "0_00118", + "0_00119", + "0_00120", + "0_00121", + "0_00122", + "0_00123", + "0_00124", + "0_00125", + "0_00126", + "0_00127", + "0_00128", + "0_00129", + "0_00130", + "0_00131", + "0_00132", + "0_00133", + "0_00134", + "0_00135", + "0_00136", + "0_00137", + "0_00138", + "0_00139", + "0_00140", + "0_00141", + "0_00142", + "0_00143", + "0_00144", + "0_00145", + "0_00146", + "0_00147", + "0_00148", + "0_00149", + "0_00150", + "0_00151", + "0_00152", + "0_00153", + "0_00154", + "0_00155", + "0_00156", + "0_00157", + "0_00158", + "0_00159", + "0_00160", + "0_00161", + "0_00162", + "0_00163", + "0_00164", + "0_00165", + "0_00166", + "0_00167", + "0_00168", + "0_00169", + "0_00170", + "0_00171", + "0_00172", + "0_00173", + "0_00174", + "0_00175", + "0_00176", + "0_00177", + "0_00178", + "0_00179", + "0_00180", + "0_00181", + "0_00182", + "0_00183", + "0_00184", + "0_00185", + "0_00186", + "0_00187", + "0_00188", + "0_00189", + "0_00190", + "0_00191", + "0_00192", + "0_00193", + "0_00194", + "0_00195", + "0_00196", + "0_00197", + "0_00198", + "0_00199", + "0_00200", + "0_00201", + "0_00202", + "0_00203", + "0_00204", + "0_00205", + "0_00206", + "0_00207", + "0_00208", + "0_00209", + "0_00210", + "0_00211", + "0_00212", + "0_00213", + "0_00214", + "0_00215", + "0_00216", + "0_00217", + "0_00218", + "0_00219", + "0_00220", + "0_00221", + "0_00222", + "0_00223", + "0_00317", + "0_00318", + "0_00319", + "0_00320", + "0_00321", + "0_00322", + "0_00323", + "0_00324", + "0_00325", + "0_00326", + "0_00327", + "0_00328", + "0_00329", + "0_00330", + "0_00331", + "0_00332", + "0_00333", + "0_00334", + "0_00335", + "0_00336", + "0_00337", + "0_00338", + "0_00339", + "0_00340", + "0_00341", + "0_00342", + "0_00343", + "0_00344", + "0_00345", + "0_00346", + "0_00347", + "0_00348", + "0_00349", + "0_00350", + "0_00351", + "0_00352", + "0_00353", + "0_00354", + "0_00355", + "0_00356", + "0_00357", + "0_00358", + "0_00359", + "0_00360", + "0_00361", + "0_00362", + "0_00363", + "0_00364", + "0_00365", + "0_00366", + "0_00367", + "0_00368", + "0_00369", + "0_00370", + "0_00371", + "0_00372", + "0_00373", + "0_00374", + "0_00375", + "0_00376", + "0_00377", + "0_00378", + "0_00379", + "0_00380", + "0_00381", + "0_00382", + "0_00383", + "0_00384", + "0_00385", + "0_00386", + "0_00387", + "0_00388", + "0_00389", + "0_00390", + "0_00391", + "0_00392", + "0_00393", + "0_00394", + "0_00395", + "0_00396", + "0_00397", + "0_00398", + "0_00399", + "0_00400", + "0_00401", + "0_00402", + "0_00403", + "0_00404", + "0_00405", + "0_00406", + "0_00407", + "0_00408", + "0_00409", + "0_00410", + "0_00411", + "0_00412", + "0_00413", + "0_00414", + "0_00415", + "0_00416", + "0_00417", + "0_00418", + "0_00419", + "0_00420", + "0_00421", + "0_00422", + "0_00423", + "0_00424", + "0_00425", + "0_00426", + "0_00427", + "0_00428" + ], + "target_frame_names": [ + "1_00000", + "1_00001", + "1_00002", + "1_00003", + "1_00004", + "1_00005", + "1_00006", + "1_00007", + "1_00008", + "1_00009", + "1_00010", + "1_00011", + "1_00012", + "1_00013", + "1_00014", + "1_00015", + "1_00016", + "1_00017", + "1_00018", + "1_00019", + "1_00020", + "1_00021", + "1_00022", + "1_00023", + "1_00024", + "1_00025", + "1_00026", + "1_00027", + "1_00028", + "1_00029", + "1_00030", + "1_00031", + "1_00032", + "1_00033", + "1_00034", + "1_00035", + "1_00036", + "1_00037", + "1_00038", + "1_00039", + "1_00040", + "1_00041", + "1_00042", + "1_00043", + "1_00044", + "1_00045", + "1_00046", + "1_00047", + "1_00048", + "1_00049", + "1_00050", + "1_00051", + "1_00052", + "1_00053", + "1_00054", + "1_00055", + "1_00056", + "1_00057", + "1_00058", + "1_00059", + "1_00060", + "1_00061", + "1_00062", + "1_00063", + "1_00064", + "1_00065", + "1_00066", + "1_00067", + "1_00068", + "1_00069", + "1_00070", + "1_00071", + "1_00072", + "1_00073", + "1_00074", + "1_00075", + "1_00076", + "1_00077", + "1_00078", + "1_00079", + "1_00080", + "1_00081", + "1_00082", + "1_00083", + "1_00084", + "1_00085", + "1_00086", + "1_00087", + "1_00088", + "1_00089", + "1_00090", + "1_00091", + "1_00092", + "1_00093", + "1_00094", + "1_00095", + "1_00096", + "1_00097", + "1_00098", + "1_00099", + "1_00100", + "1_00101", + "1_00102", + "1_00103", + "1_00104", + "1_00105", + "1_00106", + "1_00107", + "1_00108", + "1_00109", + "1_00110", + "1_00111", + "1_00112", + "1_00113", + "1_00114", + "1_00115", + "1_00116", + "1_00117", + "1_00118", + "1_00119", + "1_00120", + "1_00121", + "1_00122", + "1_00123", + "1_00124", + "1_00125", + "1_00126", + "1_00127", + "1_00128", + "1_00129", + "1_00130", + "1_00131", + "1_00132", + "1_00133", + "1_00134", + "1_00135", + "1_00136", + "1_00137", + "1_00138", + "1_00139", + "1_00140", + "1_00141", + "1_00142", + "1_00143", + "1_00144", + "1_00145", + "1_00146", + "1_00147", + "1_00148", + "1_00149", + "1_00150", + "1_00151", + "1_00152", + "1_00153", + "1_00154", + "1_00155", + "1_00156", + "1_00157", + "1_00158", + "1_00159", + "1_00160", + "1_00161", + "1_00162", + "1_00163", + "1_00164", + "1_00165", + "1_00166", + "1_00167", + "1_00168", + "1_00169", + "1_00170", + "1_00171", + "1_00172", + "1_00173", + "1_00174", + "1_00175", + "1_00176", + "1_00177", + "1_00178", + "1_00179", + "1_00180", + "1_00181", + "1_00182", + "1_00183", + "1_00184", + "1_00185", + "1_00186", + "1_00187", + "1_00188", + "1_00189", + "1_00190", + "1_00191", + "1_00192", + "1_00193", + "1_00194", + "1_00195", + "1_00196", + "1_00197", + "1_00198", + "1_00199", + "1_00200", + "1_00201", + "1_00202", + "1_00203", + "1_00204", + "1_00205", + "1_00206", + "1_00207", + "1_00208", + "1_00209", + "1_00210", + "1_00211", + "1_00212", + "1_00213", + "1_00214", + "1_00215", + "1_00216", + "1_00217", + "1_00218", + "1_00219", + "1_00220", + "1_00221", + "1_00222", + "1_00223", + "1_00317", + "1_00318", + "1_00319", + "1_00320", + "1_00321", + "1_00322", + "1_00323", + "1_00324", + "1_00325", + "1_00326", + "1_00327", + "1_00328", + "1_00329", + "1_00330", + "1_00331", + "1_00332", + "1_00333", + "1_00334", + "1_00335", + "1_00336", + "1_00337", + "1_00338", + "1_00339", + "1_00340", + "1_00341", + "1_00342", + "1_00343", + "1_00344", + "1_00345", + "1_00346", + "1_00347", + "1_00348", + "1_00349", + "1_00350", + "1_00351", + "1_00352", + "1_00353", + "1_00354", + "1_00355", + "1_00356", + "1_00357", + "1_00358", + "1_00359", + "1_00360", + "1_00361", + "1_00362", + "1_00363", + "1_00364", + "1_00365", + "1_00366", + "1_00367", + "1_00368", + "1_00369", + "1_00370", + "1_00371", + "1_00372", + "1_00373", + "1_00374", + "1_00375", + "1_00376", + "1_00377", + "1_00378", + "1_00379", + "1_00380", + "1_00381", + "1_00382", + "1_00383", + "1_00384", + "1_00385", + "1_00386", + "1_00387", + "1_00388", + "1_00389", + "1_00390", + "1_00391", + "1_00392", + "1_00393", + "1_00394", + "1_00395", + "1_00396", + "1_00397", + "1_00398", + "1_00399", + "1_00400", + "1_00401", + "1_00402", + "1_00403", + "1_00404", + "1_00405", + "1_00406", + "1_00407", + "1_00408", + "1_00409", + "1_00410", + "1_00411", + "1_00412", + "1_00413", + "1_00414", + "1_00415", + "1_00416", + "1_00417", + "1_00418", + "1_00419", + "1_00420", + "1_00421", + "1_00422", + "1_00423", + "1_00424", + "1_00425", + "1_00426", + "1_00427", + "1_00428" + ], + "original_time_ids": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 317, + 318, + 319, + 320, + 321, + 322, + 323, + 324, + 325, + 326, + 327, + 328, + 329, + 330, + 331, + 332, + 333, + 334, + 335, + 336, + 337, + 338, + 339, + 340, + 341, + 342, + 343, + 344, + 345, + 346, + 347, + 348, + 349, + 350, + 351, + 352, + 353, + 354, + 355, + 356, + 357, + 358, + 359, + 360, + 361, + 362, + 363, + 364, + 365, + 366, + 367, + 368, + 369, + 370, + 371, + 372, + 373, + 374, + 375, + 376, + 377, + 378, + 379, + 380, + 381, + 382, + 383, + 384, + 385, + 386, + 387, + 388, + 389, + 390, + 391, + 392, + 393, + 394, + 395, + 396, + 397, + 398, + 399, + 400, + 401, + 402, + 403, + 404, + 405, + 406, + 407, + 408, + 409, + 410, + 411, + 412, + 413, + 414, + 415, + 416, + 417, + 418, + 419, + 420, + 421, + 422, + 423, + 424, + 425, + 426, + 427, + 428 + ], + "source_camera_id": 0, + "target_camera_id": 1 +} diff --git a/dycheck_eval/source/spin__camera_1/caption.txt b/dycheck_eval/source/spin__camera_1/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..648511187304f01481854c367edd649999854059 --- /dev/null +++ b/dycheck_eval/source/spin__camera_1/caption.txt @@ -0,0 +1 @@ +A person sits on a modern, textured bench, adjusting their position and shifting weight as they interact with the seating, demonstrating its flexibility and comfort in a stylish, contemporary indoor space. diff --git a/dycheck_eval/source/spin__camera_1/extras/frame_mapping.json b/dycheck_eval/source/spin__camera_1/extras/frame_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..face8ab77d4c20275b0bbfd6feb58fa6a5ac61af --- /dev/null +++ b/dycheck_eval/source/spin__camera_1/extras/frame_mapping.json @@ -0,0 +1,1115 @@ +{ + "original_scene": "spin", + "source_frame_names": [ + "0_00000", + "0_00001", + "0_00002", + "0_00003", + "0_00004", + "0_00005", + "0_00006", + "0_00007", + "0_00008", + "0_00009", + "0_00010", + "0_00011", + "0_00012", + "0_00013", + "0_00014", + "0_00015", + "0_00016", + "0_00017", + "0_00018", + "0_00019", + "0_00020", + "0_00021", + "0_00022", + "0_00023", + "0_00024", + "0_00025", + "0_00026", + "0_00027", + "0_00028", + "0_00029", + "0_00030", + "0_00031", + "0_00032", + "0_00033", + "0_00034", + "0_00035", + "0_00036", + "0_00037", + "0_00038", + "0_00039", + "0_00040", + "0_00041", + "0_00042", + "0_00043", + "0_00044", + "0_00045", + "0_00046", + "0_00047", + "0_00048", + "0_00049", + "0_00050", + "0_00051", + "0_00052", + "0_00053", + "0_00054", + "0_00055", + "0_00056", + "0_00057", + "0_00058", + "0_00059", + "0_00060", + "0_00061", + "0_00062", + "0_00063", + "0_00064", + "0_00065", + "0_00066", + "0_00067", + "0_00068", + "0_00069", + "0_00070", + "0_00071", + "0_00072", + "0_00073", + "0_00074", + "0_00075", + "0_00076", + "0_00077", + "0_00078", + "0_00079", + "0_00080", + "0_00081", + "0_00082", + "0_00083", + "0_00084", + "0_00085", + "0_00086", + "0_00087", + "0_00088", + "0_00089", + "0_00090", + "0_00091", + "0_00092", + "0_00093", + "0_00094", + "0_00095", + "0_00096", + "0_00097", + "0_00098", + "0_00099", + "0_00100", + "0_00101", + "0_00102", + "0_00103", + "0_00104", + "0_00105", + "0_00106", + "0_00107", + "0_00108", + "0_00109", + "0_00110", + "0_00111", + "0_00112", + "0_00113", + "0_00114", + "0_00115", + "0_00116", + "0_00117", + "0_00118", + "0_00119", + "0_00120", + "0_00121", + "0_00122", + "0_00123", + "0_00124", + "0_00125", + "0_00126", + "0_00127", + "0_00128", + "0_00129", + "0_00130", + "0_00131", + "0_00132", + "0_00133", + "0_00134", + "0_00135", + "0_00136", + "0_00137", + "0_00138", + "0_00139", + "0_00140", + "0_00141", + "0_00142", + "0_00143", + "0_00144", + "0_00145", + "0_00146", + "0_00147", + "0_00148", + "0_00149", + "0_00150", + "0_00151", + "0_00152", + "0_00153", + "0_00154", + "0_00155", + "0_00156", + "0_00157", + "0_00158", + "0_00159", + "0_00160", + "0_00161", + "0_00162", + "0_00163", + "0_00164", + "0_00165", + "0_00166", + "0_00167", + "0_00168", + "0_00169", + "0_00170", + "0_00171", + "0_00172", + "0_00173", + "0_00174", + "0_00175", + "0_00176", + "0_00177", + "0_00178", + "0_00179", + "0_00180", + "0_00181", + "0_00182", + "0_00183", + "0_00184", + "0_00185", + "0_00186", + "0_00187", + "0_00188", + "0_00189", + "0_00190", + "0_00191", + "0_00192", + "0_00193", + "0_00194", + "0_00195", + "0_00196", + "0_00197", + "0_00198", + "0_00199", + "0_00200", + "0_00201", + "0_00202", + "0_00203", + "0_00204", + "0_00205", + "0_00206", + "0_00265", + "0_00266", + "0_00267", + "0_00268", + "0_00269", + "0_00270", + "0_00271", + "0_00272", + "0_00273", + "0_00274", + "0_00275", + "0_00276", + "0_00277", + "0_00278", + "0_00279", + "0_00280", + "0_00281", + "0_00282", + "0_00283", + "0_00284", + "0_00285", + "0_00286", + "0_00287", + "0_00288", + "0_00289", + "0_00290", + "0_00291", + "0_00292", + "0_00293", + "0_00294", + "0_00295", + "0_00296", + "0_00297", + "0_00298", + "0_00299", + "0_00300", + "0_00301", + "0_00302", + "0_00303", + "0_00304", + "0_00305", + "0_00306", + "0_00307", + "0_00308", + "0_00309", + "0_00310", + "0_00311", + "0_00312", + "0_00313", + "0_00314", + "0_00315", + "0_00316", + "0_00317", + "0_00318", + "0_00319", + "0_00320", + "0_00321", + "0_00322", + "0_00323", + "0_00324", + "0_00325", + "0_00326", + "0_00327", + "0_00328", + "0_00329", + "0_00330", + "0_00331", + "0_00332", + "0_00333", + "0_00334", + "0_00335", + "0_00336", + "0_00337", + "0_00338", + "0_00339", + "0_00340", + "0_00341", + "0_00342", + "0_00343", + "0_00344", + "0_00345", + "0_00346", + "0_00347", + "0_00348", + "0_00349", + "0_00350", + "0_00351", + "0_00352", + "0_00353", + "0_00354", + "0_00355", + "0_00356", + "0_00357", + "0_00358", + "0_00359", + "0_00360", + "0_00361", + "0_00362", + "0_00363", + "0_00364", + "0_00365", + "0_00366", + "0_00367", + "0_00368", + "0_00369", + "0_00370", + "0_00371", + "0_00372", + "0_00373", + "0_00374", + "0_00375", + "0_00376", + "0_00377", + "0_00378", + "0_00379", + "0_00380", + "0_00381", + "0_00382", + "0_00383", + "0_00384", + "0_00385", + "0_00386", + "0_00387", + "0_00388", + "0_00389", + "0_00390", + "0_00391", + "0_00392", + "0_00393", + "0_00394", + "0_00395", + "0_00396", + "0_00397", + "0_00398", + "0_00399", + "0_00400", + "0_00401", + "0_00402", + "0_00403", + "0_00404", + "0_00405", + "0_00406", + "0_00407", + "0_00408", + "0_00409", + "0_00410", + "0_00411", + "0_00412", + "0_00413", + "0_00414", + "0_00415", + "0_00416", + "0_00417", + "0_00418", + "0_00419", + "0_00420", + "0_00421", + "0_00422", + "0_00423", + "0_00424", + "0_00425" + ], + "target_frame_names": [ + "1_00000", + "1_00001", + "1_00002", + "1_00003", + "1_00004", + "1_00005", + "1_00006", + "1_00007", + "1_00008", + "1_00009", + "1_00010", + "1_00011", + "1_00012", + "1_00013", + "1_00014", + "1_00015", + "1_00016", + "1_00017", + "1_00018", + "1_00019", + "1_00020", + "1_00021", + "1_00022", + "1_00023", + "1_00024", + "1_00025", + "1_00026", + "1_00027", + "1_00028", + "1_00029", + "1_00030", + "1_00031", + "1_00032", + "1_00033", + "1_00034", + "1_00035", + "1_00036", + "1_00037", + "1_00038", + "1_00039", + "1_00040", + "1_00041", + "1_00042", + "1_00043", + "1_00044", + "1_00045", + "1_00046", + "1_00047", + "1_00048", + "1_00049", + "1_00050", + "1_00051", + "1_00052", + "1_00053", + "1_00054", + "1_00055", + "1_00056", + "1_00057", + "1_00058", + "1_00059", + "1_00060", + "1_00061", + "1_00062", + "1_00063", + "1_00064", + "1_00065", + "1_00066", + "1_00067", + "1_00068", + "1_00069", + "1_00070", + "1_00071", + "1_00072", + "1_00073", + "1_00074", + "1_00075", + "1_00076", + "1_00077", + "1_00078", + "1_00079", + "1_00080", + "1_00081", + "1_00082", + "1_00083", + "1_00084", + "1_00085", + "1_00086", + "1_00087", + "1_00088", + "1_00089", + "1_00090", + "1_00091", + "1_00092", + "1_00093", + "1_00094", + "1_00095", + "1_00096", + "1_00097", + "1_00098", + "1_00099", + "1_00100", + "1_00101", + "1_00102", + "1_00103", + "1_00104", + "1_00105", + "1_00106", + "1_00107", + "1_00108", + "1_00109", + "1_00110", + "1_00111", + "1_00112", + "1_00113", + "1_00114", + "1_00115", + "1_00116", + "1_00117", + "1_00118", + "1_00119", + "1_00120", + "1_00121", + "1_00122", + "1_00123", + "1_00124", + "1_00125", + "1_00126", + "1_00127", + "1_00128", + "1_00129", + "1_00130", + "1_00131", + "1_00132", + "1_00133", + "1_00134", + "1_00135", + "1_00136", + "1_00137", + "1_00138", + "1_00139", + "1_00140", + "1_00141", + "1_00142", + "1_00143", + "1_00144", + "1_00145", + "1_00146", + "1_00147", + "1_00148", + "1_00149", + "1_00150", + "1_00151", + "1_00152", + "1_00153", + "1_00154", + "1_00155", + "1_00156", + "1_00157", + "1_00158", + "1_00159", + "1_00160", + "1_00161", + "1_00162", + "1_00163", + "1_00164", + "1_00165", + "1_00166", + "1_00167", + "1_00168", + "1_00169", + "1_00170", + "1_00171", + "1_00172", + "1_00173", + "1_00174", + "1_00175", + "1_00176", + "1_00177", + "1_00178", + "1_00179", + "1_00180", + "1_00181", + "1_00182", + "1_00183", + "1_00184", + "1_00185", + "1_00186", + "1_00187", + "1_00188", + "1_00189", + "1_00190", + "1_00191", + "1_00192", + "1_00193", + "1_00194", + "1_00195", + "1_00196", + "1_00197", + "1_00198", + "1_00199", + "1_00200", + "1_00201", + "1_00202", + "1_00203", + "1_00204", + "1_00205", + "1_00206", + "1_00265", + "1_00266", + "1_00267", + "1_00268", + "1_00269", + "1_00270", + "1_00271", + "1_00272", + "1_00273", + "1_00274", + "1_00275", + "1_00276", + "1_00277", + "1_00278", + "1_00279", + "1_00280", + "1_00281", + "1_00282", + "1_00283", + "1_00284", + "1_00285", + "1_00286", + "1_00287", + "1_00288", + "1_00289", + "1_00290", + "1_00291", + "1_00292", + "1_00293", + "1_00294", + "1_00295", + "1_00296", + "1_00297", + "1_00298", + "1_00299", + "1_00300", + "1_00301", + "1_00302", + "1_00303", + "1_00304", + "1_00305", + "1_00306", + "1_00307", + "1_00308", + "1_00309", + "1_00310", + "1_00311", + "1_00312", + "1_00313", + "1_00314", + "1_00315", + "1_00316", + "1_00317", + "1_00318", + "1_00319", + "1_00320", + "1_00321", + "1_00322", + "1_00323", + "1_00324", + "1_00325", + "1_00326", + "1_00327", + "1_00328", + "1_00329", + "1_00330", + "1_00331", + "1_00332", + "1_00333", + "1_00334", + "1_00335", + "1_00336", + "1_00337", + "1_00338", + "1_00339", + "1_00340", + "1_00341", + "1_00342", + "1_00343", + "1_00344", + "1_00345", + "1_00346", + "1_00347", + "1_00348", + "1_00349", + "1_00350", + "1_00351", + "1_00352", + "1_00353", + "1_00354", + "1_00355", + "1_00356", + "1_00357", + "1_00358", + "1_00359", + "1_00360", + "1_00361", + "1_00362", + "1_00363", + "1_00364", + "1_00365", + "1_00366", + "1_00367", + "1_00368", + "1_00369", + "1_00370", + "1_00371", + "1_00372", + "1_00373", + "1_00374", + "1_00375", + "1_00376", + "1_00377", + "1_00378", + "1_00379", + "1_00380", + "1_00381", + "1_00382", + "1_00383", + "1_00384", + "1_00385", + "1_00386", + "1_00387", + "1_00388", + "1_00389", + "1_00390", + "1_00391", + "1_00392", + "1_00393", + "1_00394", + "1_00395", + "1_00396", + "1_00397", + "1_00398", + "1_00399", + "1_00400", + "1_00401", + "1_00402", + "1_00403", + "1_00404", + "1_00405", + "1_00406", + "1_00407", + "1_00408", + "1_00409", + "1_00410", + "1_00411", + "1_00412", + "1_00413", + "1_00414", + "1_00415", + "1_00416", + "1_00417", + "1_00418", + "1_00419", + "1_00420", + "1_00421", + "1_00422", + "1_00423", + "1_00424", + "1_00425" + ], + "original_time_ids": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 265, + 266, + 267, + 268, + 269, + 270, + 271, + 272, + 273, + 274, + 275, + 276, + 277, + 278, + 279, + 280, + 281, + 282, + 283, + 284, + 285, + 286, + 287, + 288, + 289, + 290, + 291, + 292, + 293, + 294, + 295, + 296, + 297, + 298, + 299, + 300, + 301, + 302, + 303, + 304, + 305, + 306, + 307, + 308, + 309, + 310, + 311, + 312, + 313, + 314, + 315, + 316, + 317, + 318, + 319, + 320, + 321, + 322, + 323, + 324, + 325, + 326, + 327, + 328, + 329, + 330, + 331, + 332, + 333, + 334, + 335, + 336, + 337, + 338, + 339, + 340, + 341, + 342, + 343, + 344, + 345, + 346, + 347, + 348, + 349, + 350, + 351, + 352, + 353, + 354, + 355, + 356, + 357, + 358, + 359, + 360, + 361, + 362, + 363, + 364, + 365, + 366, + 367, + 368, + 369, + 370, + 371, + 372, + 373, + 374, + 375, + 376, + 377, + 378, + 379, + 380, + 381, + 382, + 383, + 384, + 385, + 386, + 387, + 388, + 389, + 390, + 391, + 392, + 393, + 394, + 395, + 396, + 397, + 398, + 399, + 400, + 401, + 402, + 403, + 404, + 405, + 406, + 407, + 408, + 409, + 410, + 411, + 412, + 413, + 414, + 415, + 416, + 417, + 418, + 419, + 420, + 421, + 422, + 423, + 424, + 425 + ], + "source_camera_id": 0, + "target_camera_id": 1 +} diff --git a/dycheck_eval/source/spin__camera_1/transforms.json b/dycheck_eval/source/spin__camera_1/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1d8b88e5ab359ad3d695915acce0913b0e2dd38a --- /dev/null +++ b/dycheck_eval/source/spin__camera_1/transforms.json @@ -0,0 +1,12893 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 368, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.903670899063495e-18, + 5.426858962209735e-10, + 1.3969838619232178e-08 + ], + [ + 6.903670899063495e-18, + -1.0, + -2.544260269132792e-08, + -5.960464477539063e-08 + ], + [ + 5.426858962209735e-10, + 2.544260269132792e-08, + -1.0, + -2.561137080192566e-09 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999865293502808, + -0.0045136804692447186, + -0.0025585631374269724, + -0.0002689861867111176 + ], + [ + -0.004514934029430151, + -0.9999896883964539, + -0.0004844287468586117, + 0.00011292304407106712 + ], + [ + -0.0025563500821590424, + 0.0004959739744663239, + -0.9999966025352478, + 0.0009191245189867914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999331831932068, + -0.01150253415107727, + 0.0011705289361998439, + 0.0002434607595205307 + ], + [ + -0.01149715855717659, + -0.9999237656593323, + -0.0044999197125434875, + 0.00015014410018920898 + ], + [ + 0.0012222001096233726, + 0.004486161284148693, + -0.9999892115592957, + 0.0016144737601280212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998986721038818, + -0.013747715391218662, + -0.0036912441719323397, + 0.0006577546009793878 + ], + [ + -0.013776902109384537, + -0.9998731017112732, + -0.008001667447388172, + 0.0003479400766082108 + ], + [ + -0.0035807709209620953, + 0.00805171113461256, + -0.9999611973762512, + 0.001781192608177662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998750686645508, + -0.014328468590974808, + -0.006672864314168692, + 0.0010009596589952707 + ], + [ + -0.014394579455256462, + -0.9998466968536377, + -0.009967072866857052, + 0.0005751848220825195 + ], + [ + -0.006529028527438641, + 0.010061881504952908, + -0.9999280571937561, + 0.0019902861677110195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998040795326233, + -0.017086029052734375, + -0.009990929625928402, + 0.0015229737618938088 + ], + [ + -0.01719672419130802, + -0.9997904896736145, + -0.011100576259195805, + 0.0006760358810424805 + ], + [ + -0.00979917123913765, + 0.011270212940871716, + -0.9998884797096252, + 0.0023207631893455982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997518062591553, + -0.016573946923017502, + -0.014888321980834007, + 0.0006922611501067877 + ], + [ + -0.016748355701565742, + -0.99979168176651, + -0.011667107231914997, + 0.0017548640025779605 + ], + [ + -0.014691850170493126, + 0.011913565918803215, + -0.9998210668563843, + 0.0031013984698802233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997764229774475, + -0.015114790759980679, + -0.01478597428649664, + 0.00019417573639657348 + ], + [ + -0.015244835987687111, + -0.9998457431793213, + -0.008722340688109398, + 0.00224511232227087 + ], + [ + -0.014651856385171413, + 0.008945800364017487, + -0.9998526573181152, + 0.003959069959819317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997777342796326, + -0.01363484375178814, + -0.0160814356058836, + -0.0004991821479052305 + ], + [ + -0.013752034865319729, + -0.9998795390129089, + -0.007199453189969063, + 0.0026812872383743525 + ], + [ + -0.015981335192918777, + 0.007419005502015352, + -0.9998447895050049, + 0.004582270048558712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997953772544861, + -0.012926878407597542, + -0.015561284497380257, + -0.0016680543776601553 + ], + [ + -0.01304410956799984, + -0.9998871088027954, + -0.007455748040229082, + 0.00264894962310791 + ], + [ + -0.0154631482437253, + 0.00765720522031188, + -0.9998511075973511, + 0.004341016989201307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9997854232788086, + -0.015235689468681812, + -0.01403654646128416, + -0.0022698761895298958 + ], + [ + -0.015385202132165432, + -0.9998254179954529, + -0.010605965740978718, + 0.002958953380584717 + ], + [ + -0.013872506096959114, + 0.010819644667208195, + -0.9998452067375183, + 0.00419291527941823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999731183052063, + -0.014090146869421005, + -0.01841410994529724, + -0.0029838266782462597 + ], + [ + -0.014306172728538513, + -0.9998297691345215, + -0.011652951128780842, + 0.003521144390106201 + ], + [ + -0.018246782943606377, + 0.011913253925740719, + -0.9997625350952148, + 0.0036715888418257236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9997180700302124, + -0.012821398675441742, + -0.019986266270279884, + -0.003923402167856693 + ], + [ + -0.013085088692605495, + -0.9998283386230469, + -0.013119124807417393, + 0.0043683964759111404 + ], + [ + -0.0198146291077137, + 0.013376948423683643, + -0.999714195728302, + 0.0034626030828803778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996683597564697, + -0.017596866935491562, + -0.018803484737873077, + -0.0047589694149792194 + ], + [ + -0.017990075051784515, + -0.999618649482727, + -0.02095106989145279, + 0.004869937896728516 + ], + [ + -0.018427640199661255, + 0.021282397210597992, + -0.9996036887168884, + 0.0024869046173989773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9996146559715271, + -0.020236585289239883, + -0.01900101639330387, + -0.006016647908836603 + ], + [ + -0.020816989243030548, + -0.999306857585907, + -0.03086189366877079, + 0.005693972110748291 + ], + [ + -0.018363306298851967, + 0.03124554455280304, + -0.9993430376052856, + 0.001382880611345172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9996604919433594, + -0.0171609278768301, + -0.019606513902544975, + -0.008273422718048096 + ], + [ + -0.01792288012802601, + -0.9990639090538025, + -0.03937111049890518, + 0.006067991256713867 + ], + [ + -0.01891251467168331, + 0.039709147065877914, + -0.9990322589874268, + 3.1317584216594696e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9995938539505005, + -0.012158604338765144, + -0.02577502466738224, + -0.010652657598257065 + ], + [ + -0.013200243934988976, + -0.999086856842041, + -0.04063549265265465, + 0.006943197920918465 + ], + [ + -0.025257417932152748, + 0.04095922410488129, + -0.9988415241241455, + -0.00026309353415854275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9994935393333435, + -0.010750860907137394, + -0.02995169535279274, + -0.012919118627905846 + ], + [ + -0.01184780802577734, + -0.999256432056427, + -0.036690447479486465, + 0.007637711241841316 + ], + [ + -0.029534969478845596, + 0.037026725709438324, + -0.9988777041435242, + 0.00028689668397419155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9995750784873962, + -0.008703336119651794, + -0.02781982533633709, + -0.01570555567741394 + ], + [ + -0.009865159168839455, + -0.9990730285644531, + -0.04190173000097275, + 0.007632704451680183 + ], + [ + -0.027429351583123207, + 0.04215836897492409, + -0.9987343549728394, + 0.0007508061244152486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.99955815076828, + -0.0009436733089387417, + -0.029708636924624443, + -0.018817277625203133 + ], + [ + -0.0022936274763196707, + -0.9989644885063171, + -0.04543856531381607, + 0.008155914023518562 + ], + [ + -0.0296349935233593, + 0.045486629009246826, + -0.9985252618789673, + 0.0012008200865238905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9994683265686035, + 0.0029554818756878376, + -0.03246964141726494, + -0.021888572722673416 + ], + [ + 0.001492631039582193, + -0.998986542224884, + -0.04498507082462311, + 0.007915019989013672 + ], + [ + -0.03256968781352043, + 0.04491268843412399, + -0.9984598755836487, + 0.0022790092043578625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.999519407749176, + 0.005151879508048296, + -0.030568288639187813, + -0.0249745212495327 + ], + [ + 0.003869336098432541, + -0.9991156458854675, + -0.04186844080686569, + 0.00650787353515625 + ], + [ + -0.030756955966353416, + 0.041730042546987534, + -0.998655378818512, + 0.004477024078369141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9995609521865845, + 0.007098968140780926, + -0.02876732498407364, + -0.028163498267531395 + ], + [ + 0.0059904311783611774, + -0.9992429614067078, + -0.03843921422958374, + 0.004411041736602783 + ], + [ + -0.029018426313996315, + 0.03825001046061516, + -0.9988467693328857, + 0.006888863630592823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.999611496925354, + 0.002876147162169218, + -0.027724236249923706, + -0.03107708878815174 + ], + [ + 0.0018677760381251574, + -0.9993381500244141, + -0.036328982561826706, + 0.0016975721810013056 + ], + [ + -0.02781037427484989, + 0.036263082176446915, + -0.998955249786377, + 0.00934845395386219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9997840523719788, + -0.00514216348528862, + -0.02013540081679821, + -0.03505712002515793 + ], + [ + -0.005939307156950235, + -0.9991927146911621, + -0.03973162919282913, + -0.0011579394340515137 + ], + [ + -0.019914839416742325, + 0.039842639118433, + -0.9990074634552002, + 0.011676238849759102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998049736022949, + -0.007056522183120251, + -0.018443448469042778, + -0.039477795362472534 + ], + [ + -0.007851636037230492, + -0.999026894569397, + -0.04340019449591637, + -0.003578364849090576 + ], + [ + -0.018119247630238533, + 0.04353654384613037, + -0.9988875389099121, + 0.013965693302452564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9996122121810913, + -0.008441412821412086, + -0.02653587982058525, + -0.044302716851234436 + ], + [ + -0.009435952641069889, + -0.9992490410804749, + -0.03758007660508156, + -0.0053629279136657715 + ], + [ + -0.026198724284768105, + 0.037815894931554794, + -0.9989412426948547, + 0.01650150679051876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9995576739311218, + -0.013438629917800426, + -0.02653142623603344, + -0.04884863272309303 + ], + [ + -0.014492799527943134, + -0.9990966320037842, + -0.039948806166648865, + -0.00716787576675415 + ], + [ + -0.02597060240805149, + 0.040315646678209305, + -0.9988494515419006, + 0.01806166209280491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9993167519569397, + -0.01646694913506508, + -0.03308941051363945, + -0.05421125888824463 + ], + [ + -0.017924752086400986, + -0.9988595247268677, + -0.044253941625356674, + -0.007645666599273682 + ], + [ + -0.03232294321060181, + 0.04481682553887367, + -0.9984721541404724, + 0.01912454143166542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.998740017414093, + -0.013558091595768929, + -0.04831764101982117, + -0.060365259647369385 + ], + [ + -0.015686023980379105, + -0.9989111423492432, + -0.04393697530031204, + -0.006958989426493645 + ], + [ + -0.04766932874917984, + 0.044639527797698975, + -0.9978652000427246, + 0.019892508164048195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9985979199409485, + -0.017867805436253548, + -0.04982884228229523, + -0.06568839401006699 + ], + [ + -0.020626306533813477, + -0.9982508420944214, + -0.05540638044476509, + -0.00640416145324707 + ], + [ + -0.04875169321894646, + 0.056356482207775116, + -0.9972197413444519, + 0.01954859308898449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9982151389122009, + -0.025435572490096092, + -0.05403256416320801, + -0.07190466672182083 + ], + [ + -0.02896449901163578, + -0.9974278211593628, + -0.06556519865989685, + -0.005365908145904541 + ], + [ + -0.05222589150071144, + 0.0670132040977478, + -0.99638432264328, + 0.01927892491221428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9976021647453308, + -0.026993032544851303, + -0.06372792273759842, + -0.07859804481267929 + ], + [ + -0.03139732778072357, + -0.9971118569374084, + -0.06915287673473358, + -0.003435850143432617 + ], + [ + -0.061677224934101105, + 0.07098794728517532, + -0.9955685138702393, + 0.01890324428677559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9974001049995422, + -0.02021520771086216, + -0.06916937232017517, + -0.0856575220823288 + ], + [ + -0.025482123717665672, + -0.9967721700668335, + -0.07613074034452438, + -0.0005041360855102539 + ], + [ + -0.06740710884332657, + 0.07769539207220078, + -0.994695782661438, + 0.017908070236444473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9972718954086304, + -0.011923628859221935, + -0.07284636795520782, + -0.09291724115610123 + ], + [ + -0.017574552446603775, + -0.9968427419662476, + -0.07743177562952042, + 0.002596346428617835 + ], + [ + -0.07169310748577118, + 0.07850077748298645, + -0.9943327903747559, + 0.01698944717645645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9970940351486206, + -0.005224885884672403, + -0.07600125670433044, + -0.09983684122562408 + ], + [ + -0.011242562904953957, + -0.9968137741088867, + -0.07896783202886581, + 0.0056645870208740234 + ], + [ + -0.07534649968147278, + 0.07959280163049698, + -0.993975818157196, + 0.015779778361320496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9972628951072693, + 0.0005294586881063879, + -0.0739351212978363, + -0.10663455724716187 + ], + [ + -0.005798918195068836, + -0.9963338971138, + -0.08535271883010864, + 0.008737027645111084 + ], + [ + -0.07370925694704056, + 0.08554784208536148, + -0.9936038255691528, + 0.01419808715581894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9976333975791931, + 0.004731716122478247, + -0.06859486550092697, + -0.11336766183376312 + ], + [ + -0.0015987033257260919, + -0.9957633018493652, + -0.09193966537714005, + 0.011595964431762695 + ], + [ + -0.06873928010463715, + 0.0918317437171936, + -0.9933991432189941, + 0.012465650215744972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.997165858745575, + 0.007971917279064655, + -0.07481074333190918, + -0.11997918039560318 + ], + [ + 0.00042051446507684886, + -0.9949452877044678, + -0.10041739046573639, + 0.014052748680114746 + ], + [ + -0.07523311674594879, + 0.10010133683681488, + -0.992128849029541, + 0.010573044419288635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.997467041015625, + 0.013682473450899124, + -0.0698016807436943, + -0.12708091735839844 + ], + [ + 0.006148804444819689, + -0.99423748254776, + -0.10702318698167801, + 0.01609119586646557 + ], + [ + -0.07086379081010818, + 0.10632289946079254, + -0.9918032884597778, + 0.009148145094513893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9978575110435486, + 0.021627163514494896, + -0.0617465078830719, + -0.1343449354171753 + ], + [ + 0.01455062348395586, + -0.9935069680213928, + -0.11283694952726364, + 0.017640113830566406 + ], + [ + -0.06378593295812607, + 0.1116967499256134, + -0.9916930794715881, + 0.007795332465320826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9975136518478394, + 0.019980911165475845, + -0.06758186966180801, + -0.14061971008777618 + ], + [ + 0.012235824950039387, + -0.993504524230957, + -0.11313274502754211, + 0.018519194796681404 + ], + [ + -0.06940338760614395, + 0.11202453821897507, + -0.9912788271903992, + 0.006244394462555647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9963973164558411, + 0.013075079768896103, + -0.0837937742471695, + -0.14671751856803894 + ], + [ + 0.0026109456084668636, + -0.9923048615455627, + -0.12379112839698792, + 0.019076379016041756 + ], + [ + -0.08476755023002625, + 0.12312636524438858, + -0.9887640476226807, + 0.003921939060091972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9956244826316833, + 0.0183116402477026, + -0.09163261950016022, + -0.15334327518939972 + ], + [ + 0.005780257750302553, + -0.9908021688461304, + -0.13519473373889923, + 0.019756702706217766 + ], + [ + -0.09326543658971786, + 0.13407352566719055, + -0.986572802066803, + 0.0016356604173779488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.995176374912262, + 0.025453781709074974, + -0.0947422906756401, + -0.16022050380706787 + ], + [ + 0.012188244611024857, + -0.9903509020805359, + -0.13804525136947632, + 0.020431339740753174 + ], + [ + -0.09734188765287399, + 0.1362246423959732, + -0.9858840703964233, + -6.947480142116547e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9959378838539124, + 0.027108561247587204, + -0.08586567640304565, + -0.1673375517129898 + ], + [ + 0.014706484042108059, + -0.9897714257240295, + -0.14190228283405304, + 0.02092909812927246 + ], + [ + -0.08883415907621384, + 0.1400630623102188, + -0.9861494898796082, + -0.0011040945537388325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9963532090187073, + 0.028697051107883453, + -0.08035405725240707, + -0.1743004322052002 + ], + [ + 0.01686672680079937, + -0.9894035458564758, + -0.1442086100578308, + 0.021432431414723396 + ], + [ + -0.0836409479379654, + 0.14232739806175232, + -0.9862794280052185, + -0.0019265906885266304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9957098364830017, + 0.03690697252750397, + -0.08485188335180283, + -0.1810050755739212 + ], + [ + 0.024448804557323456, + -0.9893584251403809, + -0.14343003928661346, + 0.022561192512512207 + ], + [ + -0.08924249559640884, + 0.14074017107486725, + -0.9860162138938904, + -0.0026907469145953655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9966808557510376, + 0.038332365453243256, + -0.07181881368160248, + -0.1875135600566864 + ], + [ + 0.027549296617507935, + -0.9889703392982483, + -0.14552895724773407, + 0.023415982723236084 + ], + [ + -0.07660514116287231, + 0.1430673599243164, + -0.9867438077926636, + -0.00325123593211174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9977291226387024, + 0.0348069928586483, + -0.057663656771183014, + -0.19316041469573975 + ], + [ + 0.02596137300133705, + -0.988705575466156, + -0.14760512113571167, + 0.024038314819335938 + ], + [ + -0.06215006858110428, + 0.14577288925647736, + -0.9873639941215515, + -0.003972350619733334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.998516321182251, + 0.028847046196460724, + -0.04618392512202263, + -0.19797448813915253 + ], + [ + 0.021648136898875237, + -0.9885381460189819, + -0.14941102266311646, + 0.02505788393318653 + ], + [ + -0.04996464028954506, + 0.14818954467773438, + -0.9876959919929504, + -0.004746645223349333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9994059801101685, + 0.01739620417356491, + -0.0297489445656538, + -0.20236711204051971 + ], + [ + 0.012662287801504135, + -0.988223135471344, + -0.15249498188495636, + 0.02594214677810669 + ], + [ + -0.03205142915248871, + 0.15202771127223969, + -0.987856388092041, + -0.00583179946988821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9995816349983215, + 0.013764319941401482, + -0.02543697878718376, + -0.2069094032049179 + ], + [ + 0.00958990678191185, + -0.9874743223190308, + -0.15748795866966248, + 0.027235805988311768 + ], + [ + -0.02728607878088951, + 0.15717813372612, + -0.98719322681427, + -0.007727000862360001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9996441006660461, + 0.013932404108345509, + -0.022750701755285263, + -0.21171386539936066 + ], + [ + 0.009973958134651184, + -0.9861330986022949, + -0.16565628349781036, + 0.028819382190704346 + ], + [ + -0.024743210524320602, + 0.1653704047203064, + -0.9859210848808289, + -0.009692107327282429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999483823776245, + 0.0020252265967428684, + -0.00995587557554245, + -0.21582669019699097 + ], + [ + 0.00036361312959343195, + -0.9864369034767151, + -0.16414065659046173, + 0.02966827154159546 + ], + [ + -0.010153264738619328, + 0.16412857174873352, + -0.9863867163658142, + -0.010379810817539692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.999947726726532, + -0.007485884241759777, + 0.006962611339986324, + -0.22038830816745758 + ], + [ + -0.00620949687436223, + -0.9857581257820129, + -0.16805458068847656, + 0.03062853403389454 + ], + [ + 0.008121487684547901, + 0.16800256073474884, + -0.9857531189918518, + -0.011186935007572174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997723698616028, + -0.011809725314378738, + 0.017768897116184235, + -0.22586442530155182 + ], + [ + -0.008558464236557484, + -0.9848785996437073, + -0.17303435504436493, + 0.032012615352869034 + ], + [ + 0.01954369619488716, + 0.17284289002418518, + -0.9847555160522461, + -0.012452233582735062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9995137453079224, + -0.015539062209427357, + 0.027034586295485497, + -0.23127438127994537 + ], + [ + -0.010433484800159931, + -0.9836739301681519, + -0.1796572357416153, + 0.033588409423828125 + ], + [ + 0.029384922236204147, + 0.17928780615329742, + -0.9833577275276184, + -0.01350480504333973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9986624717712402, + -0.02388794720172882, + 0.045854538679122925, + -0.23658792674541473 + ], + [ + -0.014766504056751728, + -0.9817073941230774, + -0.18982243537902832, + 0.034906089305877686 + ], + [ + 0.04955020919442177, + 0.1888914406299591, + -0.9807470440864563, + -0.014215739443898201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9980106353759766, + -0.03587419539690018, + 0.05184391140937805, + -0.24225126206874847 + ], + [ + -0.025022093206644058, + -0.9801719784736633, + -0.19656239449977875, + 0.03582148253917694 + ], + [ + 0.057867467403411865, + 0.1948741227388382, + -0.9791197180747986, + -0.015050454065203667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9969964027404785, + -0.031455401331186295, + 0.07077234983444214, + -0.2487298995256424 + ], + [ + -0.016826748847961426, + -0.9799553751945496, + -0.1985052227973938, + 0.03766733407974243 + ], + [ + 0.07559780776500702, + 0.19671812653541565, + -0.9775412678718567, + -0.015515873208642006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9957789778709412, + -0.025630168616771698, + 0.0881323590874672, + -0.25493159890174866 + ], + [ + -0.008176203817129135, + -0.9811727404594421, + -0.1929589807987213, + 0.03957477584481239 + ], + [ + 0.09141864627599716, + 0.1914239078760147, + -0.9772407412528992, + -0.015238482505083084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9945509433746338, + -0.02243574522435665, + 0.10180921107530594, + -0.26064983010292053 + ], + [ + -0.002968769520521164, + -0.982267439365387, + -0.18746152520179749, + 0.0409090518951416 + ], + [ + 0.10420971363782883, + 0.18613778054714203, + -0.9769815802574158, + -0.01519945077598095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9934353828430176, + -0.015086030587553978, + 0.11339548230171204, + -0.26577094197273254 + ], + [ + 0.006459802854806185, + -0.9822862148284912, + -0.1872754991054535, + 0.04288393259048462 + ], + [ + 0.11421205848455429, + 0.18677861988544464, + -0.9757404327392578, + -0.016024472191929817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9928489923477173, + -0.009404762648046017, + 0.11900614947080612, + -0.2697678208351135 + ], + [ + 0.013330189511179924, + -0.9819230437278748, + -0.1888105720281601, + 0.04455822706222534 + ], + [ + 0.11863059550523758, + 0.18904675543308258, + -0.9747759103775024, + -0.01721607893705368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9928185343742371, + -0.0046608103439211845, + 0.11953902244567871, + -0.2733219265937805 + ], + [ + 0.018490560352802277, + -0.9812539219856262, + -0.1918303370475769, + 0.04548439756035805 + ], + [ + 0.11819221824407578, + 0.1926630586385727, + -0.9741209149360657, + -0.018707001581788063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9930992126464844, + 0.0033291918225586414, + 0.11723023653030396, + -0.276723712682724 + ], + [ + 0.026112813502550125, + -0.9807807207107544, + -0.19335801899433136, + 0.04504770040512085 + ], + [ + 0.11433342844247818, + 0.19508489966392517, + -0.9740994572639465, + -0.02047499269247055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9931219816207886, + 0.0034205226693302393, + 0.11703450977802277, + -0.27878889441490173 + ], + [ + 0.02676788531243801, + -0.9797331690788269, + -0.19851046800613403, + 0.0450475811958313 + ], + [ + 0.11398357897996902, + 0.20027786493301392, + -0.9730860590934753, + -0.021990489214658737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9929488897323608, + 0.003394251223653555, + 0.11849451810121536, + -0.28056392073631287 + ], + [ + 0.02706153877079487, + -0.9796857237815857, + -0.1987047791481018, + 0.044802188873291016 + ], + [ + 0.11541292816400528, + 0.20051033794879913, + -0.9728696942329407, + -0.022837869822978973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9932894110679626, + 0.0013417209265753627, + 0.11564727127552032, + -0.2826063334941864 + ], + [ + 0.024129433557391167, + -0.9803323745727539, + -0.19587300717830658, + 0.04460254684090614 + ], + [ + 0.11310995370149612, + 0.19734908640384674, + -0.9737861752510071, + -0.022422054782509804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9925904273986816, + 0.0006515047280117869, + 0.12150625884532928, + -0.2850310802459717 + ], + [ + 0.023700928315520287, + -0.9818159937858582, + -0.1883496195077896, + 0.04450225830078125 + ], + [ + 0.11917408555746078, + 0.1898338347673416, + -0.9745566248893738, + -0.022173313423991203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9921950101852417, + 0.006052055396139622, + 0.1245490089058876, + -0.2875947654247284 + ], + [ + 0.029559984803199768, + -0.9817665815353394, + -0.18777799606323242, + 0.04472839832305908 + ], + [ + 0.12114161252975464, + 0.18999405205249786, + -0.9742828011512756, + -0.023042529821395874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9926977753639221, + 0.008988713845610619, + 0.12029291689395905, + -0.2897186577320099 + ], + [ + 0.03228914365172386, + -0.9806309938430786, + -0.19318467378616333, + 0.04505521059036255 + ], + [ + 0.11622647196054459, + 0.1956581473350525, + -0.9737603664398193, + -0.024348663166165352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9912707209587097, + 0.011816723272204399, + 0.1313115805387497, + -0.29199329018592834 + ], + [ + 0.03670669347047806, + -0.981331467628479, + -0.1887887418270111, + 0.04539203643798828 + ], + [ + 0.1266293227672577, + 0.19196076691150665, + -0.9731988906860352, + -0.024348296225070953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9905523061752319, + 0.008643177337944508, + 0.13686291873455048, + -0.2935250699520111 + ], + [ + 0.033606696873903275, + -0.9828794002532959, + -0.18115930259227753, + 0.0451316237449646 + ], + [ + 0.132953941822052, + 0.18404726684093475, + -0.9738839268684387, + -0.02408774197101593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9904906749725342, + 0.007179243490099907, + 0.1373925656080246, + -0.2951478362083435 + ], + [ + 0.03177965432405472, + -0.9835694432258606, + -0.17771096527576447, + 0.045598480850458145 + ], + [ + 0.1338593065738678, + 0.18038733303546906, + -0.9744445085525513, + -0.024046367034316063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9903389811515808, + 0.008898465894162655, + 0.13838185369968414, + -0.2970876693725586 + ], + [ + 0.032855138182640076, + -0.9845806956291199, + -0.171817809343338, + 0.04584568738937378 + ], + [ + 0.13471917808055878, + 0.1747044175863266, + -0.9753609895706177, + -0.02420232631266117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9898238182067871, + 0.002448042156174779, + 0.14227744936943054, + -0.2991449236869812 + ], + [ + 0.025620773434638977, + -0.9865779280662537, + -0.1612684726715088, + 0.04524099826812744 + ], + [ + 0.1399729996919632, + 0.16327263414859772, + -0.9766010642051697, + -0.024258695542812347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9883437156677246, + 0.0027673114091157913, + 0.15221378207206726, + -0.3022414743900299 + ], + [ + 0.026488061994314194, + -0.9877105355262756, + -0.15403340756893158, + 0.044699907302856445 + ], + [ + 0.1499169021844864, + 0.15626978874206543, + -0.9762707948684692, + -0.025076955556869507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9869831800460815, + 0.010062663815915585, + 0.16050831973552704, + -0.30618542432785034 + ], + [ + 0.03403936326503754, + -0.9884999394416809, + -0.14734023809432983, + 0.04417473077774048 + ], + [ + 0.1571798473596573, + 0.1508859395980835, + -0.9759753942489624, + -0.026547664776444435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9852238297462463, + 0.017229488119482994, + 0.17040307819843292, + -0.3104539215564728 + ], + [ + 0.0422477126121521, + -0.9886311292648315, + -0.14430399239063263, + 0.04377126693725586 + ], + [ + 0.16597948968410492, + 0.14937086403369904, + -0.974750816822052, + -0.028640486299991608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9839876890182495, + 0.02229228802025318, + 0.17683690786361694, + -0.31452062726020813 + ], + [ + 0.04810195416212082, + -0.9885473251342773, + -0.1430399864912033, + 0.042798638343811035 + ], + [ + 0.17162296175956726, + 0.14925578236579895, + -0.9737906455993652, + -0.030989237129688263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9819577932357788, + 0.02723611705005169, + 0.1871284395456314, + -0.3185342252254486 + ], + [ + 0.053847864270210266, + -0.988878071308136, + -0.13863809406757355, + 0.04184052720665932 + ], + [ + 0.1812712550163269, + 0.14621321856975555, + -0.9725031852722168, + -0.033213675022125244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9812755584716797, + 0.02869412675499916, + 0.19045978784561157, + -0.3217906057834625 + ], + [ + 0.05649460107088089, + -0.9882266521453857, + -0.14218471944332123, + 0.04110044240951538 + ], + [ + 0.18413756787776947, + 0.1502823382616043, + -0.9713436961174011, + -0.036248981952667236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9801473021507263, + 0.024917708709836006, + 0.19669857621192932, + -0.3244082033634186 + ], + [ + 0.053159017115831375, + -0.988775372505188, + -0.1396331936120987, + 0.04033130407333374 + ], + [ + 0.19101136922836304, + 0.14731740951538086, + -0.970470130443573, + -0.0386575385928154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9805278182029724, + 0.021078219637274742, + 0.1952458769083023, + -0.3261999487876892 + ], + [ + 0.04784402623772621, + -0.9899059534072876, + -0.13340584933757782, + 0.03976839780807495 + ], + [ + 0.1904630959033966, + 0.14014950394630432, + -0.9716387987136841, + -0.04073990508913994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9800646305084229, + 0.006933349650353193, + 0.19855792820453644, + -0.3266284167766571 + ], + [ + 0.03534280136227608, + -0.9895352721214294, + -0.13989588618278503, + 0.03843146562576294 + ], + [ + 0.1955101191997528, + 0.1441245973110199, + -0.9700535535812378, + -0.04299397021532059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9776799082756042, + -0.0015320044476538897, + 0.21009425818920135, + -0.32734784483909607 + ], + [ + 0.02806919999420643, + -0.9900566339492798, + -0.13784034550189972, + 0.0374872088432312 + ], + [ + 0.20821638405323029, + 0.14066091179847717, + -0.9679155349731445, + -0.044037722051143646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9779667854309082, + -0.0024665663950145245, + 0.20874585211277008, + -0.328207403421402 + ], + [ + 0.026128733530640602, + -0.9906209111213684, + -0.1341174840927124, + 0.03682473674416542 + ], + [ + 0.20711880922317505, + 0.13661670684814453, + -0.9687299132347107, + -0.04504911229014397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9761704802513123, + -0.009254349395632744, + 0.21680772304534912, + -0.3285692036151886 + ], + [ + 0.020297782495617867, + -0.9908162951469421, + -0.13368277251720428, + 0.03542834520339966 + ], + [ + 0.216053768992424, + 0.1348978877067566, + -0.9670177698135376, + -0.04578492045402527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9753599166870117, + -0.016064759343862534, + 0.2200339436531067, + -0.3287203013896942 + ], + [ + 0.013801675289869308, + -0.9909487962722778, + -0.1335291862487793, + 0.0343778133392334 + ], + [ + 0.2201874703168869, + 0.1332758665084839, + -0.9663100242614746, + -0.04665061831474304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9772183299064636, + -0.01989641599357128, + 0.2113017737865448, + -0.32870882749557495 + ], + [ + 0.009022805839776993, + -0.9908013343811035, + -0.13502322137355804, + 0.03334873914718628 + ], + [ + 0.21204456686973572, + 0.1338537037372589, + -0.9680497050285339, + -0.04823952168226242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9789392352104187, + -0.022563224658370018, + 0.20290102064609528, + -0.3286067247390747 + ], + [ + 0.006072551477700472, + -0.9902156591415405, + -0.13941338658332825, + 0.032191574573516846 + ], + [ + 0.2040613740682602, + 0.1377093642950058, + -0.9692239761352539, + -0.050486572086811066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.980089008808136, + -0.022940432652831078, + 0.19722901284694672, + -0.3294192850589752 + ], + [ + 0.0064925323240458965, + -0.9890697002410889, + -0.1473056524991989, + 0.031649112701416016 + ], + [ + 0.19845250248908997, + 0.1456531584262848, + -0.9692274332046509, + -0.05329792946577072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9815469980239868, + -0.01317999605089426, + 0.19076640903949738, + -0.3307708501815796 + ], + [ + 0.01755635254085064, + -0.9871968626976013, + -0.15853753685951233, + 0.03153359889984131 + ], + [ + 0.19041351974010468, + 0.1589611917734146, + -0.9687486886978149, + -0.05744832009077072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9835755228996277, + -0.003863547695800662, + 0.18045561015605927, + -0.3313065767288208 + ], + [ + 0.028072107583284378, + -0.984330952167511, + -0.17408186197280884, + 0.030409784987568855 + ], + [ + 0.1783006191253662, + 0.1762884259223938, + -0.9680554270744324, + -0.0631290078163147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9820053577423096, + -0.008762580342590809, + 0.18864963948726654, + -0.331324964761734 + ], + [ + 0.025164203718304634, + -0.9839441180229187, + -0.17669406533241272, + 0.02925407886505127 + ], + [ + 0.18716900050640106, + 0.17826174199581146, + -0.9660178422927856, + -0.06749991327524185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.982075572013855, + -0.012858962640166283, + 0.18804849684238434, + -0.33133286237716675 + ], + [ + 0.022041793912649155, + -0.9829902648925781, + -0.18233032524585724, + 0.02826744318008423 + ], + [ + 0.18719440698623657, + 0.18320707976818085, + -0.9650872349739075, + -0.07295466959476471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9832361936569214, + -0.008801230229437351, + 0.18212395906448364, + -0.3320612907409668 + ], + [ + 0.025837721303105354, + -0.9820300340652466, + -0.18694768846035004, + 0.026979835703969002 + ], + [ + 0.18049657344818115, + 0.1885194033384323, + -0.9653400778770447, + -0.0790615826845169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9846102595329285, + -0.0022775186225771904, + 0.17474955320358276, + -0.3336065113544464 + ], + [ + 0.030229253694415092, + -0.9826237559318542, + -0.18313051760196686, + 0.026045290753245354 + ], + [ + 0.17213015258312225, + 0.18559473752975464, + -0.9674325585365295, + -0.08450797945261002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9855115413665771, + 0.0009301839163526893, + 0.16960586607456207, + -0.3350706398487091 + ], + [ + 0.03128417581319809, + -0.9838241338729858, + -0.1763841062784195, + 0.024900496006011963 + ], + [ + 0.16669827699661255, + 0.1791345626115799, + -0.9695991277694702, + -0.08924303948879242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9871863722801208, + 0.003088924568146467, + 0.15954174101352692, + -0.33567482233047485 + ], + [ + 0.029964612796902657, + -0.9856151938438416, + -0.16632743179798126, + 0.022992372512817383 + ], + [ + 0.15673299133777618, + 0.1689767688512802, + -0.9730784296989441, + -0.09306158870458603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9892030358314514, + -0.005672631319612265, + 0.14644183218479156, + -0.3347517251968384 + ], + [ + 0.018145976588129997, + -0.9868201017379761, + -0.1608005166053772, + 0.019891949370503426 + ], + [ + 0.14542390406131744, + 0.16172167658805847, + -0.9760624766349792, + -0.09599445760250092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.989364504814148, + -0.011367625556886196, + 0.14501254260540009, + -0.3336687982082367 + ], + [ + 0.01264572236686945, + -0.986444890499115, + -0.16360491514205933, + 0.016688020899891853 + ], + [ + 0.144906684756279, + 0.1636986881494522, + -0.9758098125457764, + -0.09810391813516617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.989270031452179, + -0.009471608325839043, + 0.1457914263010025, + -0.3324001729488373 + ], + [ + 0.01475320104509592, + -0.9863190650939941, + -0.16418610513210297, + 0.014433248899877071 + ], + [ + 0.14535197615623474, + 0.16457527875900269, + -0.9755961298942566, + -0.09909118711948395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9899051189422607, + -0.010403668507933617, + 0.14134931564331055, + -0.33019399642944336 + ], + [ + 0.013452276587486267, + -0.985903263092041, + -0.1667746901512146, + 0.011873634532094002 + ], + [ + 0.14109182357788086, + 0.16699258983135223, + -0.975810706615448, + -0.09790771454572678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9902129173278809, + -0.016367675736546516, + 0.13860195875167847, + -0.3270442485809326 + ], + [ + 0.0067641171626746655, + -0.9863040447235107, + -0.16479867696762085, + 0.009260209277272224 + ], + [ + 0.13940104842185974, + 0.1641232967376709, + -0.9765402674674988, + -0.0955599918961525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.989469051361084, + -0.009625312872231007, + 0.1444241851568222, + -0.3240395486354828 + ], + [ + 0.01453894842416048, + -0.9861311316490173, + -0.16533005237579346, + 0.008080275729298592 + ], + [ + 0.14401254057884216, + 0.16568875312805176, + -0.9756062626838684, + -0.09299294650554657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9890748858451843, + 0.005015039816498756, + 0.147328719496727, + -0.3206396996974945 + ], + [ + 0.030952293425798416, + -0.9842073321342468, + -0.17429253458976746, + 0.007249712944030762 + ], + [ + 0.14412792026996613, + 0.17694853246212006, + -0.973609983921051, + -0.09070375561714172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9891453981399536, + 0.019594233483076096, + 0.14562766253948212, + -0.31605958938598633 + ], + [ + 0.04453429952263832, + -0.9844313263893127, + -0.17003443837165833, + 0.006618618965148926 + ], + [ + 0.14002874493598938, + 0.17467421293258667, + -0.9746183156967163, + -0.08681485801935196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.989496648311615, + 0.034239429980516434, + 0.14044247567653656, + -0.31033241748809814 + ], + [ + 0.058302611112594604, + -0.9835463762283325, + -0.17098936438560486, + 0.006312251091003418 + ], + [ + 0.13227711617946625, + 0.17738156020641327, + -0.975212037563324, + -0.08250304311513901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9893182516098022, + 0.04771236702799797, + 0.13774241507053375, + -0.3039800524711609 + ], + [ + 0.0717662125825882, + -0.9818892478942871, + -0.17533716559410095, + 0.0059236884117126465 + ], + [ + 0.12688204646110535, + 0.18334951996803284, + -0.9748250842094421, + -0.07773339748382568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9881497621536255, + 0.06474942713975906, + 0.13916757702827454, + -0.2978290617465973 + ], + [ + 0.08944330364465714, + -0.9797282218933105, + -0.1792553812265396, + 0.0060010552406311035 + ], + [ + 0.12473972886800766, + 0.18957877159118652, + -0.9739096164703369, + -0.07251302152872086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9884992241859436, + 0.08548258990049362, + 0.12474801391363144, + -0.2913903295993805 + ], + [ + 0.10708432644605637, + -0.9781370162963867, + -0.17827202379703522, + 0.006872447207570076 + ], + [ + 0.1067814975976944, + 0.1895803064107895, + -0.9760414958000183, + -0.06718234717845917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9878048300743103, + 0.10463085025548935, + 0.1152997687458992, + -0.28535833954811096 + ], + [ + 0.12343296408653259, + -0.9776277542114258, + -0.17031821608543396, + 0.008283138275146484 + ], + [ + 0.09489971399307251, + 0.18247294425964355, + -0.9786202907562256, + -0.06065443158149719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9861382246017456, + 0.12822452187538147, + 0.10530835390090942, + -0.28037193417549133 + ], + [ + 0.1438894122838974, + -0.9769111275672913, + -0.15792572498321533, + 0.010402321815490723 + ], + [ + 0.08262694627046585, + 0.17088934779167175, + -0.9818195700645447, + -0.05371202528476715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9837831258773804, + 0.14221012592315674, + 0.10930269956588745, + -0.27514752745628357 + ], + [ + 0.15818579494953156, + -0.9751680493354797, + -0.154998317360878, + 0.012404799461364746 + ], + [ + 0.08454617857933044, + 0.1697748601436615, + -0.9818494915962219, + -0.047126393765211105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9803991913795471, + 0.1652437001466751, + 0.10729384422302246, + -0.26977837085723877 + ], + [ + 0.18011951446533203, + -0.9724119901657104, + -0.14822913706302643, + 0.014849543571472168 + ], + [ + 0.07983988523483276, + 0.16464944183826447, + -0.983115553855896, + -0.04007267951965332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9770177602767944, + 0.1902942806482315, + 0.09604340046644211, + -0.26519814133644104 + ], + [ + 0.20383726060390472, + -0.9658635258674622, + -0.15986858308315277, + 0.018199503421783447 + ], + [ + 0.06234274432063103, + 0.17577168345451355, + -0.9824549555778503, + -0.03493725135922432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9743335843086243, + 0.20541152358055115, + 0.09208806604146957, + -0.259917289018631 + ], + [ + 0.21893607079982758, + -0.9598401188850403, + -0.17542490363121033, + 0.021367160603404045 + ], + [ + 0.05235552415251732, + 0.19108377397060394, + -0.9801764488220215, + -0.030341610312461853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9730981588363647, + 0.21416334807872772, + 0.08493545651435852, + -0.25369104743003845 + ], + [ + 0.2263786792755127, + -0.9573068022727966, + -0.17976759374141693, + 0.02392755262553692 + ], + [ + 0.042809657752513885, + 0.19415909051895142, + -0.9800354838371277, + -0.025039156898856163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9736867547035217, + 0.21538995206356049, + 0.074439637362957, + -0.24642391502857208 + ], + [ + 0.22585119307041168, + -0.9556427597999573, + -0.18904535472393036, + 0.02657446451485157 + ], + [ + 0.030419232323765755, + 0.20088323950767517, + -0.9791427850723267, + -0.02018815092742443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9743358492851257, + 0.21375179290771484, + 0.07056745141744614, + -0.2387557178735733 + ], + [ + 0.22361820936203003, + -0.9550331830978394, + -0.1946958303451538, + 0.029193520545959473 + ], + [ + 0.025777677074074745, + 0.20547930896282196, + -0.97832190990448, + -0.01530078798532486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9727583527565002, + 0.2248348891735077, + 0.05648393929004669, + -0.23153197765350342 + ], + [ + 0.2316288948059082, + -0.9525859951972961, + -0.1973016858100891, + 0.033379435539245605 + ], + [ + 0.009445506148040295, + 0.20501017570495605, + -0.9787142872810364, + -0.010628661140799522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9717218279838562, + 0.2321651428937912, + 0.04308154061436653, + -0.2241373211145401 + ], + [ + 0.23609071969985962, + -0.9519945979118347, + -0.19485226273536682, + 0.036561284214258194 + ], + [ + -0.004224509000778198, + 0.19951336085796356, + -0.979885995388031, + -0.005711080972105265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9738185405731201, + 0.22348564863204956, + 0.04161267727613449, + -0.2157151848077774 + ], + [ + 0.22730524837970734, + -0.9547559022903442, + -0.19176411628723145, + 0.03929248824715614 + ], + [ + -0.003126575378701091, + 0.19620223343372345, + -0.980558454990387, + -0.000902176892850548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.975095808506012, + 0.21864251792430878, + 0.03719618543982506, + -0.20737509429454803 + ], + [ + 0.22165440022945404, + -0.9549920558929443, + -0.19712801277637482, + 0.04222184419631958 + ], + [ + -0.007578503340482712, + 0.2004634141921997, + -0.9796718955039978, + 0.003047776175662875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9733248353004456, + 0.2278061807155609, + 0.027261074632406235, + -0.19964656233787537 + ], + [ + 0.22861486673355103, + -0.9529731869697571, + -0.1989406794309616, + 0.045607492327690125 + ], + [ + -0.019340844824910164, + 0.1998661905527115, + -0.9796323180198669, + 0.006755043286830187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9692691564559937, + 0.24548523128032684, + 0.01594623550772667, + -0.19210538268089294 + ], + [ + 0.24354472756385803, + -0.9484266042709351, + -0.20291127264499664, + 0.049050960689783096 + ], + [ + -0.034687887877225876, + 0.20055925846099854, + -0.9790672659873962, + 0.009905189275741577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9671182632446289, + 0.2539933919906616, + 0.013025562278926373, + -0.1840120404958725 + ], + [ + 0.2512204051017761, + -0.9460696578025818, + -0.20454952120780945, + 0.052417755126953125 + ], + [ + -0.03963113948702812, + 0.201095849275589, + -0.9787695407867432, + 0.012345065362751484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9674261212348938, + 0.2526625990867615, + 0.015758926048874855, + -0.17542339861392975 + ], + [ + 0.25056782364845276, + -0.9468129277229309, + -0.20189359784126282, + 0.05541062355041504 + ], + [ + -0.03609020635485649, + 0.19926580786705017, + -0.9792806506156921, + 0.01520220935344696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9669216275215149, + 0.2549935579299927, + 0.006393087096512318, + -0.16674277186393738 + ], + [ + 0.2510111629962921, + -0.9467672109603882, + -0.20155711472034454, + 0.0583990216255188 + ], + [ + -0.04534300044178963, + 0.1964946687221527, + -0.9794558882713318, + 0.017369713634252548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9656780958175659, + 0.25974029302597046, + -0.0008954620570875704, + -0.15722054243087769 + ], + [ + 0.25391125679016113, + -0.9447216987609863, + -0.20743674039840698, + 0.061599910259246826 + ], + [ + -0.05472563952207565, + 0.20008975267410278, + -0.9782480001449585, + 0.01932140626013279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9644556641578674, + 0.26421603560447693, + -0.0038903660606592894, + -0.14795388281345367 + ], + [ + 0.2574775815010071, + -0.9429654479026794, + -0.21100112795829773, + 0.06429362297058105 + ], + [ + -0.05941836163401604, + 0.20249955356121063, + -0.9774780869483948, + 0.021476566791534424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9630374908447266, + 0.2692602276802063, + -0.007599863223731518, + -0.13888037204742432 + ], + [ + 0.2615385353565216, + -0.9414281249046326, + -0.21286313235759735, + 0.06661432981491089 + ], + [ + -0.06447029858827591, + 0.2030075192451477, + -0.9770524501800537, + 0.023778030648827553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9595709443092346, + 0.28122347593307495, + -0.011701539158821106, + -0.12977799773216248 + ], + [ + 0.2720654010772705, + -0.9373729825019836, + -0.21751388907432556, + 0.06898075342178345 + ], + [ + -0.0721387192606926, + 0.20553642511367798, + -0.9759870767593384, + 0.026170674711465836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9562814831733704, + 0.2919832170009613, + -0.01647917926311493, + -0.12037189304828644 + ], + [ + 0.28172746300697327, + -0.9348798394203186, + -0.21593835949897766, + 0.07144677639007568 + ], + [ + -0.07845643162727356, + 0.20185521245002747, + -0.97626793384552, + 0.028647596016526222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9570250511169434, + 0.28972095251083374, + -0.012839164584875107, + -0.11050675809383392 + ], + [ + 0.28044113516807556, + -0.9358316659927368, + -0.2134757786989212, + 0.07356417179107666 + ], + [ + -0.07386370003223419, + 0.200701043009758, + -0.9768639802932739, + 0.030755821615457535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9597519636154175, + 0.2808452546596527, + -0.001469472306780517, + -0.09997471421957016 + ], + [ + 0.2745126485824585, + -0.9391905665397644, + -0.20631013810634613, + 0.07586789131164551 + ], + [ + -0.0593213327229023, + 0.19760316610336304, + -0.9784855246543884, + 0.03338602930307388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9602193236351013, + 0.279246985912323, + -6.248844147194177e-05, + -0.08990449458360672 + ], + [ + 0.27328935265541077, + -0.9397793412208557, + -0.20525050163269043, + 0.07839304208755493 + ], + [ + -0.05737430974841118, + 0.19706842303276062, + -0.9787094593048096, + 0.03495429456233978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9572431445121765, + 0.28927409648895264, + -0.0024666457902640104, + -0.0805518627166748 + ], + [ + 0.2825450599193573, + -0.9367377758026123, + -0.20661713182926178, + 0.08142834901809692 + ], + [ + -0.06207958608865738, + 0.1970858871936798, + -0.97841876745224, + 0.03597721457481384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9531160593032837, + 0.30252426862716675, + -0.006990256253629923, + -0.07067759335041046 + ], + [ + 0.294819712638855, + -0.9335529804229736, + -0.20386314392089844, + 0.08479276299476624 + ], + [ + -0.06819932162761688, + 0.19224436581134796, + -0.978974461555481, + 0.03727513551712036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9493861198425293, + 0.31400948762893677, + -0.008000301197171211, + -0.0607883557677269 + ], + [ + 0.30577749013900757, + -0.9297255277633667, + -0.20520871877670288, + 0.08819490671157837 + ], + [ + -0.07187557220458984, + 0.1923760026693344, + -0.9786855578422546, + 0.03822316974401474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9457273483276367, + 0.324648916721344, + -0.01424329448491335, + -0.05103452503681183 + ], + [ + 0.3151015341281891, + -0.9268665909767151, + -0.20403283834457397, + 0.09131842851638794 + ], + [ + -0.07944067567586899, + 0.18847134709358215, + -0.9788604378700256, + 0.03892126306891441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.946232795715332, + 0.3232058584690094, + -0.013469201512634754, + -0.040325913578271866 + ], + [ + 0.31374993920326233, + -0.9270954132080078, + -0.20507343113422394, + 0.09394526481628418 + ], + [ + -0.07876817137002945, + 0.1898212432861328, + -0.9786539077758789, + 0.03963549807667732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9475757479667664, + 0.31940707564353943, + -0.00890572089701891, + -0.029124176129698753 + ], + [ + 0.3109491169452667, + -0.9281833171844482, + -0.20441702008247375, + 0.09647274017333984 + ], + [ + -0.07355839014053345, + 0.19093139469623566, + -0.9788433909416199, + 0.040592268109321594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9470309019088745, + 0.32105809450149536, + -0.007361153606325388, + -0.0180585365742445 + ], + [ + 0.31308212876319885, + -0.9281221032142639, + -0.2014172375202179, + 0.09903675317764282 + ], + [ + -0.07149868458509445, + 0.18844369053840637, + -0.9794778823852539, + 0.04139424115419388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9472402334213257, + 0.32038870453834534, + -0.009326361119747162, + -0.006202984135597944 + ], + [ + 0.31224581599235535, + -0.9289543628692627, + -0.1988624930381775, + 0.10174041986465454 + ], + [ + -0.07237705588340759, + 0.18545843660831451, + -0.9799830317497253, + 0.042393751442432404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.950780987739563, + 0.30984729528427124, + 0.0031863015610724688, + 0.006101076025515795 + ], + [ + 0.3042791783809662, + -0.9316527843475342, + -0.19858823716640472, + 0.10438317060470581 + ], + [ + -0.05856350436806679, + 0.18978343904018402, + -0.980077862739563, + 0.043204352259635925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9538363814353943, + 0.3001662790775299, + 0.009815099649131298, + 0.017886118963360786 + ], + [ + 0.295742392539978, + -0.9330865144729614, + -0.20466075837612152, + 0.10705709457397461 + ], + [ + -0.05227392166852951, + 0.19811563193798065, + -0.9787837266921997, + 0.042885586619377136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9542323350906372, + 0.29881373047828674, + 0.012290870770812035, + 0.02925696410238743 + ], + [ + 0.2945961654186249, + -0.9320958256721497, + -0.21073800325393677, + 0.11026409268379211 + ], + [ + -0.051515139639377594, + 0.2047138512134552, + -0.9774653315544128, + 0.042519260197877884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9547916054725647, + 0.297110378742218, + 0.009922124445438385, + 0.04064743220806122 + ], + [ + 0.2924833595752716, + -0.932905912399292, + -0.21009524166584015, + 0.11352270841598511 + ], + [ + -0.053165074437856674, + 0.2034992277622223, + -0.9776305556297302, + 0.042320091277360916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9541527628898621, + 0.29931777715682983, + 0.001185647095553577, + 0.05194975435733795 + ], + [ + 0.2925257682800293, + -0.9316476583480835, + -0.2155487984418869, + 0.11686193943023682 + ], + [ + -0.06341297924518585, + 0.20601332187652588, + -0.9764923453330994, + 0.04132953658699989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9536724090576172, + 0.3007067143917084, + 0.009187223389744759, + 0.06282556056976318 + ], + [ + 0.29491862654685974, + -0.9284111261367798, + -0.22599941492080688, + 0.12035898864269257 + ], + [ + -0.059430018067359924, + 0.21823889017105103, + -0.9740841388702393, + 0.04046442732214928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9501846432685852, + 0.3116540312767029, + 0.0045774467289447784, + 0.07348661124706268 + ], + [ + 0.30417922139167786, + -0.9239909648895264, + -0.23176640272140503, + 0.12386387586593628 + ], + [ + -0.0680014118552208, + 0.22161324322223663, + -0.9727606773376465, + 0.039505667984485626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9454925060272217, + 0.32556191086769104, + -0.00730627728626132, + 0.08404813706874847 + ], + [ + 0.3154894709587097, + -0.9213381409645081, + -0.22716160118579865, + 0.12727999687194824 + ], + [ + -0.08068671822547913, + 0.212474524974823, + -0.9738296866416931, + 0.03877824917435646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9407423734664917, + 0.3389641046524048, + -0.010347501374781132, + 0.09449612349271774 + ], + [ + 0.3283628523349762, + -0.918096661567688, + -0.2219828963279724, + 0.13107311725616455 + ], + [ + -0.08474424481391907, + 0.2054309844970703, + -0.9749956727027893, + 0.03879201039671898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9354152679443359, + 0.35329416394233704, + -0.013473792932927608, + 0.10435193032026291 + ], + [ + 0.34267500042915344, + -0.9153610467910767, + -0.21139542758464813, + 0.13458529114723206 + ], + [ + -0.08701815456151962, + 0.19312536716461182, + -0.9773077368736267, + 0.03856714814901352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9327473640441895, + 0.36036086082458496, + -0.01106217410415411, + 0.11395293474197388 + ], + [ + 0.35013893246650696, + -0.9127496480941772, + -0.21045368909835815, + 0.1375231146812439 + ], + [ + -0.08593627065420151, + 0.19242683053016663, + -0.9775412082672119, + 0.03742958977818489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9328572750091553, + 0.36023804545402527, + -0.0024201080668717623, + 0.12421059608459473 + ], + [ + 0.35124996304512024, + -0.911033034324646, + -0.21596819162368774, + 0.1399107277393341 + ], + [ + -0.0800047516822815, + 0.20061743259429932, + -0.9763973951339722, + 0.03645379841327667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9349393248558044, + 0.3547389507293701, + 0.0069802128709852695, + 0.1342765837907791 + ], + [ + 0.3473566174507141, + -0.9111177325248718, + -0.2218283712863922, + 0.1420055329799652 + ], + [ + -0.07233136892318726, + 0.2098206877708435, + -0.975060760974884, + 0.03541691228747368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9351376891136169, + 0.3541897237300873, + 0.008194079622626305, + 0.14368806779384613 + ], + [ + 0.3468077778816223, + -0.910431444644928, + -0.22547483444213867, + 0.14416056871414185 + ], + [ + -0.07240072637796402, + 0.21369178593158722, + -0.9742145538330078, + 0.034278757870197296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9333751797676086, + 0.35886240005493164, + 0.005337853450328112, + 0.15261587500572205 + ], + [ + 0.3506954610347748, + -0.9087694883346558, + -0.22616517543792725, + 0.14613604545593262 + ], + [ + -0.07631130516529083, + 0.21296893060207367, + -0.9740743637084961, + 0.03296636790037155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9307246804237366, + 0.3657205402851105, + 3.081305521845934e-06, + 0.16134844720363617 + ], + [ + 0.3561301529407501, + -0.9063161611557007, + -0.22751343250274658, + 0.1482817828655243 + ], + [ + -0.08320354670286179, + 0.2117534726858139, + -0.9737749695777893, + 0.031613145023584366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9297398328781128, + 0.36821284890174866, + -0.0017634833930060267, + 0.17025704681873322 + ], + [ + 0.3580687940120697, + -0.9052219390869141, + -0.2288229763507843, + 0.1504778265953064 + ], + [ + -0.08585190027952194, + 0.2121143937110901, + -0.9734664559364319, + 0.030289392918348312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9275100827217102, + 0.3737400770187378, + -0.006586101371794939, + 0.17868420481681824 + ], + [ + 0.3621581196784973, + -0.902850866317749, + -0.2317364364862442, + 0.15244019031524658 + ], + [ + -0.0925554633140564, + 0.21255268156528473, + -0.9727563261985779, + 0.029048241674900055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9236688017845154, + 0.3828282654285431, + -0.016686197370290756, + 0.18693435192108154 + ], + [ + 0.36912763118743896, + -0.9006129503250122, + -0.22943654656410217, + 0.15461495518684387 + ], + [ + -0.10286260396242142, + 0.205764040350914, + -0.9731805920600891, + 0.028029372915625572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9186776280403137, + 0.39420801401138306, + -0.025128865614533424, + 0.19503448903560638 + ], + [ + 0.3786943256855011, + -0.8970459699630737, + -0.22781385481357574, + 0.1569136679172516 + ], + [ + -0.1123477965593338, + 0.19977134466171265, + -0.9733803868293762, + 0.026999838650226593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9150131940841675, + 0.40225133299827576, + -0.030736133456230164, + 0.20341280102729797 + ], + [ + 0.3859659433364868, + -0.8950421810150146, + -0.22344978153705597, + 0.15869462490081787 + ], + [ + -0.1173931136727333, + 0.1925964057445526, + -0.9742307066917419, + 0.026960453018546104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9096905589103699, + 0.413921058177948, + -0.03365246579051018, + 0.2108955979347229 + ], + [ + 0.3971918225288391, + -0.8908514380455017, + -0.22050468623638153, + 0.16057950258255005 + ], + [ + -0.12125088274478912, + 0.18722455203533173, + -0.9748052358627319, + 0.026682665571570396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9055567383766174, + 0.4227360188961029, + -0.03551402688026428, + 0.21873456239700317 + ], + [ + 0.4052019715309143, + -0.8867011666297913, + -0.2226485013961792, + 0.16232627630233765 + ], + [ + -0.12561187148094177, + 0.18723049759864807, + -0.9742516875267029, + 0.025895891711115837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9033724665641785, + 0.4278722405433655, + -0.02904382161796093, + 0.2267254739999771 + ], + [ + 0.41027727723121643, + -0.8819690346717834, + -0.23195520043373108, + 0.1633879840373993 + ], + [ + -0.12486293911933899, + 0.19762592017650604, + -0.9722927808761597, + 0.024794775992631912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9047114849090576, + 0.42548370361328125, + -0.021464135497808456, + 0.23569419980049133 + ], + [ + 0.40846601128578186, + -0.8806372284889221, + -0.24006995558738708, + 0.16416481137275696 + ], + [ + -0.1210479736328125, + 0.20842668414115906, + -0.9705182909965515, + 0.02377581223845482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9021651148796082, + 0.4308531582355499, + -0.021532701328396797, + 0.2442718744277954 + ], + [ + 0.41203221678733826, + -0.8753911852836609, + -0.25282350182533264, + 0.16470986604690552 + ], + [ + -0.12777934968471527, + 0.21921639144420624, + -0.9672727584838867, + 0.02228071540594101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.898166298866272, + 0.43924012780189514, + -0.01911678910255432, + 0.25257280468940735 + ], + [ + 0.41995400190353394, + -0.8699765801429749, + -0.25841712951660156, + 0.16550686955451965 + ], + [ + -0.1301383376121521, + 0.2240733802318573, + -0.9658442735671997, + 0.021382248029112816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.893933117389679, + 0.4478084444999695, + -0.018740808591246605, + 0.2608838379383087 + ], + [ + 0.42726340889930725, + -0.864059567451477, + -0.26617103815078735, + 0.16610845923423767 + ], + [ + -0.13538680970668793, + 0.22993183135986328, + -0.9637436270713806, + 0.02040151320397854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.8871440887451172, + 0.4613957107067108, + -0.00945335067808628, + 0.26784586906433105 + ], + [ + 0.4407854974269867, + -0.8532274961471558, + -0.278766930103302, + 0.16621160507202148 + ], + [ + -0.1366877257823944, + 0.24313953518867493, + -0.9603122472763062, + 0.019023338332772255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.883125901222229, + 0.4689995050430298, + -0.011316792108118534, + 0.2752642035484314 + ], + [ + 0.44785991311073303, + -0.8500115275382996, + -0.27731195092201233, + 0.1668212115764618 + ], + [ + -0.13967856764793396, + 0.2398330271244049, + -0.960713267326355, + 0.018691055476665497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.8803473114967346, + 0.4739299714565277, + -0.01946846768260002, + 0.28299981355667114 + ], + [ + 0.4518078863620758, + -0.8503378033638, + -0.26980599761009216, + 0.16752445697784424 + ], + [ + -0.14442391693592072, + 0.22872696816921234, + -0.9627178907394409, + 0.018852367997169495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.8747556805610657, + 0.4833777844905853, + -0.03388858586549759, + 0.290292888879776 + ], + [ + 0.45929914712905884, + -0.8494035601615906, + -0.2599189877510071, + 0.1680305004119873 + ], + [ + -0.15442414581775665, + 0.21180060505867004, + -0.965035617351532, + 0.019086185842752457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.8716268539428711, + 0.4882625937461853, + -0.043200552463531494, + 0.29812246561050415 + ], + [ + 0.46362975239753723, + -0.8498317003250122, + -0.2506661117076874, + 0.16937720775604248 + ], + [ + -0.1591040939092636, + 0.1984582543373108, + -0.967109203338623, + 0.019732628017663956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.8710740804672241, + 0.48878657817840576, + -0.04814153537154198, + 0.30563271045684814 + ], + [ + 0.46511566638946533, + -0.8524156808853149, + -0.23886168003082275, + 0.1706128716468811 + ], + [ + -0.15778899192810059, + 0.18567483127117157, + -0.9698595404624939, + 0.01995864510536194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.8688552379608154, + 0.4921873211860657, + -0.05331254377961159, + 0.3122789263725281 + ], + [ + 0.4699462652206421, + -0.8538398742675781, + -0.22384804487228394, + 0.1717027723789215 + ], + [ + -0.15569554269313812, + 0.16943751275539398, + -0.9731648564338684, + 0.019666658714413643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.8610635995864868, + 0.5049737095832825, + -0.05975811928510666, + 0.31790798902511597 + ], + [ + 0.48251625895500183, + -0.8484908938407898, + -0.21735046803951263, + 0.171819269657135 + ], + [ + -0.16046050190925598, + 0.15831831097602844, + -0.9742626547813416, + 0.018119610846042633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.8589370846748352, + 0.5074866414070129, + -0.06844285875558853, + 0.32357117533683777 + ], + [ + 0.4851377308368683, + -0.8492255806922913, + -0.20846408605575562, + 0.1724797785282135 + ], + [ + -0.16391617059707642, + 0.14585331082344055, + -0.9756322503089905, + 0.016496092081069946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.8595316410064697, + 0.5067113041877747, + -0.06670071184635162, + 0.32855525612831116 + ], + [ + 0.4860830008983612, + -0.8508138656616211, + -0.19959719479084015, + 0.17345523834228516 + ], + [ + -0.1578880399465561, + 0.13913802802562714, + -0.9776052236557007, + 0.01460458803921938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.8555117249488831, + 0.5138112306594849, + -0.06401308625936508, + 0.3338383138179779 + ], + [ + 0.4944309890270233, + -0.8473696708679199, + -0.19365592300891876, + 0.17355716228485107 + ], + [ + -0.15374533832073212, + 0.13402487337589264, + -0.9789789319038391, + 0.012817012146115303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.8543445467948914, + 0.515467643737793, + -0.0662459209561348, + 0.3394302427768707 + ], + [ + 0.4968010485172272, + -0.8474533557891846, + -0.18711379170417786, + 0.17397969961166382 + ], + [ + -0.15259143710136414, + 0.12694860994815826, + -0.980102002620697, + 0.010716473683714867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.8583869338035583, + 0.5101285576820374, + -0.054227832704782486, + 0.3452269732952118 + ], + [ + 0.49279579520225525, + -0.8493313789367676, + -0.18917842209339142, + 0.1741189956665039 + ], + [ + -0.14256271719932556, + 0.13566504418849945, + -0.9804441928863525, + 0.0075229755602777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.8594673275947571, + 0.5084081888198853, + -0.053263403475284576, + 0.3518674671649933 + ], + [ + 0.4904576241970062, + -0.849493682384491, + -0.19445261359214783, + 0.17340683937072754 + ], + [ + -0.14410822093486786, + 0.14100222289562225, + -0.9794647693634033, + 0.004331131931394339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.8567845821380615, + 0.5120764970779419, + -0.06080961972475052, + 0.3584866225719452 + ], + [ + 0.49310463666915894, + -0.8480739593505859, + -0.19395464658737183, + 0.1725512146949768 + ], + [ + -0.15089067816734314, + 0.13619185984134674, + -0.9791240096092224, + 0.001708061434328556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.8567883372306824, + 0.5110415816307068, + -0.06892188638448715, + 0.3658870458602905 + ], + [ + 0.4922126233577728, + -0.8503305315971375, + -0.18618465960025787, + 0.17156416177749634 + ], + [ + -0.15375448763370514, + 0.12559662759304047, + -0.9800944328308105, + -0.00014605699107050896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.858250081539154, + 0.507959246635437, + -0.07337707281112671, + 0.3737841546535492 + ], + [ + 0.4899895489215851, + -0.8535031676292419, + -0.17732059955596924, + 0.17152933776378632 + ], + [ + -0.15269920229911804, + 0.11623141169548035, + -0.9814139008522034, + -0.0008073726203292608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.8618725538253784, + 0.5022917985916138, + -0.06984730809926987, + 0.3814238905906677 + ], + [ + 0.48492518067359924, + -0.8565941452980042, + -0.17633511126041412, + 0.17069166898727417 + ], + [ + -0.14840248227119446, + 0.11810767650604248, + -0.9818488955497742, + -0.0020111356861889362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.8663666248321533, + 0.4949094355106354, + -0.06688396632671356, + 0.3890182375907898 + ], + [ + 0.47778698801994324, + -0.8603712320327759, + -0.17742866277694702, + 0.16923797130584717 + ], + [ + -0.1453561633825302, + 0.1217619851231575, + -0.9818582534790039, + -0.0033244057558476925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.8694911599159241, + 0.4890664517879486, + -0.06927547603845596, + 0.3971173167228699 + ], + [ + 0.4718021750450134, + -0.8638229370117188, + -0.176671102643013, + 0.1684390902519226 + ], + [ + -0.14624565839767456, + 0.12092964351177216, + -0.981829047203064, + -0.003842462319880724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.8740978240966797, + 0.4804856777191162, + -0.07132016122341156, + 0.4048047959804535 + ], + [ + 0.4637771546840668, + -0.8691735863685608, + -0.17160440981388092, + 0.16634917259216309 + ], + [ + -0.1444430649280548, + 0.11692237854003906, + -0.9825809597969055, + -0.004176631569862366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.8767202496528625, + 0.4757564961910248, + -0.07083304971456528, + 0.41139575839042664 + ], + [ + 0.46034982800483704, + -0.8726183772087097, + -0.16314178705215454, + 0.1635904312133789 + ], + [ + -0.13942597806453705, + 0.11042172461748123, + -0.9840566515922546, + -0.0044930605217814445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.8803977370262146, + 0.469511479139328, + -0.06677456200122833, + 0.41780123114585876 + ], + [ + 0.4553236663341522, + -0.8762335777282715, + -0.1577816605567932, + 0.16161486506462097 + ], + [ + -0.1325904130935669, + 0.10850657522678375, + -0.9852137565612793, + -0.0049759806133806705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.8814221620559692, + 0.4678495228290558, + -0.06489840149879456, + 0.42307618260383606 + ], + [ + 0.45444583892822266, + -0.8774566650390625, + -0.15345610678195953, + 0.15930765867233276 + ], + [ + -0.12873990833759308, + 0.10576681047677994, + -0.9860219955444336, + -0.006152627989649773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.8791355490684509, + 0.47173216938972473, + -0.06774552166461945, + 0.4275370240211487 + ], + [ + 0.4596572816371918, + -0.8768580555915833, + -0.1408371776342392, + 0.15701767802238464 + ], + [ + -0.12584063410758972, + 0.09267525374889374, + -0.9877122044563293, + -0.007205077912658453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.8765158653259277, + 0.47632020711898804, + -0.06956279277801514, + 0.43106549978256226 + ], + [ + 0.46541154384613037, + -0.8754611015319824, + -0.13023048639297485, + 0.15456783771514893 + ], + [ + -0.12293093651533127, + 0.08177376538515091, + -0.9890404343605042, + -0.008836070075631142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.8724278211593628, + 0.48289889097213745, + -0.0753551498055458, + 0.43386468291282654 + ], + [ + 0.472370445728302, + -0.872692346572876, + -0.12358874082565308, + 0.15286430716514587 + ], + [ + -0.1254427284002304, + 0.07222670316696167, + -0.9894682765007019, + -0.01094784401357174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.8707418441772461, + 0.48551419377326965, + -0.07800395041704178, + 0.43663665652275085 + ], + [ + 0.4752429723739624, + -0.8716179728507996, + -0.12010911107063293, + 0.15189892053604126 + ], + [ + -0.12630432844161987, + 0.06751319766044617, + -0.989691436290741, + -0.01363968476653099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.8674518465995789, + 0.4909980893135071, + -0.08030068129301071, + 0.4383220374584198 + ], + [ + 0.48061680793762207, + -0.8687067031860352, + -0.1198173388838768, + 0.1516677737236023 + ], + [ + -0.12858782708644867, + 0.06534191220998764, + -0.9895431399345398, + -0.016761397942900658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.8644453883171082, + 0.49624672532081604, + -0.08045705407857895, + 0.43943703174591064 + ], + [ + 0.48551443219184875, + -0.8656070828437805, + -0.12247496843338013, + 0.15182054042816162 + ], + [ + -0.13042199611663818, + 0.06680986285209656, + -0.989205002784729, + -0.020576821640133858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.8615111112594604, + 0.5010697841644287, + -0.08202221244573593, + 0.4405933618545532 + ], + [ + 0.48976340889930725, + -0.8626999855041504, + -0.12601785361766815, + 0.1520022749900818 + ], + [ + -0.13390429317951202, + 0.06839430332183838, + -0.9886313080787659, + -0.025192009285092354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9648301005363464, + 0.2506925165653229, + -0.07909547537565231, + 0.15425008535385132 + ], + [ + 0.22536881268024445, + -0.9437313079833984, + -0.24203337728977203, + 0.07215625047683716 + ], + [ + -0.13532082736492157, + 0.21569544076919556, + -0.967038631439209, + -0.11284556239843369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.965219259262085, + 0.2498501092195511, + -0.07698482275009155, + 0.14767909049987793 + ], + [ + 0.22482414543628693, + -0.9435219168663025, + -0.24335262179374695, + 0.07017731666564941 + ], + [ + -0.13343854248523712, + 0.21758058667182922, + -0.9668778777122498, + -0.11028558760881424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9662372469902039, + 0.24649666249752045, + -0.07500018924474716, + 0.1408730298280716 + ], + [ + 0.22206099331378937, + -0.9443226456642151, + -0.24278311431407928, + 0.06846499443054199 + ], + [ + -0.13066960871219635, + 0.21793146431446075, + -0.9671769738197327, + -0.10734017193317413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9663600921630859, + 0.24616362154483795, + -0.07450944930315018, + 0.13368657231330872 + ], + [ + 0.22182229161262512, + -0.9443379640579224, + -0.2429417222738266, + 0.06699627637863159 + ], + [ + -0.13016551733016968, + 0.21824131906032562, + -0.9671750664710999, + -0.1046375185251236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9652956128120422, + 0.2489136904478073, + -0.07903409004211426, + 0.126494362950325 + ], + [ + 0.22407257556915283, + -0.9448278546333313, + -0.23893891274929047, + 0.06556969881057739 + ], + [ + -0.13414877653121948, + 0.21293729543685913, + -0.9678128957748413, + -0.10205425322055817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9652742743492126, + 0.2489163875579834, + -0.07928553223609924, + 0.11916828900575638 + ], + [ + 0.2240821123123169, + -0.9449366927146912, + -0.23849906027317047, + 0.06419557332992554 + ], + [ + -0.13428613543510437, + 0.2124505341053009, + -0.967900812625885, + -0.0999152734875679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.964720606803894, + 0.25064921379089355, + -0.08055505901575089, + 0.11128303408622742 + ], + [ + 0.22546453773975372, + -0.9445329904556274, + -0.23879525065422058, + 0.06304770708084106 + ], + [ + -0.1359407603740692, + 0.21220839023590088, + -0.9677229523658752, + -0.09794655442237854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9634596109390259, + 0.25458064675331116, + -0.08327247202396393, + 0.1029021218419075 + ], + [ + 0.22861383855342865, + -0.9435668587684631, + -0.23961898684501648, + 0.062302205711603165 + ], + [ + -0.13957549631595612, + 0.21182596683502197, + -0.9672892093658447, + -0.09598053246736526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9631362557411194, + 0.25615501403808594, + -0.0821775272488594, + 0.09390078485012054 + ], + [ + 0.22993145883083344, + -0.9424313306808472, + -0.2428058683872223, + 0.061858534812927246 + ], + [ + -0.1396426111459732, + 0.21495993435382843, + -0.9665879011154175, + -0.09387858957052231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9615511298179626, + 0.2614500820636749, + -0.08404315263032913, + 0.08462648093700409 + ], + [ + 0.2345123291015625, + -0.9409579038619995, + -0.2441355139017105, + 0.06127685308456421 + ], + [ + -0.14291031658649445, + 0.21503962576389313, + -0.9660924673080444, + -0.0918644443154335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9584524035453796, + 0.2697758674621582, + -0.09268206357955933, + 0.07530166953802109 + ], + [ + 0.2411072552204132, + -0.9397979378700256, + -0.2421717643737793, + 0.06040835380554199 + ], + [ + -0.15243451297283173, + 0.2097637951374054, + -0.9657964706420898, + -0.08985523879528046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.957229495048523, + 0.272819846868515, + -0.09633805602788925, + 0.06586387753486633 + ], + [ + 0.243199422955513, + -0.93907231092453, + -0.24289357662200928, + 0.058933913707733154 + ], + [ + -0.15673458576202393, + 0.20907554030418396, + -0.9652573466300964, + -0.08750242739915848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9584369659423828, + 0.2687626779079437, + -0.09573537111282349, + 0.05711915343999863 + ], + [ + 0.23850257694721222, + -0.938909649848938, + -0.24812336266040802, + 0.05713540315628052 + ], + [ + -0.15657316148281097, + 0.2149774581193924, + -0.9639862775802612, + -0.08551232516765594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9593608379364014, + 0.26530271768569946, + -0.09613118320703506, + 0.048535071313381195 + ], + [ + 0.23388713598251343, + -0.9381976127624512, + -0.2551119327545166, + 0.055173132568597794 + ], + [ + -0.15787193179130554, + 0.22226056456565857, + -0.9621209502220154, + -0.08378982543945312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9604645371437073, + 0.26078811287879944, + -0.09745467454195023, + 0.03964441642165184 + ], + [ + 0.2288014143705368, + -0.9388356804847717, + -0.257366418838501, + 0.05339810624718666 + ], + [ + -0.15861202776432037, + 0.22489355504512787, + -0.9613870978355408, + -0.08185435831546783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9603400826454163, + 0.26007315516471863, + -0.10054274648427963, + 0.03068084456026554 + ], + [ + 0.22708939015865326, + -0.938748300075531, + -0.2591949701309204, + 0.051658809185028076 + ], + [ + -0.16179397702217102, + 0.22608312964439392, + -0.9605774879455566, + -0.07994543015956879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9595381617546082, + 0.2623465061187744, + -0.102277971804142, + 0.021555298939347267 + ], + [ + 0.22872495651245117, + -0.938045859336853, + -0.26029759645462036, + 0.049982521682977676 + ], + [ + -0.1642295867204666, + 0.22637194395065308, + -0.960096001625061, + -0.07800490409135818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9588109850883484, + 0.2644893229007721, + -0.10357078164815903, + 0.0119917131960392 + ], + [ + 0.2300017774105072, + -0.9368945360183716, + -0.26330167055130005, + 0.04938971996307373 + ], + [ + -0.1666753739118576, + 0.22863508760929108, + -0.9591377973556519, + -0.07669471949338913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9579784870147705, + 0.267604798078537, + -0.10327067971229553, + 0.0021749401930719614 + ], + [ + 0.23252952098846436, + -0.9353201985359192, + -0.26665741205215454, + 0.048628952354192734 + ], + [ + -0.16794995963573456, + 0.23143859207630157, + -0.958242654800415, + -0.07536103576421738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9572744369506836, + 0.270942747592926, + -0.10107281804084778, + -0.007612701039761305 + ], + [ + 0.23538410663604736, + -0.9330840706825256, + -0.2719345688819885, + 0.04777657985687256 + ], + [ + -0.1679881364107132, + 0.23652507364749908, + -0.9569931626319885, + -0.07427924871444702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9561439752578735, + 0.2753055691719055, + -0.09997779130935669, + -0.017591409385204315 + ], + [ + 0.2394254356622696, + -0.9312642216682434, + -0.27463144063949585, + 0.047643959522247314 + ], + [ + -0.1687133014202118, + 0.23864996433258057, + -0.9563378095626831, + -0.07303696870803833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9551488757133484, + 0.27732768654823303, + -0.10382647812366486, + -0.027132896706461906 + ], + [ + 0.24079395830631256, + -0.9314514994621277, + -0.272793710231781, + 0.047188401222229004 + ], + [ + -0.1723625808954239, + 0.23555782437324524, + -0.9564536809921265, + -0.07176990061998367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9534183144569397, + 0.28177976608276367, + -0.10767405480146408, + -0.03653397411108017 + ], + [ + 0.24456167221069336, + -0.9310150742530823, + -0.2709253430366516, + 0.04663848876953125 + ], + [ + -0.17658744752407074, + 0.23197224736213684, + -0.9565593004226685, + -0.07070434838533401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.955415666103363, + 0.2771380841732025, + -0.10185948759317398, + -0.04520678147673607 + ], + [ + 0.24157556891441345, + -0.9320581555366516, + -0.27001631259918213, + 0.04635307565331459 + ], + [ + -0.16977077722549438, + 0.2333710640668869, + -0.9574527740478516, + -0.06909987330436707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9586464762687683, + 0.26702526211738586, + -0.09846056997776031, + -0.05311453714966774 + ], + [ + 0.23242613673210144, + -0.9342120289802551, + -0.27060291171073914, + 0.046069417148828506 + ], + [ + -0.16424085199832916, + 0.2365276962518692, + -0.9576427340507507, + -0.06769849359989166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9595129489898682, + 0.2653135061264038, + -0.09457074105739594, + -0.06133820116519928 + ], + [ + 0.23140260577201843, + -0.9339556097984314, + -0.27235960960388184, + 0.045426998287439346 + ], + [ + -0.16058555245399475, + 0.2394486516714096, + -0.9575367569923401, + -0.06672240793704987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9622787237167358, + 0.25803837180137634, + -0.08623169362545013, + -0.06858270615339279 + ], + [ + 0.22612646222114563, + -0.9348007440567017, + -0.2738875448703766, + 0.0442604161798954 + ], + [ + -0.15128295123577118, + 0.24405689537525177, + -0.957888126373291, + -0.06559988111257553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9649413228034973, + 0.24923233687877655, + -0.08228933066129684, + -0.07535471022129059 + ], + [ + 0.21833699941635132, + -0.936229407787323, + -0.2753243148326874, + 0.04313015937805176 + ], + [ + -0.14566141366958618, + 0.24770499765872955, + -0.9578230381011963, + -0.06480665504932404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9676316976547241, + 0.24083170294761658, + -0.07542554289102554, + -0.08195129036903381 + ], + [ + 0.21116016805171967, + -0.9363026022911072, + -0.28062212467193604, + 0.04266345500946045 + ], + [ + -0.13820382952690125, + 0.25561198592185974, + -0.9568501710891724, + -0.06396682560443878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9701029062271118, + 0.23379099369049072, + -0.06513132899999619, + -0.0887078270316124 + ], + [ + 0.20626342296600342, + -0.9356558918952942, + -0.28636249899864197, + 0.0420219749212265 + ], + [ + -0.127889484167099, + 0.26436689496040344, + -0.955905020236969, + -0.06354434788227081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9731424450874329, + 0.22307999432086945, + -0.05682536959648132, + -0.09496809542179108 + ], + [ + 0.19780893623828888, + -0.9365876317024231, + -0.28926679491996765, + 0.04138118028640747 + ], + [ + -0.1177515760064125, + 0.27025723457336426, + -0.9555603265762329, + -0.06328141689300537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9778041243553162, + 0.20462298393249512, + -0.045038752257823944, + -0.10067088156938553 + ], + [ + 0.18336333334445953, + -0.9397326111793518, + -0.2885837256908417, + 0.041342198848724365 + ], + [ + -0.10137524455785751, + 0.2739199101924896, + -0.9563947916030884, + -0.06257832795381546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9829190969467163, + 0.18202833831310272, + -0.02712431363761425, + -0.1059282124042511 + ], + [ + 0.1668243408203125, + -0.9434898495674133, + -0.28635042905807495, + 0.041395366191864014 + ], + [ + -0.07771540433168411, + 0.27693429589271545, + -0.9577409625053406, + -0.06187848746776581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 240, + "c2w": [ + [ + 0.9844810962677002, + 0.17456991970539093, + -0.017952749505639076, + -0.1116195097565651 + ], + [ + 0.1619003564119339, + -0.942949652671814, + -0.29091957211494446, + 0.04174860939383507 + ], + [ + -0.06771434843540192, + 0.28349825739860535, + -0.9565790891647339, + -0.0621795654296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 241, + "c2w": [ + [ + 0.9844213128089905, + 0.1755608171224594, + -0.009647182188928127, + -0.11750011146068573 + ], + [ + 0.1649569869041443, + -0.9411696195602417, + -0.29493892192840576, + 0.04220300912857056 + ], + [ + -0.060859352350234985, + 0.28875279426574707, + -0.9554674029350281, + -0.0623830184340477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 242, + "c2w": [ + [ + 0.9864407777786255, + 0.1641070544719696, + -0.0018514594994485378, + -0.12230075895786285 + ], + [ + 0.15611626207828522, + -0.9417685866355896, + -0.2978248596191406, + 0.04252788797020912 + ], + [ + -0.05061880126595497, + 0.2934975326061249, + -0.9546187520027161, + -0.062123894691467285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 243, + "c2w": [ + [ + 0.9884694218635559, + 0.1513523906469345, + 0.0045403954572975636, + -0.12677352130413055 + ], + [ + 0.14561426639556885, + -0.9419153332710266, + -0.3026416003704071, + 0.04265338182449341 + ], + [ + -0.041528861969709396, + 0.2998131215572357, + -0.9530936479568481, + -0.06174817681312561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 244, + "c2w": [ + [ + 0.9905758500099182, + 0.13573114573955536, + 0.01834532804787159, + -0.13119789958000183 + ], + [ + 0.13471688330173492, + -0.9413654804229736, + -0.30932578444480896, + 0.04262262582778931 + ], + [ + -0.0247154850512743, + 0.30888205766677856, + -0.950779139995575, + -0.06109903007745743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 245, + "c2w": [ + [ + 0.9924826622009277, + 0.11876119673252106, + 0.029562363401055336, + -0.13580049574375153 + ], + [ + 0.1220221146941185, + -0.9416409730911255, + -0.3137242794036865, + 0.04322526231408119 + ], + [ + -0.00942113809287548, + 0.3149731755256653, + -0.9490538239479065, + -0.05985112488269806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 246, + "c2w": [ + [ + 0.9940142631530762, + 0.1032867431640625, + 0.03560265898704529, + -0.1406949758529663 + ], + [ + 0.10924514383077621, + -0.9429722428321838, + -0.31443411111831665, + 0.043942783027887344 + ], + [ + 0.0010954454774037004, + 0.3164413869380951, + -0.9486114382743835, + -0.058251310139894485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 247, + "c2w": [ + [ + 0.9949417114257812, + 0.09095397591590881, + 0.04264266788959503, + -0.1458982229232788 + ], + [ + 0.09977804124355316, + -0.9439516663551331, + -0.3146420419216156, + 0.044321510940790176 + ], + [ + 0.011634674854576588, + 0.3173052668571472, + -0.9482520818710327, + -0.056505121290683746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 248, + "c2w": [ + [ + 0.9963781833648682, + 0.07658688724040985, + 0.03694609925150871, + -0.1505117416381836 + ], + [ + 0.08431476354598999, + -0.9461789131164551, + -0.31246843934059143, + 0.044634316116571426 + ], + [ + 0.01102663204073906, + 0.31445184350013733, + -0.9492093920707703, + -0.05458506569266319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 249, + "c2w": [ + [ + 0.9976658821105957, + 0.062261760234832764, + 0.02803962305188179, + -0.1556006371974945 + ], + [ + 0.06790038198232651, + -0.9480418562889099, + -0.3108152747154236, + 0.04495716094970703 + ], + [ + 0.007230832241475582, + 0.31199368834495544, + -0.9500566720962524, + -0.05303933098912239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 250, + "c2w": [ + [ + 0.9985182881355286, + 0.048954080790281296, + 0.023763153702020645, + -0.16090068221092224 + ], + [ + 0.053896863013505936, + -0.9499198198318481, + -0.3078107237815857, + 0.04638782516121864 + ], + [ + 0.007504498586058617, + 0.308635413646698, + -0.9511508345603943, + -0.052116911858320236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 251, + "c2w": [ + [ + 0.9985412955284119, + 0.04762094095349312, + 0.025446098297834396, + -0.16658945381641388 + ], + [ + 0.053213536739349365, + -0.9477763175964355, + -0.3144652843475342, + 0.04730045795440674 + ], + [ + 0.009142075665295124, + 0.3153606653213501, + -0.9489278793334961, + -0.05118153989315033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 252, + "c2w": [ + [ + 0.998282790184021, + 0.05252246931195259, + 0.025939254090189934, + -0.17283619940280914 + ], + [ + 0.05804571881890297, + -0.9465258717536926, + -0.3173633813858032, + 0.04812714830040932 + ], + [ + 0.007883465848863125, + 0.3183240592479706, + -0.9479491710662842, + -0.050026681274175644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 253, + "c2w": [ + [ + 0.9979723691940308, + 0.061856139451265335, + 0.014997038058936596, + -0.17936711013317108 + ], + [ + 0.06341373175382614, + -0.9460947513580322, + -0.31762152910232544, + 0.0490666963160038 + ], + [ + -0.005458221770823002, + 0.3179285228252411, + -0.9480989575386047, + -0.04915767163038254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 254, + "c2w": [ + [ + 0.9976838827133179, + 0.06743209064006805, + 0.008934449404478073, + -0.18573467433452606 + ], + [ + 0.0667814165353775, + -0.9460456371307373, + -0.3170771896839142, + 0.04954594373703003 + ], + [ + -0.012928782030940056, + 0.31693944334983826, + -0.9483576416969299, + -0.047921471297740936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 255, + "c2w": [ + [ + 0.9975794553756714, + 0.0688222125172615, + 0.00993780791759491, + -0.19189375638961792 + ], + [ + 0.06839028000831604, + -0.9452343583106995, + -0.3191469609737396, + 0.05012392997741699 + ], + [ + -0.012570841237902641, + 0.31905409693717957, + -0.9476531147956848, + -0.04665536433458328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 256, + "c2w": [ + [ + 0.9974907636642456, + 0.07044284790754318, + 0.007070628460496664, + -0.19824117422103882 + ], + [ + 0.0689757764339447, + -0.9444683790206909, + -0.3212815225124359, + 0.050832509994506836 + ], + [ + -0.015953999012708664, + 0.320963054895401, + -0.9469573497772217, + -0.04561679810285568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 257, + "c2w": [ + [ + 0.997552752494812, + 0.06959397345781326, + 0.006724594626575708, + -0.20447991788387299 + ], + [ + 0.06796890497207642, + -0.9426954984664917, + -0.3266579806804657, + 0.051397621631622314 + ], + [ + -0.016394181177020073, + 0.32631561160087585, + -0.9451187252998352, + -0.04479425400495529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 258, + "c2w": [ + [ + 0.9976192116737366, + 0.06852251291275024, + 0.007785258814692497, + -0.2101259082555771 + ], + [ + 0.06725326180458069, + -0.9416778683662415, + -0.3297268748283386, + 0.05207562446594238 + ], + [ + -0.015262509696185589, + 0.32946544885635376, + -0.944044291973114, + -0.043545935302972794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 259, + "c2w": [ + [ + 0.9972370862960815, + 0.07397708296775818, + 0.006752885412424803, + -0.21596521139144897 + ], + [ + 0.07208526134490967, + -0.9417476058006287, + -0.32850441336631775, + 0.052923187613487244 + ], + [ + -0.017942285165190697, + 0.3280835747718811, + -0.9444782733917236, + -0.04170384630560875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 260, + "c2w": [ + [ + 0.9968127608299255, + 0.07716498523950577, + 0.02024696208536625, + -0.2211984544992447 + ], + [ + 0.07950245589017868, + -0.9398183822631836, + -0.3322962820529938, + 0.05379444360733032 + ], + [ + -0.006613170262426138, + 0.33284682035446167, + -0.9429576992988586, + -0.039141811430454254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 261, + "c2w": [ + [ + 0.996013879776001, + 0.08274267613887787, + 0.03331627696752548, + -0.22591184079647064 + ], + [ + 0.08911890536546707, + -0.9388562440872192, + -0.3325760066509247, + 0.054800331592559814 + ], + [ + 0.0037609669379889965, + 0.33421942591667175, + -0.9424877762794495, + -0.03604615852236748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 262, + "c2w": [ + [ + 0.9949524402618408, + 0.09250935167074203, + 0.038880303502082825, + -0.2307436317205429 + ], + [ + 0.10016565769910812, + -0.9388977885246277, + -0.32929885387420654, + 0.05579255521297455 + ], + [ + 0.00604140805080533, + 0.3315311670303345, + -0.9434249401092529, + -0.032896723598241806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 263, + "c2w": [ + [ + 0.9941443204879761, + 0.0995832160115242, + 0.04195551946759224, + -0.23471368849277496 + ], + [ + 0.1078580990433693, + -0.9381927847862244, + -0.3288783133029938, + 0.056791841983795166 + ], + [ + 0.006611606106162071, + 0.3314777612686157, + -0.9434398412704468, + -0.029932901263237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 264, + "c2w": [ + [ + 0.9937477111816406, + 0.09942013025283813, + 0.05080464854836464, + -0.23777201771736145 + ], + [ + 0.11058389395475388, + -0.9391636252403259, + -0.325181245803833, + 0.05776470899581909 + ], + [ + 0.015384318307042122, + 0.3287662863731384, + -0.9442859888076782, + -0.026322368532419205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 265, + "c2w": [ + [ + 0.9938948154449463, + 0.09424940496683121, + 0.05735989660024643, + -0.24009285867214203 + ], + [ + 0.10772567987442017, + -0.9412947297096252, + -0.3199365735054016, + 0.058624863624572754 + ], + [ + 0.02383873611688614, + 0.32416245341300964, + -0.945701003074646, + -0.02234838716685772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 266, + "c2w": [ + [ + 0.9945785999298096, + 0.08222146332263947, + 0.06366351991891861, + -0.24217581748962402 + ], + [ + 0.09812449663877487, + -0.9447283744812012, + -0.3128255605697632, + 0.05918226018548012 + ], + [ + 0.03442375734448433, + 0.3173765540122986, + -0.947674572467804, + -0.017490586265921593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 267, + "c2w": [ + [ + 0.9943873286247253, + 0.07906505465507507, + 0.07030336558818817, + -0.24459274113178253 + ], + [ + 0.09672506898641586, + -0.9486262202262878, + -0.301251620054245, + 0.059791624546051025 + ], + [ + 0.042873140424489975, + 0.3063608705997467, + -0.950949490070343, + -0.012097906321287155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 268, + "c2w": [ + [ + 0.994813859462738, + 0.08095798641443253, + 0.0615730918943882, + -0.24650441110134125 + ], + [ + 0.09537503123283386, + -0.9528285264968872, + -0.28813436627388, + 0.06027799844741821 + ], + [ + 0.03534182161092758, + 0.29251259565353394, + -0.9556083679199219, + -0.006976115517318249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 269, + "c2w": [ + [ + 0.9948620796203613, + 0.0818861722946167, + 0.05953236669301987, + -0.24854181706905365 + ], + [ + 0.0953734815120697, + -0.9553118944168091, + -0.2797911465167999, + 0.06051710620522499 + ], + [ + 0.03396095335483551, + 0.28403139114379883, + -0.9582133293151855, + -0.0022776168771088123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 270, + "c2w": [ + [ + 0.9941449165344238, + 0.09206750988960266, + 0.05656326189637184, + -0.25064465403556824 + ], + [ + 0.10402098298072815, + -0.9571277499198914, + -0.27034446597099304, + 0.0607532262802124 + ], + [ + 0.029248325154185295, + 0.2746453583240509, + -0.9611006379127502, + 0.001976143568754196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 271, + "c2w": [ + [ + 0.9931845664978027, + 0.10752695798873901, + 0.04497027397155762, + -0.2523828446865082 + ], + [ + 0.11558590829372406, + -0.9582595825195312, + -0.26149284839630127, + 0.06087225675582886 + ], + [ + 0.014975663274526596, + 0.2649086117744446, + -0.964157223701477, + 0.005506359506398439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 272, + "c2w": [ + [ + 0.991541862487793, + 0.12366000562906265, + 0.03940731659531593, + -0.2537328004837036 + ], + [ + 0.12965771555900574, + -0.95735102891922, + -0.25820136070251465, + 0.060214970260858536 + ], + [ + 0.005797453690320253, + 0.26112690567970276, + -0.9652870893478394, + 0.008862472139298916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 273, + "c2w": [ + [ + 0.9893863201141357, + 0.14312106370925903, + 0.025121401995420456, + -0.25445544719696045 + ], + [ + 0.14481166005134583, + -0.9568606019020081, + -0.25188761949539185, + 0.059688057750463486 + ], + [ + -0.012012745253741741, + 0.25285205245018005, + -0.9674303531646729, + 0.01175007876008749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 274, + "c2w": [ + [ + 0.9867631196975708, + 0.16175757348537445, + 0.01153174415230751, + -0.25423163175582886 + ], + [ + 0.15948091447353363, + -0.9550639390945435, + -0.24983741343021393, + 0.05926018953323364 + ], + [ + -0.02939954213798046, + 0.24836944043636322, + -0.9682191014289856, + 0.013699403032660484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 275, + "c2w": [ + [ + 0.9829897880554199, + 0.18352223932743073, + 0.007118633948266506, + -0.2537277042865753 + ], + [ + 0.17928704619407654, + -0.9504544734954834, + -0.25395363569259644, + 0.058526039123535156 + ], + [ + -0.039840202778577805, + 0.2509101331233978, + -0.9671902060508728, + 0.01569834165275097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 276, + "c2w": [ + [ + 0.9799513816833496, + 0.1991719752550125, + -0.005080412607640028, + -0.25190314650535583 + ], + [ + 0.19129778444766998, + -0.9477238059043884, + -0.25539135932922363, + 0.05789891257882118 + ], + [ + -0.055681630969047546, + 0.24929925799369812, + -0.9668244123458862, + 0.017519034445285797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 277, + "c2w": [ + [ + 0.9783991575241089, + 0.20597387850284576, + -0.017601536586880684, + -0.24949707090854645 + ], + [ + 0.19491040706634521, + -0.9475060105323792, + -0.25346067547798157, + 0.05771106481552124 + ], + [ + -0.06888383626937866, + 0.24455499649047852, + -0.9671855568885803, + 0.019435932859778404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 278, + "c2w": [ + [ + 0.9772731065750122, + 0.21132123470306396, + -0.016750307753682137, + -0.24653415381908417 + ], + [ + 0.2004614770412445, + -0.9469595551490784, + -0.2511628270149231, + 0.05778324604034424 + ], + [ + -0.06893790513277054, + 0.2420969009399414, + -0.9677999019622803, + 0.02160610444843769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 279, + "c2w": [ + [ + 0.9751048684120178, + 0.22117283940315247, + -0.015908699482679367, + -0.24340157210826874 + ], + [ + 0.2101108282804489, + -0.9444993734359741, + -0.25253593921661377, + 0.05814319849014282 + ], + [ + -0.07087984681129456, + 0.24290642142295837, + -0.9674566984176636, + 0.023442819714546204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 280, + "c2w": [ + [ + 0.9737123847007751, + 0.22702588140964508, + -0.018532507121562958, + -0.23977746069431305 + ], + [ + 0.2148837298154831, + -0.9425228834152222, + -0.2558819651603699, + 0.0586584210395813 + ], + [ + -0.07555913925170898, + 0.24517309665679932, + -0.9665303826332092, + 0.025062892585992813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 281, + "c2w": [ + [ + 0.9745060801506042, + 0.22380858659744263, + -0.015735801309347153, + -0.23583334684371948 + ], + [ + 0.21256278455257416, + -0.9434312582015991, + -0.2544691264629364, + 0.06001739203929901 + ], + [ + -0.07179801911115646, + 0.24463686347007751, + -0.9669528603553772, + 0.027277180925011635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 282, + "c2w": [ + [ + 0.9750562906265259, + 0.22152578830718994, + -0.01383980456739664, + -0.23152147233486176 + ], + [ + 0.21092601120471954, + -0.9442043900489807, + -0.2529589831829071, + 0.061264753341674805 + ], + [ + -0.06910454481840134, + 0.2437300831079483, + -0.9673780202865601, + 0.029302651062607765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 283, + "c2w": [ + [ + 0.9751266241073608, + 0.220896914601326, + -0.018237382173538208, + -0.2269439846277237 + ], + [ + 0.20911447703838348, + -0.9441417455673218, + -0.25469106435775757, + 0.06352996826171875 + ], + [ + -0.07347914576530457, + 0.24454233050346375, + -0.9668504595756531, + 0.03116258978843689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 284, + "c2w": [ + [ + 0.9758040308952332, + 0.2179364264011383, + -0.01761312410235405, + -0.22188271582126617 + ], + [ + 0.20651647448539734, + -0.9451298117637634, + -0.2531414031982422, + 0.06515273451805115 + ], + [ + -0.07181542366743088, + 0.24337901175022125, + -0.9672689437866211, + 0.03303094953298569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 285, + "c2w": [ + [ + 0.9753636717796326, + 0.21971595287322998, + -0.019763262942433357, + -0.2168518602848053 + ], + [ + 0.20782727003097534, + -0.9452275633811951, + -0.2516995966434479, + 0.06651006639003754 + ], + [ + -0.07398319989442825, + 0.24139128625392914, + -0.9676036238670349, + 0.03464642912149429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 286, + "c2w": [ + [ + 0.9742333292961121, + 0.22399291396141052, + -0.02639256976544857, + -0.21190562844276428 + ], + [ + 0.210847869515419, + -0.9460499882698059, + -0.2460336685180664, + 0.06795606017112732 + ], + [ + -0.08007848262786865, + 0.2341293841600418, + -0.9689018726348877, + 0.03648393601179123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 287, + "c2w": [ + [ + 0.9743017554283142, + 0.22357094287872314, + -0.027424262836575508, + -0.20686142146587372 + ], + [ + 0.21065400540828705, + -0.9475128054618835, + -0.24050851166248322, + 0.07024085521697998 + ], + [ + -0.07975555211305618, + 0.22855083644390106, + -0.9702595472335815, + 0.037670161575078964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 288, + "c2w": [ + [ + 0.9711876511573792, + 0.23619994521141052, + -0.03168795630335808, + -0.1997089684009552 + ], + [ + 0.22238783538341522, + -0.9460245966911316, + -0.23575642704963684, + 0.07390138506889343 + ], + [ + -0.08566324412822723, + 0.22191672027111053, + -0.9712954163551331, + 0.03953560069203377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 289, + "c2w": [ + [ + 0.9693604111671448, + 0.24271544814109802, + -0.03780948743224144, + -0.19409404695034027 + ], + [ + 0.22798508405685425, + -0.9462612867355347, + -0.22937384247779846, + 0.07663339376449585 + ], + [ + -0.09145022928714752, + 0.21372592449188232, + -0.9726037383079529, + 0.04192318022251129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 290, + "c2w": [ + [ + 0.9680885672569275, + 0.24743147194385529, + -0.039776530116796494, + -0.188060462474823 + ], + [ + 0.23257049918174744, + -0.9461473226547241, + -0.22520260512828827, + 0.07928639650344849 + ], + [ + -0.0933566689491272, + 0.20876522362232208, + -0.9734996557235718, + 0.044077906757593155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 291, + "c2w": [ + [ + 0.9662669897079468, + 0.25299695134162903, + -0.048173416405916214, + -0.18168951570987701 + ], + [ + 0.23708802461624146, + -0.9468786120414734, + -0.21727898716926575, + 0.08196103572845459 + ], + [ + -0.10058529675006866, + 0.19852817058563232, + -0.9749200940132141, + 0.04625089466571808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 292, + "c2w": [ + [ + 0.9665384292602539, + 0.2501334846019745, + -0.05689181014895439, + -0.17447276413440704 + ], + [ + 0.23304972052574158, + -0.9489108920097351, + -0.21273455023765564, + 0.08494347333908081 + ], + [ + -0.10719729214906693, + 0.19235751032829285, + -0.9754523634910583, + 0.04816057160496712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 293, + "c2w": [ + [ + 0.967492938041687, + 0.2458639293909073, + -0.059231534600257874, + -0.16724583506584167 + ], + [ + 0.22848311066627502, + -0.9501784443855286, + -0.21202915906906128, + 0.08776140213012695 + ], + [ + -0.10841085016727448, + 0.19160330295562744, + -0.9754666686058044, + 0.04992278665304184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 294, + "c2w": [ + [ + 0.9677516222000122, + 0.24396640062332153, + -0.06274691224098206, + -0.16003447771072388 + ], + [ + 0.22613710165023804, + -0.9511197805404663, + -0.2103167474269867, + 0.0906379222869873 + ], + [ + -0.11099005490541458, + 0.18934497237205505, + -0.9756175875663757, + 0.0518566332757473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 295, + "c2w": [ + [ + 0.9680080413818359, + 0.24069912731647491, + -0.07088300585746765, + -0.15247683227062225 + ], + [ + 0.22183354198932648, + -0.9529598355293274, + -0.20653687417507172, + 0.09355616569519043 + ], + [ + -0.11726190149784088, + 0.18420511484146118, + -0.9758678674697876, + 0.05385133996605873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 296, + "c2w": [ + [ + 0.9690791368484497, + 0.23632259666919708, + -0.07097369432449341, + -0.1444934606552124 + ], + [ + 0.2176388055086136, + -0.9541628360748291, + -0.20544248819351196, + 0.09783726930618286 + ], + [ + -0.11627116054296494, + 0.1836433857679367, + -0.9760922789573669, + 0.05584920570254326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 297, + "c2w": [ + [ + 0.9696161150932312, + 0.23369909822940826, + -0.07231386750936508, + -0.13683736324310303 + ], + [ + 0.2149849236011505, + -0.955082356929779, + -0.20395874977111816, + 0.10124486684799194 + ], + [ + -0.11673067510128021, + 0.18221530318260193, + -0.9763050675392151, + 0.05768829211592674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 298, + "c2w": [ + [ + 0.9710408449172974, + 0.2282208353281021, + -0.0706750750541687, + -0.12907527387142181 + ], + [ + 0.20981837809085846, + -0.9560969471931458, + -0.20458461344242096, + 0.10510975122451782 + ], + [ + -0.11426270008087158, + 0.1838310807943344, + -0.9762941002845764, + 0.05936049297451973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 299, + "c2w": [ + [ + 0.9729101657867432, + 0.2215431183576584, + -0.06606370955705643, + -0.12112973630428314 + ], + [ + 0.20368289947509766, + -0.9566087126731873, + -0.2083580195903778, + 0.10893511772155762 + ], + [ + -0.10935740917921066, + 0.18925759196281433, + -0.9758188724517822, + 0.06075136363506317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 300, + "c2w": [ + [ + 0.9744070768356323, + 0.21588747203350067, + -0.06263720989227295, + -0.11329371482133865 + ], + [ + 0.19871294498443604, + -0.9575201272964478, + -0.20896989107131958, + 0.11282789707183838 + ], + [ + -0.10509037226438522, + 0.1911749243736267, + -0.9759140014648438, + 0.062328606843948364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 301, + "c2w": [ + [ + 0.9755069613456726, + 0.21027515828609467, + -0.06457963585853577, + -0.10544534027576447 + ], + [ + 0.19320106506347656, + -0.9594025015830994, + -0.2054755538702011, + 0.11690139770507812 + ], + [ + -0.10516426712274551, + 0.1879659742116928, + -0.9765291810035706, + 0.06410233676433563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 302, + "c2w": [ + [ + 0.9775197505950928, + 0.20180034637451172, + -0.06108780950307846, + -0.09833475202322006 + ], + [ + 0.1854700744152069, + -0.9607983231544495, + -0.20607639849185944, + 0.12311771512031555 + ], + [ + -0.10027935355901718, + 0.19011379778385162, + -0.9766272306442261, + 0.0656404048204422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 303, + "c2w": [ + [ + 0.9793950319290161, + 0.1949743628501892, + -0.05263424292206764, + -0.09108175337314606 + ], + [ + 0.17988499999046326, + -0.960686981678009, + -0.21147555112838745, + 0.12784963846206665 + ], + [ + -0.0917973443865776, + 0.1976499855518341, + -0.9759650230407715, + 0.0667949989438057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 304, + "c2w": [ + [ + 0.9823047518730164, + 0.18416723608970642, + -0.03405610844492912, + -0.08391227573156357 + ], + [ + 0.1722099930047989, + -0.9596413969993591, + -0.22233344614505768, + 0.1330830156803131 + ], + [ + -0.07362818717956543, + 0.21253439784049988, + -0.9743757247924805, + 0.06767599284648895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 305, + "c2w": [ + [ + 0.9846370220184326, + 0.17384004592895508, + -0.016418712213635445, + -0.07709062099456787 + ], + [ + 0.16552774608135223, + -0.9592027068138123, + -0.2291957587003708, + 0.13802647590637207 + ], + [ + -0.05559227615594864, + 0.22295688092708588, + -0.9732418656349182, + 0.06900699436664581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 306, + "c2w": [ + [ + 0.9854238033294678, + 0.1698167622089386, + -0.010110663250088692, + -0.07064926624298096 + ], + [ + 0.16313351690769196, + -0.9601525664329529, + -0.2269238978624344, + 0.14263945817947388 + ], + [ + -0.048243261873722076, + 0.22196681797504425, + -0.9738600254058838, + 0.07090120762586594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 307, + "c2w": [ + [ + 0.9859877824783325, + 0.16659478843212128, + -0.008616711013019085, + -0.06443431228399277 + ], + [ + 0.1602000743150711, + -0.9600152373313904, + -0.22957932949066162, + 0.14792397618293762 + ], + [ + -0.04651889577507973, + 0.22498202323913574, + -0.9732518196105957, + 0.07153576612472534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 308, + "c2w": [ + [ + 0.9867197275161743, + 0.16209761798381805, + -0.010418407618999481, + -0.057657573372125626 + ], + [ + 0.15523788332939148, + -0.9599528312683105, + -0.23322036862373352, + 0.15275773406028748 + ], + [ + -0.04780564829707146, + 0.22850580513477325, + -0.9723681211471558, + 0.0718662440776825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 309, + "c2w": [ + [ + 0.9867565631866455, + 0.16194844245910645, + -0.009172589518129826, + -0.05088124796748161 + ], + [ + 0.15521001815795898, + -0.9591054916381836, + -0.2366991639137268, + 0.157487154006958 + ], + [ + -0.04713054373860359, + 0.23214077949523926, + -0.9715396761894226, + 0.07187411934137344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 310, + "c2w": [ + [ + 0.9856908321380615, + 0.16826990246772766, + -0.009942417033016682, + -0.04353218153119087 + ], + [ + 0.16080518066883087, + -0.956375241279602, + -0.24390184879302979, + 0.16342288255691528 + ], + [ + -0.05055002123117447, + 0.23881302773952484, + -0.9697489738464355, + 0.07192322611808777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 311, + "c2w": [ + [ + 0.984441876411438, + 0.17498627305030823, + -0.015935860574245453, + -0.03654981777071953 + ], + [ + 0.16583172976970673, + -0.955247700214386, + -0.24495236575603485, + 0.16808947920799255 + ], + [ + -0.05808599665760994, + 0.23849870264530182, + -0.9694041609764099, + 0.07157030701637268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 312, + "c2w": [ + [ + 0.9832355976104736, + 0.18047431111335754, + -0.0260142982006073, + -0.029353173449635506 + ], + [ + 0.1691705286502838, + -0.9561269283294678, + -0.2391706109046936, + 0.1723896563053131 + ], + [ + -0.06803712248802185, + 0.23076021671295166, + -0.9706290364265442, + 0.07154752314090729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 313, + "c2w": [ + [ + 0.9823011159896851, + 0.18512596189975739, + -0.02851078100502491, + -0.02186567895114422 + ], + [ + 0.1733522266149521, + -0.9561708569526672, + -0.23597949743270874, + 0.17676007747650146 + ], + [ + -0.07094711065292358, + 0.22686052322387695, + -0.9713397026062012, + 0.07140818238258362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 314, + "c2w": [ + [ + 0.9804945588111877, + 0.19443993270397186, + -0.028697388246655464, + -0.01494363509118557 + ], + [ + 0.1825205236673355, + -0.9549345970153809, + -0.23406454920768738, + 0.1805882453918457 + ], + [ + -0.07291562110185623, + 0.22426114976406097, + -0.9717974066734314, + 0.0711151584982872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 315, + "c2w": [ + [ + 0.9776996970176697, + 0.2077929526567459, + -0.030420392751693726, + -0.00828392244875431 + ], + [ + 0.1957891434431076, + -0.9542838931083679, + -0.22585132718086243, + 0.18426847457885742 + ], + [ + -0.07596000283956528, + 0.2148587852716446, + -0.973686695098877, + 0.07118052989244461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 316, + "c2w": [ + [ + 0.9747365713119507, + 0.22032296657562256, + -0.03669276088476181, + -0.000775130232796073 + ], + [ + 0.20739081501960754, + -0.9537572264671326, + -0.21756894886493683, + 0.1874958574771881 + ], + [ + -0.08293142169713974, + 0.2044626772403717, + -0.9753550291061401, + 0.07064221799373627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 317, + "c2w": [ + [ + 0.9703125953674316, + 0.23721827566623688, + -0.04712714999914169, + 0.006520468275994062 + ], + [ + 0.22253663837909698, + -0.9520071744918823, + -0.21014221012592316, + 0.19070595502853394 + ], + [ + -0.09471496194601059, + 0.19341611862182617, + -0.9765343070030212, + 0.06981954723596573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 318, + "c2w": [ + [ + 0.9659007787704468, + 0.25382745265960693, + -0.05106153339147568, + 0.0137341832742095 + ], + [ + 0.2385205775499344, + -0.9490663409233093, + -0.20586660504341125, + 0.19396349787712097 + ], + [ + -0.10071537643671036, + 0.18666748702526093, + -0.9772469997406006, + 0.06858810037374496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 319, + "c2w": [ + [ + 0.9653190970420837, + 0.25571224093437195, + -0.052633218467235565, + 0.022163497284054756 + ], + [ + 0.24010425806045532, + -0.9487209320068359, + -0.20561759173870087, + 0.19611597061157227 + ], + [ + -0.10251316428184509, + 0.185849130153656, + -0.9772160053253174, + 0.06704860180616379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 320, + "c2w": [ + [ + 0.9649347066879272, + 0.2569676637649536, + -0.053559839725494385, + 0.030650269240140915 + ], + [ + 0.24160200357437134, + -0.9492290616035461, + -0.2014760971069336, + 0.19840365648269653 + ], + [ + -0.1026134043931961, + 0.18147112429141998, + -0.9780279994010925, + 0.06596626341342926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 321, + "c2w": [ + [ + 0.9636510014533997, + 0.2614533603191376, + -0.05494428426027298, + 0.03877432271838188 + ], + [ + 0.2458147406578064, + -0.9482494592666626, + -0.200992614030838, + 0.20051023364067078 + ], + [ + -0.1046510860323906, + 0.180180624127388, + -0.9780506491661072, + 0.064866803586483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 322, + "c2w": [ + [ + 0.9624463319778442, + 0.26546183228492737, + -0.056807518005371094, + 0.04732179269194603 + ], + [ + 0.25001776218414307, + -0.9482941031455994, + -0.19552354514598846, + 0.20269811153411865 + ], + [ + -0.10577426850795746, + 0.1739780306816101, + -0.9790523052215576, + 0.06450910866260529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 323, + "c2w": [ + [ + 0.9605675935745239, + 0.2725507318973541, + -0.05500933900475502, + 0.055644769221544266 + ], + [ + 0.25751394033432007, + -0.9466640949249268, + -0.19368454813957214, + 0.20447807013988495 + ], + [ + -0.10486423224210739, + 0.17188143730163574, + -0.9795204401016235, + 0.06385048478841782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 324, + "c2w": [ + [ + 0.9578557014465332, + 0.2828449308872223, + -0.05011196434497833, + 0.06360149383544922 + ], + [ + 0.2685583829879761, + -0.9436971545219421, + -0.19316324591636658, + 0.20594581961631775 + ], + [ + -0.10192576050758362, + 0.171564519405365, + -0.9798861145973206, + 0.06323806196451187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 325, + "c2w": [ + [ + 0.9556680917739868, + 0.28997570276260376, + -0.05111313983798027, + 0.07197628915309906 + ], + [ + 0.27591967582702637, + -0.94254469871521, + -0.18835553526878357, + 0.20727357268333435 + ], + [ + -0.10279495269060135, + 0.1659022569656372, + -0.98076993227005, + 0.06285519152879715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 326, + "c2w": [ + [ + 0.9540534019470215, + 0.295680433511734, + -0.04852978512644768, + 0.08004117757081985 + ], + [ + 0.2821667194366455, + -0.9410611987113953, + -0.18650932610034943, + 0.20887023210525513 + ], + [ + -0.10081665217876434, + 0.16424638032913208, + -0.9812538623809814, + 0.06178878992795944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 327, + "c2w": [ + [ + 0.9520440101623535, + 0.3027989864349365, + -0.043874531984329224, + 0.08802229166030884 + ], + [ + 0.28987759351730347, + -0.9385567307472229, + -0.18730244040489197, + 0.21047145128250122 + ], + [ + -0.09789372980594635, + 0.1656019240617752, + -0.9813219904899597, + 0.061005230993032455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 328, + "c2w": [ + [ + 0.9473283886909485, + 0.3176834285259247, + -0.04057249426841736, + 0.09492427855730057 + ], + [ + 0.3043566048145294, + -0.9324515461921692, + -0.1946822851896286, + 0.2127210795879364 + ], + [ + -0.09967922419309616, + 0.17207954823970795, + -0.98002690076828, + 0.059971440583467484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 329, + "c2w": [ + [ + 0.9444654583930969, + 0.3267059326171875, + -0.035330165177583694, + 0.10222555696964264 + ], + [ + 0.31384536623954773, + -0.9286655187606812, + -0.1976904273033142, + 0.21462565660476685 + ], + [ + -0.09739654511213303, + 0.1756235659122467, + -0.9796276092529297, + 0.05937521532177925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 330, + "c2w": [ + [ + 0.9415097236633301, + 0.3356657326221466, + -0.029798835515975952, + 0.10972969233989716 + ], + [ + 0.32331332564353943, + -0.9247040152549744, + -0.20097501575946808, + 0.21636080741882324 + ], + [ + -0.09501553326845169, + 0.17958557605743408, + -0.9791430234909058, + 0.058884408324956894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 331, + "c2w": [ + [ + 0.9377678036689758, + 0.34599244594573975, + -0.029677262529730797, + 0.1177184134721756 + ], + [ + 0.33325639367103577, + -0.9206780791282654, + -0.20320437848567963, + 0.21923810243606567 + ], + [ + -0.09763038158416748, + 0.18066838383674622, + -0.978686511516571, + 0.058711156249046326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 332, + "c2w": [ + [ + 0.9343727231025696, + 0.35464873909950256, + -0.03423214331269264, + 0.12593398988246918 + ], + [ + 0.3410055637359619, + -0.9179794192314148, + -0.20255613327026367, + 0.2212626338005066 + ], + [ + -0.10326068103313446, + 0.17758958041667938, + -0.9786721467971802, + 0.05886754393577576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 333, + "c2w": [ + [ + 0.9315661787986755, + 0.3615751266479492, + -0.03805156052112579, + 0.13438837230205536 + ], + [ + 0.34720495343208313, + -0.9157926440238953, + -0.2019222378730774, + 0.22260800004005432 + ], + [ + -0.10785739868879318, + 0.17489224672317505, + -0.9786620736122131, + 0.05911099165678024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 334, + "c2w": [ + [ + 0.9287581443786621, + 0.3686133623123169, + -0.039147261530160904, + 0.1430165320634842 + ], + [ + 0.35402682423591614, + -0.9133614897727966, + -0.20108647644519806, + 0.22359097003936768 + ], + [ + -0.109878771007061, + 0.17290152609348297, + -0.9787909388542175, + 0.059426892548799515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 335, + "c2w": [ + [ + 0.9235747456550598, + 0.3808923661708832, + -0.04393957555294037, + 0.15094506740570068 + ], + [ + 0.3658367097377777, + -0.9097232818603516, + -0.19638507068157196, + 0.22600972652435303 + ], + [ + -0.1147744208574295, + 0.16530157625675201, + -0.9795418381690979, + 0.060727305710315704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 336, + "c2w": [ + [ + 0.9217389225959778, + 0.3851081132888794, + -0.04570697247982025, + 0.15988008677959442 + ], + [ + 0.37028276920318604, + -0.9089770317077637, + -0.19144560396671295, + 0.2271188497543335 + ], + [ + -0.1152738407254219, + 0.1595383584499359, + -0.9804384112358093, + 0.06163811311125755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 337, + "c2w": [ + [ + 0.9196955561637878, + 0.38985297083854675, + -0.046633634716272354, + 0.16985441744327545 + ], + [ + 0.37478169798851013, + -0.9070740342140198, + -0.19171686470508575, + 0.22929811477661133 + ], + [ + -0.11704155057668686, + 0.1588437259197235, + -0.9803417325019836, + 0.06217087060213089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 338, + "c2w": [ + [ + 0.915490984916687, + 0.40009430050849915, + -0.04243539273738861, + 0.17845554649829865 + ], + [ + 0.38539743423461914, + -0.9023351073265076, + -0.19302880764007568, + 0.2305813431739807 + ], + [ + -0.1155206710100174, + 0.160361647605896, + -0.98027503490448, + 0.062244463711977005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 339, + "c2w": [ + [ + 0.9132967591285706, + 0.4056727886199951, + -0.03631218895316124, + 0.1873326599597931 + ], + [ + 0.39186203479766846, + -0.8995014429092407, + -0.19323892891407013, + 0.2316575050354004 + ], + [ + -0.11105464398860931, + 0.16225512325763702, + -0.9804795384407043, + 0.062295641750097275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 340, + "c2w": [ + [ + 0.9088746309280396, + 0.41564419865608215, + -0.03444928675889969, + 0.19596408307552338 + ], + [ + 0.4020138084888458, + -0.895064651966095, + -0.19298739731311798, + 0.2326335906982422 + ], + [ + -0.11104843765497208, + 0.16155226528644562, + -0.9805963039398193, + 0.061977569013834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 341, + "c2w": [ + [ + 0.9012939929962158, + 0.4319533407688141, + -0.032946791499853134, + 0.20390953123569489 + ], + [ + 0.4180716276168823, + -0.8872115612030029, + -0.19511984288692474, + 0.2341749668121338 + ], + [ + -0.11351344734430313, + 0.16208621859550476, + -0.9802258610725403, + 0.060022179037332535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 342, + "c2w": [ + [ + 0.8958271741867065, + 0.4432186484336853, + -0.032417722046375275, + 0.212522953748703 + ], + [ + 0.4291015565395355, + -0.8816556334495544, + -0.19635482132434845, + 0.23465126752853394 + ], + [ + -0.11560938507318497, + 0.1619894951581955, + -0.9799968600273132, + 0.058670587837696075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 343, + "c2w": [ + [ + 0.8938058018684387, + 0.4474206268787384, + -0.03042987361550331, + 0.2214447408914566 + ], + [ + 0.43320900201797485, + -0.8789728879928589, + -0.19934041798114777, + 0.2344881296157837 + ], + [ + -0.1159360483288765, + 0.16498911380767822, + -0.9794577360153198, + 0.05717376247048378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 344, + "c2w": [ + [ + 0.8901534676551819, + 0.4550217092037201, + -0.02412590943276882, + 0.22931936383247375 + ], + [ + 0.4409755766391754, + -0.8735904097557068, + -0.20586487650871277, + 0.2360982596874237 + ], + [ + -0.11474915593862534, + 0.17261239886283875, + -0.9782829880714417, + 0.05582868680357933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 345, + "c2w": [ + [ + 0.8783757090568542, + 0.47744807600975037, + -0.02234829217195511, + 0.23572227358818054 + ], + [ + 0.4634360373020172, + -0.862176239490509, + -0.20464400947093964, + 0.23547208309173584 + ], + [ + -0.11697506159543991, + 0.16939732432365417, + -0.9785813093185425, + 0.054287441074848175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 346, + "c2w": [ + [ + 0.8738729953765869, + 0.48559463024139404, + -0.02331935614347458, + 0.24375267326831818 + ], + [ + 0.47162193059921265, + -0.858415424823761, + -0.20173172652721405, + 0.23562753200531006 + ], + [ + -0.11797753721475601, + 0.1652899980545044, + -0.9791631698608398, + 0.05336125195026398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 347, + "c2w": [ + [ + 0.8743730187416077, + 0.48493069410324097, + -0.017720144242048264, + 0.2518777549266815 + ], + [ + 0.47145482897758484, + -0.8575879335403442, + -0.20560458302497864, + 0.23516380786895752 + ], + [ + -0.11490055173635483, + 0.1714208573102951, + -0.9784747362136841, + 0.051875099539756775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 348, + "c2w": [ + [ + 0.8707664608955383, + 0.491252064704895, + -0.020909758284687996, + 0.25925204157829285 + ], + [ + 0.4766395688056946, + -0.8537806272506714, + -0.2094595581293106, + 0.23479360342025757 + ], + [ + -0.12074978649616241, + 0.17242392897605896, + -0.977593719959259, + 0.0505971685051918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 349, + "c2w": [ + [ + 0.8651233911514282, + 0.5006735324859619, + -0.02979198843240738, + 0.2664744257926941 + ], + [ + 0.4853518605232239, + -0.8506676554679871, + -0.20198535919189453, + 0.23538869619369507 + ], + [ + -0.12647180259227753, + 0.1602826565504074, + -0.9789353013038635, + 0.050491105765104294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 350, + "c2w": [ + [ + 0.8585623502731323, + 0.511688768863678, + -0.032331593334674835, + 0.2733079493045807 + ], + [ + 0.497981458902359, + -0.8472461104393005, + -0.18490132689476013, + 0.2353839874267578 + ], + [ + -0.12200474739074707, + 0.14264878630638123, + -0.9822251200675964, + 0.051086392253637314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 351, + "c2w": [ + [ + 0.8504759669303894, + 0.5245683193206787, + -0.0389707051217556, + 0.2802617847919464 + ], + [ + 0.5115320086479187, + -0.8420529365539551, + -0.1711195409297943, + 0.2349628210067749 + ], + [ + -0.12257929146289825, + 0.12559829652309418, + -0.9844792485237122, + 0.051388390362262726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 352, + "c2w": [ + [ + 0.8482400178909302, + 0.5284150242805481, + -0.03558669984340668, + 0.2886319160461426 + ], + [ + 0.5171645879745483, + -0.840914249420166, + -0.1593865603208542, + 0.23416650295257568 + ], + [ + -0.1141476184129715, + 0.11679388582706451, + -0.986574649810791, + 0.050952330231666565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 353, + "c2w": [ + [ + 0.8506092429161072, + 0.5248621702194214, + -0.03136184811592102, + 0.29755690693855286 + ], + [ + 0.5144138336181641, + -0.8430550694465637, + -0.15696030855178833, + 0.23366934061050415 + ], + [ + -0.108822301030159, + 0.11737892776727676, + -0.9871068596839905, + 0.04964334890246391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 354, + "c2w": [ + [ + 0.8506773114204407, + 0.5250642895698547, + -0.025605041533708572, + 0.3057692348957062 + ], + [ + 0.5150681734085083, + -0.8422435522079468, + -0.1591556966304779, + 0.2331434190273285 + ], + [ + -0.10513264685869217, + 0.12220179289579391, + -0.9869213700294495, + 0.047663722187280655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 355, + "c2w": [ + [ + 0.8508997559547424, + 0.5249267220497131, + -0.02053063176572323, + 0.31419697403907776 + ], + [ + 0.5157128572463989, + -0.8421304821968079, + -0.15765942633152008, + 0.23245811462402344 + ], + [ + -0.10004912316799164, + 0.1235644593834877, + -0.9872801303863525, + 0.045632921159267426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 356, + "c2w": [ + [ + 0.8543498516082764, + 0.5193942785263062, + -0.017774740234017372, + 0.322551965713501 + ], + [ + 0.5107226967811584, + -0.8454323410987854, + -0.15622559189796448, + 0.23168185353279114 + ], + [ + -0.09617002308368683, + 0.12439334392547607, + -0.9875614643096924, + 0.04335913807153702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 357, + "c2w": [ + [ + 0.8496943116188049, + 0.5265471339225769, + -0.027707448229193687, + 0.3294930160045624 + ], + [ + 0.5171031951904297, + -0.8424224257469177, + -0.1514223963022232, + 0.2307620644569397 + ], + [ + -0.10307241231203079, + 0.11433513462543488, + -0.9880807399749756, + 0.040976330637931824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 358, + "c2w": [ + [ + 0.8438083529472351, + 0.5350711345672607, + -0.04106445610523224, + 0.3359460234642029 + ], + [ + 0.5261082649230957, + -0.8399046063423157, + -0.13330549001693726, + 0.22991985082626343 + ], + [ + -0.10581814497709274, + 0.09087993949651718, + -0.9902238845825195, + 0.03897897154092789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 359, + "c2w": [ + [ + 0.8426843285560608, + 0.5360302925109863, + -0.050543464720249176, + 0.34277573227882385 + ], + [ + 0.5279884338378906, + -0.841106116771698, + -0.11733999103307724, + 0.22889217734336853 + ], + [ + -0.10541021078824997, + 0.07219421118497849, + -0.9918047785758972, + 0.03650949150323868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 360, + "c2w": [ + [ + 0.8434666991233826, + 0.5341949462890625, + -0.05656592175364494, + 0.349494993686676 + ], + [ + 0.5263422727584839, + -0.8428992629051208, + -0.11173466593027115, + 0.22780337929725647 + ], + [ + -0.10736747086048126, + 0.06447143107652664, + -0.9921268224716187, + 0.03282266855239868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 361, + "c2w": [ + [ + 0.8472325801849365, + 0.5279507637023926, + -0.05886368453502655, + 0.35632550716400146 + ], + [ + 0.5196861028671265, + -0.8466970324516296, + -0.11415094882249832, + 0.2265491485595703 + ], + [ + -0.11010579019784927, + 0.06612176448106766, + -0.9917179942131042, + 0.02767399698495865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 362, + "c2w": [ + [ + 0.8563486337661743, + 0.5142554640769958, + -0.04699275270104408, + 0.3633807301521301 + ], + [ + 0.5059635043144226, + -0.8537647128105164, + -0.12282825261354446, + 0.22556978464126587 + ], + [ + -0.10328585654497147, + 0.08140718936920166, + -0.991314709186554, + 0.02192365936934948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 363, + "c2w": [ + [ + 0.8624240159988403, + 0.5048885345458984, + -0.03622683882713318, + 0.36981379985809326 + ], + [ + 0.496422678232193, + -0.8576088547706604, + -0.1344306915998459, + 0.2248862087726593 + ], + [ + -0.09894097596406937, + 0.09795244038105011, + -0.9902606010437012, + 0.015917858108878136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 364, + "c2w": [ + [ + 0.8663432002067566, + 0.49861374497413635, + -0.02887527458369732, + 0.3756110370159149 + ], + [ + 0.4898986220359802, + -0.8596075773239136, + -0.14516937732696533, + 0.22433120012283325 + ], + [ + -0.09720485657453537, + 0.11162054538726807, + -0.9889853596687317, + 0.010128641501069069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 365, + "c2w": [ + [ + 0.8683503270149231, + 0.49534159898757935, + -0.02458552084863186, + 0.3802380859851837 + ], + [ + 0.4865313172340393, + -0.8604255318641663, + -0.15150965750217438, + 0.2254338562488556 + ], + [ + -0.09620305150747299, + 0.11960183829069138, + -0.9881500005722046, + 0.004700074438005686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 366, + "c2w": [ + [ + 0.868735671043396, + 0.49474939703941345, + -0.022832375019788742, + 0.3852153420448303 + ], + [ + 0.48543787002563477, + -0.8597168326377869, + -0.1588616520166397, + 0.22530367970466614 + ], + [ + -0.09822607785463333, + 0.12692508101463318, + -0.9870368242263794, + -0.0008928212919272482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 367, + "c2w": [ + [ + 0.8696578145027161, + 0.4933273196220398, + -0.017985643818974495, + 0.3889191150665283 + ], + [ + 0.4838489294052124, + -0.8590424656867981, + -0.16714148223400116, + 0.22601699829101562 + ], + [ + -0.09790588915348053, + 0.13665355741977692, + -0.9857688546180725, + -0.005856744945049286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + } + ] +} diff --git a/dycheck_eval/source/spin__camera_2/caption.txt b/dycheck_eval/source/spin__camera_2/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..648511187304f01481854c367edd649999854059 --- /dev/null +++ b/dycheck_eval/source/spin__camera_2/caption.txt @@ -0,0 +1 @@ +A person sits on a modern, textured bench, adjusting their position and shifting weight as they interact with the seating, demonstrating its flexibility and comfort in a stylish, contemporary indoor space. diff --git a/dycheck_eval/source/spin__camera_2/extras/frame_mapping.json b/dycheck_eval/source/spin__camera_2/extras/frame_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..77ae4dd704c22a429eaabe56d1f1935f8f09d57b --- /dev/null +++ b/dycheck_eval/source/spin__camera_2/extras/frame_mapping.json @@ -0,0 +1,1073 @@ +{ + "original_scene": "spin", + "source_frame_names": [ + "0_00000", + "0_00001", + "0_00002", + "0_00003", + "0_00004", + "0_00005", + "0_00006", + "0_00007", + "0_00008", + "0_00009", + "0_00010", + "0_00011", + "0_00012", + "0_00013", + "0_00014", + "0_00015", + "0_00016", + "0_00017", + "0_00018", + "0_00019", + "0_00020", + "0_00021", + "0_00022", + "0_00023", + "0_00024", + "0_00025", + "0_00026", + "0_00027", + "0_00028", + "0_00029", + "0_00030", + "0_00031", + "0_00032", + "0_00033", + "0_00034", + "0_00035", + "0_00036", + "0_00037", + "0_00038", + "0_00039", + "0_00040", + "0_00041", + "0_00042", + "0_00043", + "0_00044", + "0_00045", + "0_00046", + "0_00047", + "0_00048", + "0_00049", + "0_00050", + "0_00051", + "0_00052", + "0_00053", + "0_00054", + "0_00055", + "0_00056", + "0_00057", + "0_00130", + "0_00131", + "0_00132", + "0_00133", + "0_00134", + "0_00135", + "0_00136", + "0_00137", + "0_00138", + "0_00139", + "0_00140", + "0_00141", + "0_00142", + "0_00143", + "0_00144", + "0_00145", + "0_00146", + "0_00147", + "0_00148", + "0_00149", + "0_00150", + "0_00151", + "0_00152", + "0_00153", + "0_00154", + "0_00155", + "0_00156", + "0_00157", + "0_00158", + "0_00159", + "0_00160", + "0_00161", + "0_00162", + "0_00163", + "0_00164", + "0_00165", + "0_00166", + "0_00167", + "0_00168", + "0_00169", + "0_00170", + "0_00171", + "0_00172", + "0_00173", + "0_00174", + "0_00175", + "0_00176", + "0_00177", + "0_00178", + "0_00179", + "0_00180", + "0_00181", + "0_00182", + "0_00183", + "0_00184", + "0_00185", + "0_00186", + "0_00187", + "0_00188", + "0_00189", + "0_00190", + "0_00191", + "0_00192", + "0_00193", + "0_00194", + "0_00195", + "0_00196", + "0_00197", + "0_00198", + "0_00199", + "0_00200", + "0_00201", + "0_00202", + "0_00203", + "0_00204", + "0_00205", + "0_00206", + "0_00207", + "0_00208", + "0_00209", + "0_00210", + "0_00211", + "0_00212", + "0_00213", + "0_00214", + "0_00215", + "0_00216", + "0_00217", + "0_00218", + "0_00219", + "0_00220", + "0_00221", + "0_00222", + "0_00223", + "0_00224", + "0_00225", + "0_00226", + "0_00227", + "0_00228", + "0_00229", + "0_00230", + "0_00231", + "0_00232", + "0_00233", + "0_00234", + "0_00235", + "0_00236", + "0_00237", + "0_00238", + "0_00239", + "0_00240", + "0_00241", + "0_00242", + "0_00243", + "0_00244", + "0_00245", + "0_00246", + "0_00247", + "0_00248", + "0_00249", + "0_00250", + "0_00251", + "0_00252", + "0_00253", + "0_00254", + "0_00255", + "0_00256", + "0_00257", + "0_00258", + "0_00259", + "0_00260", + "0_00261", + "0_00262", + "0_00263", + "0_00264", + "0_00265", + "0_00266", + "0_00267", + "0_00268", + "0_00269", + "0_00270", + "0_00271", + "0_00272", + "0_00273", + "0_00274", + "0_00275", + "0_00276", + "0_00277", + "0_00278", + "0_00279", + "0_00280", + "0_00281", + "0_00282", + "0_00283", + "0_00284", + "0_00285", + "0_00286", + "0_00287", + "0_00288", + "0_00289", + "0_00290", + "0_00291", + "0_00292", + "0_00293", + "0_00294", + "0_00295", + "0_00296", + "0_00297", + "0_00298", + "0_00299", + "0_00300", + "0_00301", + "0_00302", + "0_00303", + "0_00304", + "0_00305", + "0_00306", + "0_00307", + "0_00308", + "0_00309", + "0_00310", + "0_00311", + "0_00312", + "0_00313", + "0_00314", + "0_00315", + "0_00316", + "0_00317", + "0_00318", + "0_00319", + "0_00320", + "0_00321", + "0_00322", + "0_00323", + "0_00324", + "0_00325", + "0_00326", + "0_00327", + "0_00328", + "0_00329", + "0_00330", + "0_00331", + "0_00332", + "0_00333", + "0_00334", + "0_00335", + "0_00336", + "0_00337", + "0_00338", + "0_00339", + "0_00340", + "0_00341", + "0_00342", + "0_00343", + "0_00344", + "0_00345", + "0_00346", + "0_00347", + "0_00348", + "0_00349", + "0_00350", + "0_00351", + "0_00352", + "0_00353", + "0_00354", + "0_00355", + "0_00356", + "0_00357", + "0_00358", + "0_00359", + "0_00360", + "0_00361", + "0_00362", + "0_00363", + "0_00364", + "0_00365", + "0_00366", + "0_00367", + "0_00368", + "0_00369", + "0_00370", + "0_00371", + "0_00372", + "0_00373", + "0_00374", + "0_00375", + "0_00376", + "0_00377", + "0_00378", + "0_00379", + "0_00380", + "0_00381", + "0_00382", + "0_00383", + "0_00384", + "0_00385", + "0_00386", + "0_00387", + "0_00388", + "0_00389", + "0_00390", + "0_00391", + "0_00392", + "0_00393", + "0_00394", + "0_00395", + "0_00396", + "0_00397", + "0_00398", + "0_00399", + "0_00400", + "0_00401", + "0_00402", + "0_00403", + "0_00404", + "0_00405", + "0_00406", + "0_00407", + "0_00408", + "0_00409", + "0_00410", + "0_00411", + "0_00412", + "0_00413", + "0_00414", + "0_00415", + "0_00416", + "0_00417", + "0_00418", + "0_00419", + "0_00420", + "0_00421", + "0_00422", + "0_00423", + "0_00424", + "0_00425" + ], + "target_frame_names": [ + "2_00000", + "2_00001", + "2_00002", + "2_00003", + "2_00004", + "2_00005", + "2_00006", + "2_00007", + "2_00008", + "2_00009", + "2_00010", + "2_00011", + "2_00012", + "2_00013", + "2_00014", + "2_00015", + "2_00016", + "2_00017", + "2_00018", + "2_00019", + "2_00020", + "2_00021", + "2_00022", + "2_00023", + "2_00024", + "2_00025", + "2_00026", + "2_00027", + "2_00028", + "2_00029", + "2_00030", + "2_00031", + "2_00032", + "2_00033", + "2_00034", + "2_00035", + "2_00036", + "2_00037", + "2_00038", + "2_00039", + "2_00040", + "2_00041", + "2_00042", + "2_00043", + "2_00044", + "2_00045", + "2_00046", + "2_00047", + "2_00048", + "2_00049", + "2_00050", + "2_00051", + "2_00052", + "2_00053", + "2_00054", + "2_00055", + "2_00056", + "2_00057", + "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_00159", + "2_00160", + "2_00161", + "2_00162", + "2_00163", + "2_00164", + "2_00165", + "2_00166", + "2_00167", + "2_00168", + "2_00169", + "2_00170", + "2_00171", + "2_00172", + "2_00173", + "2_00174", + "2_00175", + "2_00176", + "2_00177", + "2_00178", + "2_00179", + "2_00180", + "2_00181", + "2_00182", + "2_00183", + "2_00184", + "2_00185", + "2_00186", + "2_00187", + "2_00188", + "2_00189", + "2_00190", + "2_00191", + "2_00192", + "2_00193", + "2_00194", + "2_00195", + "2_00196", + "2_00197", + "2_00198", + "2_00199", + "2_00200", + "2_00201", + "2_00202", + "2_00203", + "2_00204", + "2_00205", + "2_00206", + "2_00207", + "2_00208", + "2_00209", + "2_00210", + "2_00211", + "2_00212", + "2_00213", + "2_00214", + "2_00215", + "2_00216", + "2_00217", + "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_00339", + "2_00340", + "2_00341", + "2_00342", + "2_00343", + "2_00344", + "2_00345", + "2_00346", + "2_00347", + "2_00348", + "2_00349", + "2_00350", + "2_00351", + "2_00352", + "2_00353", + "2_00354", + "2_00355", + "2_00356", + "2_00357", + "2_00358", + "2_00359", + "2_00360", + "2_00361", + "2_00362", + "2_00363", + "2_00364", + "2_00365", + "2_00366", + "2_00367", + "2_00368", + "2_00369", + "2_00370", + "2_00371", + "2_00372", + "2_00373", + "2_00374", + "2_00375", + "2_00376", + "2_00377", + "2_00378", + "2_00379", + "2_00380", + "2_00381", + "2_00382", + "2_00383", + "2_00384", + "2_00385", + "2_00386", + "2_00387", + "2_00388", + "2_00389", + "2_00390", + "2_00391", + "2_00392", + "2_00393", + "2_00394", + "2_00395", + "2_00396", + "2_00397", + "2_00398", + "2_00399", + "2_00400", + "2_00401", + "2_00402", + "2_00403", + "2_00404", + "2_00405", + "2_00406", + "2_00407", + "2_00408", + "2_00409", + "2_00410", + "2_00411", + "2_00412", + "2_00413", + "2_00414", + "2_00415", + "2_00416", + "2_00417", + "2_00418", + "2_00419", + "2_00420", + "2_00421", + "2_00422", + "2_00423", + "2_00424", + "2_00425" + ], + "original_time_ids": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268, + 269, + 270, + 271, + 272, + 273, + 274, + 275, + 276, + 277, + 278, + 279, + 280, + 281, + 282, + 283, + 284, + 285, + 286, + 287, + 288, + 289, + 290, + 291, + 292, + 293, + 294, + 295, + 296, + 297, + 298, + 299, + 300, + 301, + 302, + 303, + 304, + 305, + 306, + 307, + 308, + 309, + 310, + 311, + 312, + 313, + 314, + 315, + 316, + 317, + 318, + 319, + 320, + 321, + 322, + 323, + 324, + 325, + 326, + 327, + 328, + 329, + 330, + 331, + 332, + 333, + 334, + 335, + 336, + 337, + 338, + 339, + 340, + 341, + 342, + 343, + 344, + 345, + 346, + 347, + 348, + 349, + 350, + 351, + 352, + 353, + 354, + 355, + 356, + 357, + 358, + 359, + 360, + 361, + 362, + 363, + 364, + 365, + 366, + 367, + 368, + 369, + 370, + 371, + 372, + 373, + 374, + 375, + 376, + 377, + 378, + 379, + 380, + 381, + 382, + 383, + 384, + 385, + 386, + 387, + 388, + 389, + 390, + 391, + 392, + 393, + 394, + 395, + 396, + 397, + 398, + 399, + 400, + 401, + 402, + 403, + 404, + 405, + 406, + 407, + 408, + 409, + 410, + 411, + 412, + 413, + 414, + 415, + 416, + 417, + 418, + 419, + 420, + 421, + 422, + 423, + 424, + 425 + ], + "source_camera_id": 0, + "target_camera_id": 2 +} diff --git a/dycheck_eval/source/spin__camera_2/transforms.json b/dycheck_eval/source/spin__camera_2/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..0e6df62f86b6cf455ef3981daa6a1d1b8702e31b --- /dev/null +++ b/dycheck_eval/source/spin__camera_2/transforms.json @@ -0,0 +1,12403 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 354, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -6.903670899063495e-18, + 5.426858962209735e-10, + 1.3969838619232178e-08 + ], + [ + 6.903670899063495e-18, + -1.0, + -2.544260269132792e-08, + -5.960464477539063e-08 + ], + [ + 5.426858962209735e-10, + 2.544260269132792e-08, + -1.0, + -2.561137080192566e-09 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999865293502808, + -0.0045136804692447186, + -0.0025585631374269724, + -0.0002689861867111176 + ], + [ + -0.004514934029430151, + -0.9999896883964539, + -0.0004844287468586117, + 0.00011292304407106712 + ], + [ + -0.0025563500821590424, + 0.0004959739744663239, + -0.9999966025352478, + 0.0009191245189867914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999331831932068, + -0.01150253415107727, + 0.0011705289361998439, + 0.0002434607595205307 + ], + [ + -0.01149715855717659, + -0.9999237656593323, + -0.0044999197125434875, + 0.00015014410018920898 + ], + [ + 0.0012222001096233726, + 0.004486161284148693, + -0.9999892115592957, + 0.0016144737601280212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998986721038818, + -0.013747715391218662, + -0.0036912441719323397, + 0.0006577546009793878 + ], + [ + -0.013776902109384537, + -0.9998731017112732, + -0.008001667447388172, + 0.0003479400766082108 + ], + [ + -0.0035807709209620953, + 0.00805171113461256, + -0.9999611973762512, + 0.001781192608177662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998750686645508, + -0.014328468590974808, + -0.006672864314168692, + 0.0010009596589952707 + ], + [ + -0.014394579455256462, + -0.9998466968536377, + -0.009967072866857052, + 0.0005751848220825195 + ], + [ + -0.006529028527438641, + 0.010061881504952908, + -0.9999280571937561, + 0.0019902861677110195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998040795326233, + -0.017086029052734375, + -0.009990929625928402, + 0.0015229737618938088 + ], + [ + -0.01719672419130802, + -0.9997904896736145, + -0.011100576259195805, + 0.0006760358810424805 + ], + [ + -0.00979917123913765, + 0.011270212940871716, + -0.9998884797096252, + 0.0023207631893455982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997518062591553, + -0.016573946923017502, + -0.014888321980834007, + 0.0006922611501067877 + ], + [ + -0.016748355701565742, + -0.99979168176651, + -0.011667107231914997, + 0.0017548640025779605 + ], + [ + -0.014691850170493126, + 0.011913565918803215, + -0.9998210668563843, + 0.0031013984698802233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997764229774475, + -0.015114790759980679, + -0.01478597428649664, + 0.00019417573639657348 + ], + [ + -0.015244835987687111, + -0.9998457431793213, + -0.008722340688109398, + 0.00224511232227087 + ], + [ + -0.014651856385171413, + 0.008945800364017487, + -0.9998526573181152, + 0.003959069959819317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997777342796326, + -0.01363484375178814, + -0.0160814356058836, + -0.0004991821479052305 + ], + [ + -0.013752034865319729, + -0.9998795390129089, + -0.007199453189969063, + 0.0026812872383743525 + ], + [ + -0.015981335192918777, + 0.007419005502015352, + -0.9998447895050049, + 0.004582270048558712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997953772544861, + -0.012926878407597542, + -0.015561284497380257, + -0.0016680543776601553 + ], + [ + -0.01304410956799984, + -0.9998871088027954, + -0.007455748040229082, + 0.00264894962310791 + ], + [ + -0.0154631482437253, + 0.00765720522031188, + -0.9998511075973511, + 0.004341016989201307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9997854232788086, + -0.015235689468681812, + -0.01403654646128416, + -0.0022698761895298958 + ], + [ + -0.015385202132165432, + -0.9998254179954529, + -0.010605965740978718, + 0.002958953380584717 + ], + [ + -0.013872506096959114, + 0.010819644667208195, + -0.9998452067375183, + 0.00419291527941823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999731183052063, + -0.014090146869421005, + -0.01841410994529724, + -0.0029838266782462597 + ], + [ + -0.014306172728538513, + -0.9998297691345215, + -0.011652951128780842, + 0.003521144390106201 + ], + [ + -0.018246782943606377, + 0.011913253925740719, + -0.9997625350952148, + 0.0036715888418257236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9997180700302124, + -0.012821398675441742, + -0.019986266270279884, + -0.003923402167856693 + ], + [ + -0.013085088692605495, + -0.9998283386230469, + -0.013119124807417393, + 0.0043683964759111404 + ], + [ + -0.0198146291077137, + 0.013376948423683643, + -0.999714195728302, + 0.0034626030828803778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996683597564697, + -0.017596866935491562, + -0.018803484737873077, + -0.0047589694149792194 + ], + [ + -0.017990075051784515, + -0.999618649482727, + -0.02095106989145279, + 0.004869937896728516 + ], + [ + -0.018427640199661255, + 0.021282397210597992, + -0.9996036887168884, + 0.0024869046173989773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9996146559715271, + -0.020236585289239883, + -0.01900101639330387, + -0.006016647908836603 + ], + [ + -0.020816989243030548, + -0.999306857585907, + -0.03086189366877079, + 0.005693972110748291 + ], + [ + -0.018363306298851967, + 0.03124554455280304, + -0.9993430376052856, + 0.001382880611345172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9996604919433594, + -0.0171609278768301, + -0.019606513902544975, + -0.008273422718048096 + ], + [ + -0.01792288012802601, + -0.9990639090538025, + -0.03937111049890518, + 0.006067991256713867 + ], + [ + -0.01891251467168331, + 0.039709147065877914, + -0.9990322589874268, + 3.1317584216594696e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9995938539505005, + -0.012158604338765144, + -0.02577502466738224, + -0.010652657598257065 + ], + [ + -0.013200243934988976, + -0.999086856842041, + -0.04063549265265465, + 0.006943197920918465 + ], + [ + -0.025257417932152748, + 0.04095922410488129, + -0.9988415241241455, + -0.00026309353415854275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9994935393333435, + -0.010750860907137394, + -0.02995169535279274, + -0.012919118627905846 + ], + [ + -0.01184780802577734, + -0.999256432056427, + -0.036690447479486465, + 0.007637711241841316 + ], + [ + -0.029534969478845596, + 0.037026725709438324, + -0.9988777041435242, + 0.00028689668397419155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9995750784873962, + -0.008703336119651794, + -0.02781982533633709, + -0.01570555567741394 + ], + [ + -0.009865159168839455, + -0.9990730285644531, + -0.04190173000097275, + 0.007632704451680183 + ], + [ + -0.027429351583123207, + 0.04215836897492409, + -0.9987343549728394, + 0.0007508061244152486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.99955815076828, + -0.0009436733089387417, + -0.029708636924624443, + -0.018817277625203133 + ], + [ + -0.0022936274763196707, + -0.9989644885063171, + -0.04543856531381607, + 0.008155914023518562 + ], + [ + -0.0296349935233593, + 0.045486629009246826, + -0.9985252618789673, + 0.0012008200865238905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9994683265686035, + 0.0029554818756878376, + -0.03246964141726494, + -0.021888572722673416 + ], + [ + 0.001492631039582193, + -0.998986542224884, + -0.04498507082462311, + 0.007915019989013672 + ], + [ + -0.03256968781352043, + 0.04491268843412399, + -0.9984598755836487, + 0.0022790092043578625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.999519407749176, + 0.005151879508048296, + -0.030568288639187813, + -0.0249745212495327 + ], + [ + 0.003869336098432541, + -0.9991156458854675, + -0.04186844080686569, + 0.00650787353515625 + ], + [ + -0.030756955966353416, + 0.041730042546987534, + -0.998655378818512, + 0.004477024078369141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9995609521865845, + 0.007098968140780926, + -0.02876732498407364, + -0.028163498267531395 + ], + [ + 0.0059904311783611774, + -0.9992429614067078, + -0.03843921422958374, + 0.004411041736602783 + ], + [ + -0.029018426313996315, + 0.03825001046061516, + -0.9988467693328857, + 0.006888863630592823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.999611496925354, + 0.002876147162169218, + -0.027724236249923706, + -0.03107708878815174 + ], + [ + 0.0018677760381251574, + -0.9993381500244141, + -0.036328982561826706, + 0.0016975721810013056 + ], + [ + -0.02781037427484989, + 0.036263082176446915, + -0.998955249786377, + 0.00934845395386219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9997840523719788, + -0.00514216348528862, + -0.02013540081679821, + -0.03505712002515793 + ], + [ + -0.005939307156950235, + -0.9991927146911621, + -0.03973162919282913, + -0.0011579394340515137 + ], + [ + -0.019914839416742325, + 0.039842639118433, + -0.9990074634552002, + 0.011676238849759102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998049736022949, + -0.007056522183120251, + -0.018443448469042778, + -0.039477795362472534 + ], + [ + -0.007851636037230492, + -0.999026894569397, + -0.04340019449591637, + -0.003578364849090576 + ], + [ + -0.018119247630238533, + 0.04353654384613037, + -0.9988875389099121, + 0.013965693302452564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9996122121810913, + -0.008441412821412086, + -0.02653587982058525, + -0.044302716851234436 + ], + [ + -0.009435952641069889, + -0.9992490410804749, + -0.03758007660508156, + -0.0053629279136657715 + ], + [ + -0.026198724284768105, + 0.037815894931554794, + -0.9989412426948547, + 0.01650150679051876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9995576739311218, + -0.013438629917800426, + -0.02653142623603344, + -0.04884863272309303 + ], + [ + -0.014492799527943134, + -0.9990966320037842, + -0.039948806166648865, + -0.00716787576675415 + ], + [ + -0.02597060240805149, + 0.040315646678209305, + -0.9988494515419006, + 0.01806166209280491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9993167519569397, + -0.01646694913506508, + -0.03308941051363945, + -0.05421125888824463 + ], + [ + -0.017924752086400986, + -0.9988595247268677, + -0.044253941625356674, + -0.007645666599273682 + ], + [ + -0.03232294321060181, + 0.04481682553887367, + -0.9984721541404724, + 0.01912454143166542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.998740017414093, + -0.013558091595768929, + -0.04831764101982117, + -0.060365259647369385 + ], + [ + -0.015686023980379105, + -0.9989111423492432, + -0.04393697530031204, + -0.006958989426493645 + ], + [ + -0.04766932874917984, + 0.044639527797698975, + -0.9978652000427246, + 0.019892508164048195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9985979199409485, + -0.017867805436253548, + -0.04982884228229523, + -0.06568839401006699 + ], + [ + -0.020626306533813477, + -0.9982508420944214, + -0.05540638044476509, + -0.00640416145324707 + ], + [ + -0.04875169321894646, + 0.056356482207775116, + -0.9972197413444519, + 0.01954859308898449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9982151389122009, + -0.025435572490096092, + -0.05403256416320801, + -0.07190466672182083 + ], + [ + -0.02896449901163578, + -0.9974278211593628, + -0.06556519865989685, + -0.005365908145904541 + ], + [ + -0.05222589150071144, + 0.0670132040977478, + -0.99638432264328, + 0.01927892491221428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9976021647453308, + -0.026993032544851303, + -0.06372792273759842, + -0.07859804481267929 + ], + [ + -0.03139732778072357, + -0.9971118569374084, + -0.06915287673473358, + -0.003435850143432617 + ], + [ + -0.061677224934101105, + 0.07098794728517532, + -0.9955685138702393, + 0.01890324428677559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9974001049995422, + -0.02021520771086216, + -0.06916937232017517, + -0.0856575220823288 + ], + [ + -0.025482123717665672, + -0.9967721700668335, + -0.07613074034452438, + -0.0005041360855102539 + ], + [ + -0.06740710884332657, + 0.07769539207220078, + -0.994695782661438, + 0.017908070236444473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9972718954086304, + -0.011923628859221935, + -0.07284636795520782, + -0.09291724115610123 + ], + [ + -0.017574552446603775, + -0.9968427419662476, + -0.07743177562952042, + 0.002596346428617835 + ], + [ + -0.07169310748577118, + 0.07850077748298645, + -0.9943327903747559, + 0.01698944717645645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9970940351486206, + -0.005224885884672403, + -0.07600125670433044, + -0.09983684122562408 + ], + [ + -0.011242562904953957, + -0.9968137741088867, + -0.07896783202886581, + 0.0056645870208740234 + ], + [ + -0.07534649968147278, + 0.07959280163049698, + -0.993975818157196, + 0.015779778361320496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9972628951072693, + 0.0005294586881063879, + -0.0739351212978363, + -0.10663455724716187 + ], + [ + -0.005798918195068836, + -0.9963338971138, + -0.08535271883010864, + 0.008737027645111084 + ], + [ + -0.07370925694704056, + 0.08554784208536148, + -0.9936038255691528, + 0.01419808715581894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9976333975791931, + 0.004731716122478247, + -0.06859486550092697, + -0.11336766183376312 + ], + [ + -0.0015987033257260919, + -0.9957633018493652, + -0.09193966537714005, + 0.011595964431762695 + ], + [ + -0.06873928010463715, + 0.0918317437171936, + -0.9933991432189941, + 0.012465650215744972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.997165858745575, + 0.007971917279064655, + -0.07481074333190918, + -0.11997918039560318 + ], + [ + 0.00042051446507684886, + -0.9949452877044678, + -0.10041739046573639, + 0.014052748680114746 + ], + [ + -0.07523311674594879, + 0.10010133683681488, + -0.992128849029541, + 0.010573044419288635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.997467041015625, + 0.013682473450899124, + -0.0698016807436943, + -0.12708091735839844 + ], + [ + 0.006148804444819689, + -0.99423748254776, + -0.10702318698167801, + 0.01609119586646557 + ], + [ + -0.07086379081010818, + 0.10632289946079254, + -0.9918032884597778, + 0.009148145094513893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9978575110435486, + 0.021627163514494896, + -0.0617465078830719, + -0.1343449354171753 + ], + [ + 0.01455062348395586, + -0.9935069680213928, + -0.11283694952726364, + 0.017640113830566406 + ], + [ + -0.06378593295812607, + 0.1116967499256134, + -0.9916930794715881, + 0.007795332465320826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9975136518478394, + 0.019980911165475845, + -0.06758186966180801, + -0.14061971008777618 + ], + [ + 0.012235824950039387, + -0.993504524230957, + -0.11313274502754211, + 0.018519194796681404 + ], + [ + -0.06940338760614395, + 0.11202453821897507, + -0.9912788271903992, + 0.006244394462555647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9963973164558411, + 0.013075079768896103, + -0.0837937742471695, + -0.14671751856803894 + ], + [ + 0.0026109456084668636, + -0.9923048615455627, + -0.12379112839698792, + 0.019076379016041756 + ], + [ + -0.08476755023002625, + 0.12312636524438858, + -0.9887640476226807, + 0.003921939060091972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9956244826316833, + 0.0183116402477026, + -0.09163261950016022, + -0.15334327518939972 + ], + [ + 0.005780257750302553, + -0.9908021688461304, + -0.13519473373889923, + 0.019756702706217766 + ], + [ + -0.09326543658971786, + 0.13407352566719055, + -0.986572802066803, + 0.0016356604173779488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.995176374912262, + 0.025453781709074974, + -0.0947422906756401, + -0.16022050380706787 + ], + [ + 0.012188244611024857, + -0.9903509020805359, + -0.13804525136947632, + 0.020431339740753174 + ], + [ + -0.09734188765287399, + 0.1362246423959732, + -0.9858840703964233, + -6.947480142116547e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9959378838539124, + 0.027108561247587204, + -0.08586567640304565, + -0.1673375517129898 + ], + [ + 0.014706484042108059, + -0.9897714257240295, + -0.14190228283405304, + 0.02092909812927246 + ], + [ + -0.08883415907621384, + 0.1400630623102188, + -0.9861494898796082, + -0.0011040945537388325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9963532090187073, + 0.028697051107883453, + -0.08035405725240707, + -0.1743004322052002 + ], + [ + 0.01686672680079937, + -0.9894035458564758, + -0.1442086100578308, + 0.021432431414723396 + ], + [ + -0.0836409479379654, + 0.14232739806175232, + -0.9862794280052185, + -0.0019265906885266304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9957098364830017, + 0.03690697252750397, + -0.08485188335180283, + -0.1810050755739212 + ], + [ + 0.024448804557323456, + -0.9893584251403809, + -0.14343003928661346, + 0.022561192512512207 + ], + [ + -0.08924249559640884, + 0.14074017107486725, + -0.9860162138938904, + -0.0026907469145953655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9966808557510376, + 0.038332365453243256, + -0.07181881368160248, + -0.1875135600566864 + ], + [ + 0.027549296617507935, + -0.9889703392982483, + -0.14552895724773407, + 0.023415982723236084 + ], + [ + -0.07660514116287231, + 0.1430673599243164, + -0.9867438077926636, + -0.00325123593211174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9977291226387024, + 0.0348069928586483, + -0.057663656771183014, + -0.19316041469573975 + ], + [ + 0.02596137300133705, + -0.988705575466156, + -0.14760512113571167, + 0.024038314819335938 + ], + [ + -0.06215006858110428, + 0.14577288925647736, + -0.9873639941215515, + -0.003972350619733334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.998516321182251, + 0.028847046196460724, + -0.04618392512202263, + -0.19797448813915253 + ], + [ + 0.021648136898875237, + -0.9885381460189819, + -0.14941102266311646, + 0.02505788393318653 + ], + [ + -0.04996464028954506, + 0.14818954467773438, + -0.9876959919929504, + -0.004746645223349333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9994059801101685, + 0.01739620417356491, + -0.0297489445656538, + -0.20236711204051971 + ], + [ + 0.012662287801504135, + -0.988223135471344, + -0.15249498188495636, + 0.02594214677810669 + ], + [ + -0.03205142915248871, + 0.15202771127223969, + -0.987856388092041, + -0.00583179946988821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9995816349983215, + 0.013764319941401482, + -0.02543697878718376, + -0.2069094032049179 + ], + [ + 0.00958990678191185, + -0.9874743223190308, + -0.15748795866966248, + 0.027235805988311768 + ], + [ + -0.02728607878088951, + 0.15717813372612, + -0.98719322681427, + -0.007727000862360001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9996441006660461, + 0.013932404108345509, + -0.022750701755285263, + -0.21171386539936066 + ], + [ + 0.009973958134651184, + -0.9861330986022949, + -0.16565628349781036, + 0.028819382190704346 + ], + [ + -0.024743210524320602, + 0.1653704047203064, + -0.9859210848808289, + -0.009692107327282429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999483823776245, + 0.0020252265967428684, + -0.00995587557554245, + -0.21582669019699097 + ], + [ + 0.00036361312959343195, + -0.9864369034767151, + -0.16414065659046173, + 0.02966827154159546 + ], + [ + -0.010153264738619328, + 0.16412857174873352, + -0.9863867163658142, + -0.010379810817539692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.999947726726532, + -0.007485884241759777, + 0.006962611339986324, + -0.22038830816745758 + ], + [ + -0.00620949687436223, + -0.9857581257820129, + -0.16805458068847656, + 0.03062853403389454 + ], + [ + 0.008121487684547901, + 0.16800256073474884, + -0.9857531189918518, + -0.011186935007572174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997723698616028, + -0.011809725314378738, + 0.017768897116184235, + -0.22586442530155182 + ], + [ + -0.008558464236557484, + -0.9848785996437073, + -0.17303435504436493, + 0.032012615352869034 + ], + [ + 0.01954369619488716, + 0.17284289002418518, + -0.9847555160522461, + -0.012452233582735062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9995137453079224, + -0.015539062209427357, + 0.027034586295485497, + -0.23127438127994537 + ], + [ + -0.010433484800159931, + -0.9836739301681519, + -0.1796572357416153, + 0.033588409423828125 + ], + [ + 0.029384922236204147, + 0.17928780615329742, + -0.9833577275276184, + -0.01350480504333973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9674261212348938, + 0.2526625990867615, + 0.015758926048874855, + -0.17542339861392975 + ], + [ + 0.25056782364845276, + -0.9468129277229309, + -0.20189359784126282, + 0.05541062355041504 + ], + [ + -0.03609020635485649, + 0.19926580786705017, + -0.9792806506156921, + 0.01520220935344696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9669216275215149, + 0.2549935579299927, + 0.006393087096512318, + -0.16674277186393738 + ], + [ + 0.2510111629962921, + -0.9467672109603882, + -0.20155711472034454, + 0.0583990216255188 + ], + [ + -0.04534300044178963, + 0.1964946687221527, + -0.9794558882713318, + 0.017369713634252548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9656780958175659, + 0.25974029302597046, + -0.0008954620570875704, + -0.15722054243087769 + ], + [ + 0.25391125679016113, + -0.9447216987609863, + -0.20743674039840698, + 0.061599910259246826 + ], + [ + -0.05472563952207565, + 0.20008975267410278, + -0.9782480001449585, + 0.01932140626013279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9644556641578674, + 0.26421603560447693, + -0.0038903660606592894, + -0.14795388281345367 + ], + [ + 0.2574775815010071, + -0.9429654479026794, + -0.21100112795829773, + 0.06429362297058105 + ], + [ + -0.05941836163401604, + 0.20249955356121063, + -0.9774780869483948, + 0.021476566791534424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9630374908447266, + 0.2692602276802063, + -0.007599863223731518, + -0.13888037204742432 + ], + [ + 0.2615385353565216, + -0.9414281249046326, + -0.21286313235759735, + 0.06661432981491089 + ], + [ + -0.06447029858827591, + 0.2030075192451477, + -0.9770524501800537, + 0.023778030648827553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9595709443092346, + 0.28122347593307495, + -0.011701539158821106, + -0.12977799773216248 + ], + [ + 0.2720654010772705, + -0.9373729825019836, + -0.21751388907432556, + 0.06898075342178345 + ], + [ + -0.0721387192606926, + 0.20553642511367798, + -0.9759870767593384, + 0.026170674711465836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9562814831733704, + 0.2919832170009613, + -0.01647917926311493, + -0.12037189304828644 + ], + [ + 0.28172746300697327, + -0.9348798394203186, + -0.21593835949897766, + 0.07144677639007568 + ], + [ + -0.07845643162727356, + 0.20185521245002747, + -0.97626793384552, + 0.028647596016526222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9570250511169434, + 0.28972095251083374, + -0.012839164584875107, + -0.11050675809383392 + ], + [ + 0.28044113516807556, + -0.9358316659927368, + -0.2134757786989212, + 0.07356417179107666 + ], + [ + -0.07386370003223419, + 0.200701043009758, + -0.9768639802932739, + 0.030755821615457535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9597519636154175, + 0.2808452546596527, + -0.001469472306780517, + -0.09997471421957016 + ], + [ + 0.2745126485824585, + -0.9391905665397644, + -0.20631013810634613, + 0.07586789131164551 + ], + [ + -0.0593213327229023, + 0.19760316610336304, + -0.9784855246543884, + 0.03338602930307388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9602193236351013, + 0.279246985912323, + -6.248844147194177e-05, + -0.08990449458360672 + ], + [ + 0.27328935265541077, + -0.9397793412208557, + -0.20525050163269043, + 0.07839304208755493 + ], + [ + -0.05737430974841118, + 0.19706842303276062, + -0.9787094593048096, + 0.03495429456233978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9572431445121765, + 0.28927409648895264, + -0.0024666457902640104, + -0.0805518627166748 + ], + [ + 0.2825450599193573, + -0.9367377758026123, + -0.20661713182926178, + 0.08142834901809692 + ], + [ + -0.06207958608865738, + 0.1970858871936798, + -0.97841876745224, + 0.03597721457481384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9531160593032837, + 0.30252426862716675, + -0.006990256253629923, + -0.07067759335041046 + ], + [ + 0.294819712638855, + -0.9335529804229736, + -0.20386314392089844, + 0.08479276299476624 + ], + [ + -0.06819932162761688, + 0.19224436581134796, + -0.978974461555481, + 0.03727513551712036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9493861198425293, + 0.31400948762893677, + -0.008000301197171211, + -0.0607883557677269 + ], + [ + 0.30577749013900757, + -0.9297255277633667, + -0.20520871877670288, + 0.08819490671157837 + ], + [ + -0.07187557220458984, + 0.1923760026693344, + -0.9786855578422546, + 0.03822316974401474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9457273483276367, + 0.324648916721344, + -0.01424329448491335, + -0.05103452503681183 + ], + [ + 0.3151015341281891, + -0.9268665909767151, + -0.20403283834457397, + 0.09131842851638794 + ], + [ + -0.07944067567586899, + 0.18847134709358215, + -0.9788604378700256, + 0.03892126306891441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.946232795715332, + 0.3232058584690094, + -0.013469201512634754, + -0.040325913578271866 + ], + [ + 0.31374993920326233, + -0.9270954132080078, + -0.20507343113422394, + 0.09394526481628418 + ], + [ + -0.07876817137002945, + 0.1898212432861328, + -0.9786539077758789, + 0.03963549807667732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9475757479667664, + 0.31940707564353943, + -0.00890572089701891, + -0.029124176129698753 + ], + [ + 0.3109491169452667, + -0.9281833171844482, + -0.20441702008247375, + 0.09647274017333984 + ], + [ + -0.07355839014053345, + 0.19093139469623566, + -0.9788433909416199, + 0.040592268109321594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9470309019088745, + 0.32105809450149536, + -0.007361153606325388, + -0.0180585365742445 + ], + [ + 0.31308212876319885, + -0.9281221032142639, + -0.2014172375202179, + 0.09903675317764282 + ], + [ + -0.07149868458509445, + 0.18844369053840637, + -0.9794778823852539, + 0.04139424115419388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9472402334213257, + 0.32038870453834534, + -0.009326361119747162, + -0.006202984135597944 + ], + [ + 0.31224581599235535, + -0.9289543628692627, + -0.1988624930381775, + 0.10174041986465454 + ], + [ + -0.07237705588340759, + 0.18545843660831451, + -0.9799830317497253, + 0.042393751442432404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.950780987739563, + 0.30984729528427124, + 0.0031863015610724688, + 0.006101076025515795 + ], + [ + 0.3042791783809662, + -0.9316527843475342, + -0.19858823716640472, + 0.10438317060470581 + ], + [ + -0.05856350436806679, + 0.18978343904018402, + -0.980077862739563, + 0.043204352259635925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9538363814353943, + 0.3001662790775299, + 0.009815099649131298, + 0.017886118963360786 + ], + [ + 0.295742392539978, + -0.9330865144729614, + -0.20466075837612152, + 0.10705709457397461 + ], + [ + -0.05227392166852951, + 0.19811563193798065, + -0.9787837266921997, + 0.042885586619377136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9542323350906372, + 0.29881373047828674, + 0.012290870770812035, + 0.02925696410238743 + ], + [ + 0.2945961654186249, + -0.9320958256721497, + -0.21073800325393677, + 0.11026409268379211 + ], + [ + -0.051515139639377594, + 0.2047138512134552, + -0.9774653315544128, + 0.042519260197877884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9547916054725647, + 0.297110378742218, + 0.009922124445438385, + 0.04064743220806122 + ], + [ + 0.2924833595752716, + -0.932905912399292, + -0.21009524166584015, + 0.11352270841598511 + ], + [ + -0.053165074437856674, + 0.2034992277622223, + -0.9776305556297302, + 0.042320091277360916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9541527628898621, + 0.29931777715682983, + 0.001185647095553577, + 0.05194975435733795 + ], + [ + 0.2925257682800293, + -0.9316476583480835, + -0.2155487984418869, + 0.11686193943023682 + ], + [ + -0.06341297924518585, + 0.20601332187652588, + -0.9764923453330994, + 0.04132953658699989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9536724090576172, + 0.3007067143917084, + 0.009187223389744759, + 0.06282556056976318 + ], + [ + 0.29491862654685974, + -0.9284111261367798, + -0.22599941492080688, + 0.12035898864269257 + ], + [ + -0.059430018067359924, + 0.21823889017105103, + -0.9740841388702393, + 0.04046442732214928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9501846432685852, + 0.3116540312767029, + 0.0045774467289447784, + 0.07348661124706268 + ], + [ + 0.30417922139167786, + -0.9239909648895264, + -0.23176640272140503, + 0.12386387586593628 + ], + [ + -0.0680014118552208, + 0.22161324322223663, + -0.9727606773376465, + 0.039505667984485626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9454925060272217, + 0.32556191086769104, + -0.00730627728626132, + 0.08404813706874847 + ], + [ + 0.3154894709587097, + -0.9213381409645081, + -0.22716160118579865, + 0.12727999687194824 + ], + [ + -0.08068671822547913, + 0.212474524974823, + -0.9738296866416931, + 0.03877824917435646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9407423734664917, + 0.3389641046524048, + -0.010347501374781132, + 0.09449612349271774 + ], + [ + 0.3283628523349762, + -0.918096661567688, + -0.2219828963279724, + 0.13107311725616455 + ], + [ + -0.08474424481391907, + 0.2054309844970703, + -0.9749956727027893, + 0.03879201039671898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9354152679443359, + 0.35329416394233704, + -0.013473792932927608, + 0.10435193032026291 + ], + [ + 0.34267500042915344, + -0.9153610467910767, + -0.21139542758464813, + 0.13458529114723206 + ], + [ + -0.08701815456151962, + 0.19312536716461182, + -0.9773077368736267, + 0.03856714814901352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9327473640441895, + 0.36036086082458496, + -0.01106217410415411, + 0.11395293474197388 + ], + [ + 0.35013893246650696, + -0.9127496480941772, + -0.21045368909835815, + 0.1375231146812439 + ], + [ + -0.08593627065420151, + 0.19242683053016663, + -0.9775412082672119, + 0.03742958977818489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9328572750091553, + 0.36023804545402527, + -0.0024201080668717623, + 0.12421059608459473 + ], + [ + 0.35124996304512024, + -0.911033034324646, + -0.21596819162368774, + 0.1399107277393341 + ], + [ + -0.0800047516822815, + 0.20061743259429932, + -0.9763973951339722, + 0.03645379841327667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9349393248558044, + 0.3547389507293701, + 0.0069802128709852695, + 0.1342765837907791 + ], + [ + 0.3473566174507141, + -0.9111177325248718, + -0.2218283712863922, + 0.1420055329799652 + ], + [ + -0.07233136892318726, + 0.2098206877708435, + -0.975060760974884, + 0.03541691228747368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9351376891136169, + 0.3541897237300873, + 0.008194079622626305, + 0.14368806779384613 + ], + [ + 0.3468077778816223, + -0.910431444644928, + -0.22547483444213867, + 0.14416056871414185 + ], + [ + -0.07240072637796402, + 0.21369178593158722, + -0.9742145538330078, + 0.034278757870197296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9333751797676086, + 0.35886240005493164, + 0.005337853450328112, + 0.15261587500572205 + ], + [ + 0.3506954610347748, + -0.9087694883346558, + -0.22616517543792725, + 0.14613604545593262 + ], + [ + -0.07631130516529083, + 0.21296893060207367, + -0.9740743637084961, + 0.03296636790037155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9307246804237366, + 0.3657205402851105, + 3.081305521845934e-06, + 0.16134844720363617 + ], + [ + 0.3561301529407501, + -0.9063161611557007, + -0.22751343250274658, + 0.1482817828655243 + ], + [ + -0.08320354670286179, + 0.2117534726858139, + -0.9737749695777893, + 0.031613145023584366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9297398328781128, + 0.36821284890174866, + -0.0017634833930060267, + 0.17025704681873322 + ], + [ + 0.3580687940120697, + -0.9052219390869141, + -0.2288229763507843, + 0.1504778265953064 + ], + [ + -0.08585190027952194, + 0.2121143937110901, + -0.9734664559364319, + 0.030289392918348312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9275100827217102, + 0.3737400770187378, + -0.006586101371794939, + 0.17868420481681824 + ], + [ + 0.3621581196784973, + -0.902850866317749, + -0.2317364364862442, + 0.15244019031524658 + ], + [ + -0.0925554633140564, + 0.21255268156528473, + -0.9727563261985779, + 0.029048241674900055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9236688017845154, + 0.3828282654285431, + -0.016686197370290756, + 0.18693435192108154 + ], + [ + 0.36912763118743896, + -0.9006129503250122, + -0.22943654656410217, + 0.15461495518684387 + ], + [ + -0.10286260396242142, + 0.205764040350914, + -0.9731805920600891, + 0.028029372915625572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9186776280403137, + 0.39420801401138306, + -0.025128865614533424, + 0.19503448903560638 + ], + [ + 0.3786943256855011, + -0.8970459699630737, + -0.22781385481357574, + 0.1569136679172516 + ], + [ + -0.1123477965593338, + 0.19977134466171265, + -0.9733803868293762, + 0.026999838650226593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9150131940841675, + 0.40225133299827576, + -0.030736133456230164, + 0.20341280102729797 + ], + [ + 0.3859659433364868, + -0.8950421810150146, + -0.22344978153705597, + 0.15869462490081787 + ], + [ + -0.1173931136727333, + 0.1925964057445526, + -0.9742307066917419, + 0.026960453018546104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9096905589103699, + 0.413921058177948, + -0.03365246579051018, + 0.2108955979347229 + ], + [ + 0.3971918225288391, + -0.8908514380455017, + -0.22050468623638153, + 0.16057950258255005 + ], + [ + -0.12125088274478912, + 0.18722455203533173, + -0.9748052358627319, + 0.026682665571570396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9055567383766174, + 0.4227360188961029, + -0.03551402688026428, + 0.21873456239700317 + ], + [ + 0.4052019715309143, + -0.8867011666297913, + -0.2226485013961792, + 0.16232627630233765 + ], + [ + -0.12561187148094177, + 0.18723049759864807, + -0.9742516875267029, + 0.025895891711115837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9033724665641785, + 0.4278722405433655, + -0.02904382161796093, + 0.2267254739999771 + ], + [ + 0.41027727723121643, + -0.8819690346717834, + -0.23195520043373108, + 0.1633879840373993 + ], + [ + -0.12486293911933899, + 0.19762592017650604, + -0.9722927808761597, + 0.024794775992631912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9047114849090576, + 0.42548370361328125, + -0.021464135497808456, + 0.23569419980049133 + ], + [ + 0.40846601128578186, + -0.8806372284889221, + -0.24006995558738708, + 0.16416481137275696 + ], + [ + -0.1210479736328125, + 0.20842668414115906, + -0.9705182909965515, + 0.02377581223845482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9021651148796082, + 0.4308531582355499, + -0.021532701328396797, + 0.2442718744277954 + ], + [ + 0.41203221678733826, + -0.8753911852836609, + -0.25282350182533264, + 0.16470986604690552 + ], + [ + -0.12777934968471527, + 0.21921639144420624, + -0.9672727584838867, + 0.02228071540594101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.898166298866272, + 0.43924012780189514, + -0.01911678910255432, + 0.25257280468940735 + ], + [ + 0.41995400190353394, + -0.8699765801429749, + -0.25841712951660156, + 0.16550686955451965 + ], + [ + -0.1301383376121521, + 0.2240733802318573, + -0.9658442735671997, + 0.021382248029112816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.893933117389679, + 0.4478084444999695, + -0.018740808591246605, + 0.2608838379383087 + ], + [ + 0.42726340889930725, + -0.864059567451477, + -0.26617103815078735, + 0.16610845923423767 + ], + [ + -0.13538680970668793, + 0.22993183135986328, + -0.9637436270713806, + 0.02040151320397854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8871440887451172, + 0.4613957107067108, + -0.00945335067808628, + 0.26784586906433105 + ], + [ + 0.4407854974269867, + -0.8532274961471558, + -0.278766930103302, + 0.16621160507202148 + ], + [ + -0.1366877257823944, + 0.24313953518867493, + -0.9603122472763062, + 0.019023338332772255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.883125901222229, + 0.4689995050430298, + -0.011316792108118534, + 0.2752642035484314 + ], + [ + 0.44785991311073303, + -0.8500115275382996, + -0.27731195092201233, + 0.1668212115764618 + ], + [ + -0.13967856764793396, + 0.2398330271244049, + -0.960713267326355, + 0.018691055476665497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.8803473114967346, + 0.4739299714565277, + -0.01946846768260002, + 0.28299981355667114 + ], + [ + 0.4518078863620758, + -0.8503378033638, + -0.26980599761009216, + 0.16752445697784424 + ], + [ + -0.14442391693592072, + 0.22872696816921234, + -0.9627178907394409, + 0.018852367997169495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8747556805610657, + 0.4833777844905853, + -0.03388858586549759, + 0.290292888879776 + ], + [ + 0.45929914712905884, + -0.8494035601615906, + -0.2599189877510071, + 0.1680305004119873 + ], + [ + -0.15442414581775665, + 0.21180060505867004, + -0.965035617351532, + 0.019086185842752457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.8716268539428711, + 0.4882625937461853, + -0.043200552463531494, + 0.29812246561050415 + ], + [ + 0.46362975239753723, + -0.8498317003250122, + -0.2506661117076874, + 0.16937720775604248 + ], + [ + -0.1591040939092636, + 0.1984582543373108, + -0.967109203338623, + 0.019732628017663956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8710740804672241, + 0.48878657817840576, + -0.04814153537154198, + 0.30563271045684814 + ], + [ + 0.46511566638946533, + -0.8524156808853149, + -0.23886168003082275, + 0.1706128716468811 + ], + [ + -0.15778899192810059, + 0.18567483127117157, + -0.9698595404624939, + 0.01995864510536194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.8688552379608154, + 0.4921873211860657, + -0.05331254377961159, + 0.3122789263725281 + ], + [ + 0.4699462652206421, + -0.8538398742675781, + -0.22384804487228394, + 0.1717027723789215 + ], + [ + -0.15569554269313812, + 0.16943751275539398, + -0.9731648564338684, + 0.019666658714413643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.8610635995864868, + 0.5049737095832825, + -0.05975811928510666, + 0.31790798902511597 + ], + [ + 0.48251625895500183, + -0.8484908938407898, + -0.21735046803951263, + 0.171819269657135 + ], + [ + -0.16046050190925598, + 0.15831831097602844, + -0.9742626547813416, + 0.018119610846042633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8589370846748352, + 0.5074866414070129, + -0.06844285875558853, + 0.32357117533683777 + ], + [ + 0.4851377308368683, + -0.8492255806922913, + -0.20846408605575562, + 0.1724797785282135 + ], + [ + -0.16391617059707642, + 0.14585331082344055, + -0.9756322503089905, + 0.016496092081069946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8595316410064697, + 0.5067113041877747, + -0.06670071184635162, + 0.32855525612831116 + ], + [ + 0.4860830008983612, + -0.8508138656616211, + -0.19959719479084015, + 0.17345523834228516 + ], + [ + -0.1578880399465561, + 0.13913802802562714, + -0.9776052236557007, + 0.01460458803921938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8555117249488831, + 0.5138112306594849, + -0.06401308625936508, + 0.3338383138179779 + ], + [ + 0.4944309890270233, + -0.8473696708679199, + -0.19365592300891876, + 0.17355716228485107 + ], + [ + -0.15374533832073212, + 0.13402487337589264, + -0.9789789319038391, + 0.012817012146115303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.8543445467948914, + 0.515467643737793, + -0.0662459209561348, + 0.3394302427768707 + ], + [ + 0.4968010485172272, + -0.8474533557891846, + -0.18711379170417786, + 0.17397969961166382 + ], + [ + -0.15259143710136414, + 0.12694860994815826, + -0.980102002620697, + 0.010716473683714867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8583869338035583, + 0.5101285576820374, + -0.054227832704782486, + 0.3452269732952118 + ], + [ + 0.49279579520225525, + -0.8493313789367676, + -0.18917842209339142, + 0.1741189956665039 + ], + [ + -0.14256271719932556, + 0.13566504418849945, + -0.9804441928863525, + 0.0075229755602777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8594673275947571, + 0.5084081888198853, + -0.053263403475284576, + 0.3518674671649933 + ], + [ + 0.4904576241970062, + -0.849493682384491, + -0.19445261359214783, + 0.17340683937072754 + ], + [ + -0.14410822093486786, + 0.14100222289562225, + -0.9794647693634033, + 0.004331131931394339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8567845821380615, + 0.5120764970779419, + -0.06080961972475052, + 0.3584866225719452 + ], + [ + 0.49310463666915894, + -0.8480739593505859, + -0.19395464658737183, + 0.1725512146949768 + ], + [ + -0.15089067816734314, + 0.13619185984134674, + -0.9791240096092224, + 0.001708061434328556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8567883372306824, + 0.5110415816307068, + -0.06892188638448715, + 0.3658870458602905 + ], + [ + 0.4922126233577728, + -0.8503305315971375, + -0.18618465960025787, + 0.17156416177749634 + ], + [ + -0.15375448763370514, + 0.12559662759304047, + -0.9800944328308105, + -0.00014605699107050896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.858250081539154, + 0.507959246635437, + -0.07337707281112671, + 0.3737841546535492 + ], + [ + 0.4899895489215851, + -0.8535031676292419, + -0.17732059955596924, + 0.17152933776378632 + ], + [ + -0.15269920229911804, + 0.11623141169548035, + -0.9814139008522034, + -0.0008073726203292608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8618725538253784, + 0.5022917985916138, + -0.06984730809926987, + 0.3814238905906677 + ], + [ + 0.48492518067359924, + -0.8565941452980042, + -0.17633511126041412, + 0.17069166898727417 + ], + [ + -0.14840248227119446, + 0.11810767650604248, + -0.9818488955497742, + -0.0020111356861889362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8663666248321533, + 0.4949094355106354, + -0.06688396632671356, + 0.3890182375907898 + ], + [ + 0.47778698801994324, + -0.8603712320327759, + -0.17742866277694702, + 0.16923797130584717 + ], + [ + -0.1453561633825302, + 0.1217619851231575, + -0.9818582534790039, + -0.0033244057558476925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8694911599159241, + 0.4890664517879486, + -0.06927547603845596, + 0.3971173167228699 + ], + [ + 0.4718021750450134, + -0.8638229370117188, + -0.176671102643013, + 0.1684390902519226 + ], + [ + -0.14624565839767456, + 0.12092964351177216, + -0.981829047203064, + -0.003842462319880724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8740978240966797, + 0.4804856777191162, + -0.07132016122341156, + 0.4048047959804535 + ], + [ + 0.4637771546840668, + -0.8691735863685608, + -0.17160440981388092, + 0.16634917259216309 + ], + [ + -0.1444430649280548, + 0.11692237854003906, + -0.9825809597969055, + -0.004176631569862366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8767202496528625, + 0.4757564961910248, + -0.07083304971456528, + 0.41139575839042664 + ], + [ + 0.46034982800483704, + -0.8726183772087097, + -0.16314178705215454, + 0.1635904312133789 + ], + [ + -0.13942597806453705, + 0.11042172461748123, + -0.9840566515922546, + -0.0044930605217814445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8803977370262146, + 0.469511479139328, + -0.06677456200122833, + 0.41780123114585876 + ], + [ + 0.4553236663341522, + -0.8762335777282715, + -0.1577816605567932, + 0.16161486506462097 + ], + [ + -0.1325904130935669, + 0.10850657522678375, + -0.9852137565612793, + -0.0049759806133806705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.8814221620559692, + 0.4678495228290558, + -0.06489840149879456, + 0.42307618260383606 + ], + [ + 0.45444583892822266, + -0.8774566650390625, + -0.15345610678195953, + 0.15930765867233276 + ], + [ + -0.12873990833759308, + 0.10576681047677994, + -0.9860219955444336, + -0.006152627989649773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.8791355490684509, + 0.47173216938972473, + -0.06774552166461945, + 0.4275370240211487 + ], + [ + 0.4596572816371918, + -0.8768580555915833, + -0.1408371776342392, + 0.15701767802238464 + ], + [ + -0.12584063410758972, + 0.09267525374889374, + -0.9877122044563293, + -0.007205077912658453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.8765158653259277, + 0.47632020711898804, + -0.06956279277801514, + 0.43106549978256226 + ], + [ + 0.46541154384613037, + -0.8754611015319824, + -0.13023048639297485, + 0.15456783771514893 + ], + [ + -0.12293093651533127, + 0.08177376538515091, + -0.9890404343605042, + -0.008836070075631142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.8724278211593628, + 0.48289889097213745, + -0.0753551498055458, + 0.43386468291282654 + ], + [ + 0.472370445728302, + -0.872692346572876, + -0.12358874082565308, + 0.15286430716514587 + ], + [ + -0.1254427284002304, + 0.07222670316696167, + -0.9894682765007019, + -0.01094784401357174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.8707418441772461, + 0.48551419377326965, + -0.07800395041704178, + 0.43663665652275085 + ], + [ + 0.4752429723739624, + -0.8716179728507996, + -0.12010911107063293, + 0.15189892053604126 + ], + [ + -0.12630432844161987, + 0.06751319766044617, + -0.989691436290741, + -0.01363968476653099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.8674518465995789, + 0.4909980893135071, + -0.08030068129301071, + 0.4383220374584198 + ], + [ + 0.48061680793762207, + -0.8687067031860352, + -0.1198173388838768, + 0.1516677737236023 + ], + [ + -0.12858782708644867, + 0.06534191220998764, + -0.9895431399345398, + -0.016761397942900658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.8644453883171082, + 0.49624672532081604, + -0.08045705407857895, + 0.43943703174591064 + ], + [ + 0.48551443219184875, + -0.8656070828437805, + -0.12247496843338013, + 0.15182054042816162 + ], + [ + -0.13042199611663818, + 0.06680986285209656, + -0.989205002784729, + -0.020576821640133858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.8615111112594604, + 0.5010697841644287, + -0.08202221244573593, + 0.4405933618545532 + ], + [ + 0.48976340889930725, + -0.8626999855041504, + -0.12601785361766815, + 0.1520022749900818 + ], + [ + -0.13390429317951202, + 0.06839430332183838, + -0.9886313080787659, + -0.025192009285092354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.8594409823417664, + 0.5046772360801697, + -0.08162151277065277, + 0.44135212898254395 + ], + [ + 0.49267807602882385, + -0.8602457642555237, + -0.1313222050666809, + 0.1535436511039734 + ], + [ + -0.1364898830652237, + 0.07265055179595947, + -0.9879738688468933, + -0.029446765780448914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.8576189875602722, + 0.5070679187774658, + -0.08585882931947708, + 0.44238579273223877 + ], + [ + 0.49457263946533203, + -0.8589502573013306, + -0.132673978805542, + 0.15420547127723694 + ], + [ + -0.1410231739282608, + 0.0713202953338623, + -0.9874339699745178, + -0.034048471599817276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.8556534647941589, + 0.5093980431556702, + -0.0914916843175888, + 0.4434325397014618 + ], + [ + 0.4966326355934143, + -0.8578898906707764, + -0.1318369358778, + 0.1539846658706665 + ], + [ + -0.14564727246761322, + 0.06736898422241211, + -0.9870401620864868, + -0.03891151398420334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.8564279079437256, + 0.5075912475585938, + -0.0942460373044014, + 0.44380679726600647 + ], + [ + 0.49464383721351624, + -0.8590484857559204, + -0.1317692995071411, + 0.15435567498207092 + ], + [ + -0.14784686267375946, + 0.06623268127441406, + -0.9867900013923645, + -0.04352852702140808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.8583599328994751, + 0.5040534734725952, + -0.09564651548862457, + 0.44456252455711365 + ], + [ + 0.4907386004924774, + -0.8610184788703918, + -0.13350196182727814, + 0.15420573949813843 + ], + [ + -0.14964555203914642, + 0.0676553025841713, + -0.9864223003387451, + -0.04872608184814453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.8625579476356506, + 0.4974746108055115, + -0.09226465225219727, + 0.44670408964157104 + ], + [ + 0.48322004079818726, + -0.864034116268158, + -0.14122137427330017, + 0.15291821956634521 + ], + [ + -0.14997385442256927, + 0.07722749561071396, + -0.9856691956520081, + -0.05497967079281807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.8683751225471497, + 0.4876920282840729, + -0.08989495784044266, + 0.44794556498527527 + ], + [ + 0.47165316343307495, + -0.868217945098877, + -0.15408077836036682, + 0.15310430526733398 + ], + [ + -0.15319238603115082, + 0.09140066802501678, + -0.9839603900909424, + -0.06119047850370407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.8760257363319397, + 0.4750595986843109, + -0.08304981887340546, + 0.450129896402359 + ], + [ + 0.4575936198234558, + -0.873167872428894, + -0.16788683831691742, + 0.15235120058059692 + ], + [ + -0.15227268636226654, + 0.10907012224197388, + -0.9823017716407776, + -0.06741855293512344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.8823764324188232, + 0.4646363854408264, + -0.07432901859283447, + 0.4522660970687866 + ], + [ + 0.44644537568092346, + -0.8765791058540344, + -0.17970991134643555, + 0.1509099304676056 + ], + [ + -0.1486550271511078, + 0.12538795173168182, + -0.9809074997901917, + -0.07327672839164734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.8862027525901794, + 0.4573383629322052, + -0.07406960427761078, + 0.4526974856853485 + ], + [ + 0.43806958198547363, + -0.8792049884796143, + -0.1873330920934677, + 0.15004515647888184 + ], + [ + -0.15079696476459503, + 0.1335674673318863, + -0.979499876499176, + -0.07842285931110382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.8888340592384338, + 0.4515153765678406, + -0.0781528502702713, + 0.45327088236808777 + ], + [ + 0.4317154884338379, + -0.8823092579841614, + -0.1874888688325882, + 0.1483933925628662 + ], + [ + -0.15360909700393677, + 0.1329066902399063, + -0.9791527390480042, + -0.08272720128297806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.894577145576477, + 0.4398989975452423, + -0.07887089997529984, + 0.4541076719760895 + ], + [ + 0.4205474555492401, + -0.8883078098297119, + -0.18452398478984833, + 0.1461676061153412 + ], + [ + -0.15123355388641357, + 0.13190197944641113, + -0.9796582460403442, + -0.08647076785564423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9004346132278442, + 0.4269181489944458, + -0.08341673016548157, + 0.4540291726589203 + ], + [ + 0.4072263538837433, + -0.8947305679321289, + -0.18336835503578186, + 0.14467930793762207 + ], + [ + -0.15291878581047058, + 0.13114173710346222, + -0.9794986844062805, + -0.09000525623559952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9069777131080627, + 0.4129389226436615, + -0.0829029530286789, + 0.4530541002750397 + ], + [ + 0.39217934012413025, + -0.8997825980186462, + -0.19127623736858368, + 0.1432824432849884 + ], + [ + -0.15358003973960876, + 0.14097045361995697, + -0.9780288934707642, + -0.0940823033452034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9152434468269348, + 0.3949923813343048, + -0.0794384703040123, + 0.45197394490242004 + ], + [ + 0.3734019696712494, + -0.9056363105773926, + -0.2009821981191635, + 0.1415206491947174 + ], + [ + -0.15132880210876465, + 0.15428516268730164, + -0.9763686060905457, + -0.09825190901756287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9220765829086304, + 0.378268301486969, + -0.08177965134382248, + 0.44987836480140686 + ], + [ + 0.3557247817516327, + -0.9116331934928894, + -0.20587578415870667, + 0.14027738571166992 + ], + [ + -0.15242932736873627, + 0.16074219346046448, + -0.9751549959182739, + -0.10179923474788666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9237214922904968, + 0.37313053011894226, + -0.08667308837175369, + 0.44650816917419434 + ], + [ + 0.3484428822994232, + -0.9124433994293213, + -0.2145567089319229, + 0.13905870914459229 + ], + [ + -0.15914194285869598, + 0.16799002885818481, + -0.9728582501411438, + -0.10557711869478226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9253025650978088, + 0.36835455894470215, + -0.09016700088977814, + 0.44335511326789856 + ], + [ + 0.34233754873275757, + -0.913627564907074, + -0.21929368376731873, + 0.13751903176307678 + ], + [ + -0.1631568819284439, + 0.17204545438289642, + -0.9714835286140442, + -0.10893379151821136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9277750253677368, + 0.36232733726501465, + -0.08917621523141861, + 0.4395667314529419 + ], + [ + 0.3359328508377075, + -0.9150905013084412, + -0.2230660617351532, + 0.13659381866455078 + ], + [ + -0.16242724657058716, + 0.17699790000915527, + -0.9707157611846924, + -0.11189841479063034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9292497634887695, + 0.35850992798805237, + -0.08924981206655502, + 0.4353770911693573 + ], + [ + 0.3311924636363983, + -0.9154025912284851, + -0.228800430893898, + 0.13585269451141357 + ], + [ + -0.16372674703598022, + 0.1830538809299469, + -0.9693734049797058, + -0.1149023249745369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9301112294197083, + 0.3565376102924347, + -0.08817042410373688, + 0.43105602264404297 + ], + [ + 0.3289192020893097, + -0.9154260754585266, + -0.23196396231651306, + 0.1348748803138733 + ], + [ + -0.16341736912727356, + 0.1867513358592987, + -0.9687201380729675, + -0.11771458387374878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9320304989814758, + 0.35192757844924927, + -0.08640684187412262, + 0.42632153630256653 + ], + [ + 0.3241077959537506, + -0.9162061214447021, + -0.23562785983085632, + 0.13353756070137024 + ], + [ + -0.16209042072296143, + 0.19160722196102142, + -0.9679945111274719, + -0.1209210529923439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9332640767097473, + 0.3485262095928192, + -0.08687742799520493, + 0.421099990606308 + ], + [ + 0.3203469514846802, + -0.917026698589325, + -0.23757082223892212, + 0.13221031427383423 + ], + [ + -0.1624685823917389, + 0.19388538599014282, + -0.9674773216247559, + -0.12397103011608124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9319055676460266, + 0.35129547119140625, + -0.09024127572774887, + 0.4148999750614166 + ], + [ + 0.32239991426467896, + -0.9162933230400085, + -0.2376231849193573, + 0.13140645623207092 + ], + [ + -0.16616342961788177, + 0.19234858453273773, + -0.9671565294265747, + -0.12658880650997162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9313386678695679, + 0.352367639541626, + -0.09189869463443756, + 0.40798142552375793 + ], + [ + 0.3232325315475464, + -0.9161519408226013, + -0.23703651130199432, + 0.13042712211608887 + ], + [ + -0.16771715879440308, + 0.19105660915374756, + -0.9671444296836853, + -0.12944059073925018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9314650297164917, + 0.3499172329902649, + -0.09965377300977707, + 0.4016368091106415 + ], + [ + 0.31999441981315613, + -0.9182493686676025, + -0.2332846075296402, + 0.12915784120559692 + ], + [ + -0.17313732206821442, + 0.18540780246257782, + -0.9672886729240417, + -0.13166949152946472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9303759932518005, + 0.3464738130569458, + -0.11981841921806335, + 0.3963010907173157 + ], + [ + 0.31528812646865845, + -0.9229682683944702, + -0.22073273360729218, + 0.12777471542358398 + ], + [ + -0.1870667040348053, + 0.16758710145950317, + -0.9679465889930725, + -0.13324500620365143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9320386052131653, + 0.3396458625793457, + -0.12627245485782623, + 0.3906373083591461 + ], + [ + 0.3084545433521271, + -0.9265286326408386, + -0.21540771424770355, + 0.12615981698036194 + ], + [ + -0.19015738368034363, + 0.1618189960718155, + -0.9683257341384888, + -0.135103240609169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9353986978530884, + 0.3328220546245575, + -0.11940992623567581, + 0.38410717248916626 + ], + [ + 0.3005876839160919, + -0.9263061285018921, + -0.22716514766216278, + 0.12410902976989746 + ], + [ + -0.18621571362018585, + 0.17659683525562286, + -0.9665077924728394, + -0.13784582912921906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9393040537834167, + 0.32310983538627625, + -0.11536015570163727, + 0.3775695264339447 + ], + [ + 0.2907801866531372, + -0.9282010197639465, + -0.23214155435562134, + 0.12198656797409058 + ], + [ + -0.18208463490009308, + 0.18450705707073212, + -0.9658169150352478, + -0.13944187760353088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9405696392059326, + 0.3177914619445801, + -0.11973873525857925, + 0.37044844031333923 + ], + [ + 0.28622859716415405, + -0.9315875768661499, + -0.22409328818321228, + 0.11948546767234802 + ], + [ + -0.1827620565891266, + 0.17650270462036133, + -0.9671839475631714, + -0.13924716413021088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.941500186920166, + 0.3129938244819641, + -0.1249488815665245, + 0.363178014755249 + ], + [ + 0.2812962234020233, + -0.9340308904647827, + -0.22013351321220398, + 0.11670732498168945 + ], + [ + -0.18560653924942017, + 0.17210809886455536, + -0.9674342274665833, + -0.13903531432151794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9436026215553284, + 0.3063362240791321, + -0.1255873590707779, + 0.35606899857521057 + ], + [ + 0.2749706506729126, + -0.936393141746521, + -0.2180802822113037, + 0.11421847343444824 + ], + [ + -0.18440502882003784, + 0.17124828696250916, + -0.9678165316581726, + -0.13896402716636658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9432401657104492, + 0.30508801341056824, + -0.1312222182750702, + 0.34846925735473633 + ], + [ + 0.2726118564605713, + -0.9369245171546936, + -0.2187584936618805, + 0.1114649772644043 + ], + [ + -0.1896858960390091, + 0.1705690622329712, + -0.9669154286384583, + -0.13922269642353058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9423724412918091, + 0.303522527217865, + -0.14074184000492096, + 0.34112080931663513 + ], + [ + 0.26985567808151245, + -0.9382420778274536, + -0.21651732921600342, + 0.10859331488609314 + ], + [ + -0.19776780903339386, + 0.1660599708557129, + -0.9660807251930237, + -0.13965381681919098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9461135268211365, + 0.29380595684051514, + -0.13618843257427216, + 0.3340986669063568 + ], + [ + 0.2604498267173767, + -0.9402855634689331, + -0.21915508806705475, + 0.10547533631324768 + ], + [ + -0.1924450844526291, + 0.17187534272670746, + -0.9661386013031006, + -0.14055676758289337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9503716826438904, + 0.2834570109844208, + -0.12824112176895142, + 0.32684487104415894 + ], + [ + 0.25005826354026794, + -0.941191554069519, + -0.22722075879573822, + 0.10234776139259338 + ], + [ + -0.1851067841053009, + 0.1838764101266861, + -0.9653626084327698, + -0.14157119393348694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9525216817855835, + 0.27777013182640076, + -0.12468428909778595, + 0.3190802335739136 + ], + [ + 0.24481533467769623, + -0.942197322845459, + -0.22875669598579407, + 0.09970530867576599 + ], + [ + -0.18101897835731506, + 0.18737109005451202, + -0.965465784072876, + -0.14236417412757874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.954490602016449, + 0.2736760377883911, + -0.11852913349866867, + 0.31114116311073303 + ], + [ + 0.24105104804039001, + -0.9419424533843994, + -0.23374946415424347, + 0.09752440452575684 + ], + [ + -0.17561925947666168, + 0.1945400983095169, + -0.9650450944900513, + -0.14389945566654205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9574960470199585, + 0.2688235640525818, + -0.10457157343626022, + 0.3025701940059662 + ], + [ + 0.23688462376594543, + -0.9396970272064209, + -0.24668842554092407, + 0.09634983539581299 + ], + [ + -0.16458125412464142, + 0.21143180131912231, + -0.9634363651275635, + -0.1451352834701538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9597883224487305, + 0.2639225423336029, + -0.09566202759742737, + 0.29394933581352234 + ], + [ + 0.2329816073179245, + -0.9389842748641968, + -0.2530376613140106, + 0.0952068567276001 + ], + [ + -0.1566074788570404, + 0.22057509422302246, + -0.9627152681350708, + -0.1457631140947342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9597165584564209, + 0.2641717791557312, + -0.09569458663463593, + 0.28538748621940613 + ], + [ + 0.23368512094020844, + -0.9395800828933716, + -0.2501610815525055, + 0.09433650970458984 + ], + [ + -0.15599821507930756, + 0.21772132813930511, + -0.963463544845581, + -0.14595961570739746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9582738280296326, + 0.2686409652233124, + -0.09768953174352646, + 0.27628180384635925 + ], + [ + 0.23820681869983673, + -0.9393860101699829, + -0.2465996891260147, + 0.09262439608573914 + ], + [ + -0.15801496803760529, + 0.21303971111774445, + -0.9641811847686768, + -0.1458287090063095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9589065313339233, + 0.26709264516830444, + -0.09570704400539398, + 0.2676240801811218 + ], + [ + 0.23763589560985565, + -0.9403665661811829, + -0.24339251220226288, + 0.09032684564590454 + ], + [ + -0.15500804781913757, + 0.21064724028110504, + -0.9651944041252136, + -0.1454048901796341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.959463357925415, + 0.2653736472129822, + -0.09490472823381424, + 0.2598136067390442 + ], + [ + 0.2363203912973404, + -0.9410192370414734, + -0.24214762449264526, + 0.08827930688858032 + ], + [ + -0.15356677770614624, + 0.20990385115146637, + -0.9655866622924805, + -0.1452382653951645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9609993696212769, + 0.2605690062046051, + -0.09264986962080002, + 0.25215229392051697 + ], + [ + 0.23189501464366913, + -0.9417949914932251, + -0.2434069663286209, + 0.08609586954116821 + ], + [ + -0.1506814956665039, + 0.21242889761924744, + -0.9654890298843384, + -0.14497418701648712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9634547233581543, + 0.25358086824417114, + -0.08632321655750275, + 0.24462109804153442 + ], + [ + 0.22583909332752228, + -0.9422459602355957, + -0.24732409417629242, + 0.08402293920516968 + ], + [ + -0.1440543681383133, + 0.21879041194915771, + -0.9650798439979553, + -0.14439250528812408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9660730957984924, + 0.24639132618904114, + -0.07742159813642502, + 0.23692689836025238 + ], + [ + 0.21970708668231964, + -0.9416144490242004, + -0.2551293969154358, + 0.08208930492401123 + ], + [ + -0.13576295971870422, + 0.22946356236934662, + -0.9638022780418396, + -0.1436125487089157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9666279554367065, + 0.24351781606674194, + -0.07955814898014069, + 0.22909073531627655 + ], + [ + 0.2165960669517517, + -0.9426881670951843, + -0.2538211941719055, + 0.08054947853088379 + ], + [ + -0.13680849969387054, + 0.2281186729669571, + -0.9639737010002136, + -0.14177295565605164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9649364352226257, + 0.2472131997346878, + -0.08822278678417206, + 0.22106102108955383 + ], + [ + 0.21920180320739746, + -0.9438337683677673, + -0.24724164605140686, + 0.07907912135124207 + ], + [ + -0.1443890482187271, + 0.21923388540744781, + -0.9649291634559631, + -0.1393241584300995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9644201993942261, + 0.2483835071325302, + -0.09055003523826599, + 0.21301652491092682 + ], + [ + 0.21970416605472565, + -0.9434998035430908, + -0.24806898832321167, + 0.07808715105056763 + ], + [ + -0.1470501869916916, + 0.21934852004051208, + -0.964501142501831, + -0.13715127110481262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9652299880981445, + 0.24603678286075592, + -0.08830054104328156, + 0.2051687240600586 + ], + [ + 0.2176481932401657, + -0.9435153007507324, + -0.24981620907783508, + 0.07719692587852478 + ], + [ + -0.14477689564228058, + 0.22191163897514343, + -0.9642587304115295, + -0.13455107808113098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9650017619132996, + 0.24727798998355865, + -0.08732225745916367, + 0.1971016377210617 + ], + [ + 0.21929624676704407, + -0.9435135722160339, + -0.24837730824947357, + 0.07650503516197205 + ], + [ + -0.14380797743797302, + 0.22053509950637817, + -0.9647194147109985, + -0.13150663673877716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9626575112342834, + 0.2548460364341736, + -0.09134547412395477, + 0.1888321340084076 + ], + [ + 0.22694316506385803, + -0.9436272382736206, + -0.2409655898809433, + 0.0760989785194397 + ], + [ + -0.14760519564151764, + 0.2112371027469635, + -0.9662254452705383, + -0.12809722125530243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9613214135169983, + 0.259793758392334, + -0.09147850424051285, + 0.1811056286096573 + ], + [ + 0.23224318027496338, + -0.9431276321411133, + -0.23785166442394257, + 0.07579401135444641 + ], + [ + -0.14806827902793884, + 0.2074066400527954, + -0.9669840931892395, + -0.12454523146152496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9626343846321106, + 0.2565706968307495, + -0.08664033561944962, + 0.17435093224048615 + ], + [ + 0.22979743778705597, + -0.9432018995285034, + -0.23992349207401276, + 0.07527250051498413 + ], + [ + -0.1432766616344452, + 0.21104887127876282, + -0.966917872428894, + -0.12137501686811447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9637349247932434, + 0.25419849157333374, + -0.0812288299202919, + 0.1677287220954895 + ], + [ + 0.22824646532535553, + -0.9428815841674805, + -0.2426476627588272, + 0.07443609833717346 + ], + [ + -0.1382698267698288, + 0.2153078317642212, + -0.9667078256607056, + -0.11866062134504318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9643251299858093, + 0.25239479541778564, + -0.07983648031949997, + 0.16097980737686157 + ], + [ + 0.22697991132736206, + -0.9435403347015381, + -0.24127119779586792, + 0.07351166009902954 + ], + [ + -0.13622453808784485, + 0.21454259753227234, + -0.9671682119369507, + -0.11567214876413345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9648301005363464, + 0.2506925165653229, + -0.07909547537565231, + 0.15425008535385132 + ], + [ + 0.22536881268024445, + -0.9437313079833984, + -0.24203337728977203, + 0.07215625047683716 + ], + [ + -0.13532082736492157, + 0.21569544076919556, + -0.967038631439209, + -0.11284556239843369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.965219259262085, + 0.2498501092195511, + -0.07698482275009155, + 0.14767909049987793 + ], + [ + 0.22482414543628693, + -0.9435219168663025, + -0.24335262179374695, + 0.07017731666564941 + ], + [ + -0.13343854248523712, + 0.21758058667182922, + -0.9668778777122498, + -0.11028558760881424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9662372469902039, + 0.24649666249752045, + -0.07500018924474716, + 0.1408730298280716 + ], + [ + 0.22206099331378937, + -0.9443226456642151, + -0.24278311431407928, + 0.06846499443054199 + ], + [ + -0.13066960871219635, + 0.21793146431446075, + -0.9671769738197327, + -0.10734017193317413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9663600921630859, + 0.24616362154483795, + -0.07450944930315018, + 0.13368657231330872 + ], + [ + 0.22182229161262512, + -0.9443379640579224, + -0.2429417222738266, + 0.06699627637863159 + ], + [ + -0.13016551733016968, + 0.21824131906032562, + -0.9671750664710999, + -0.1046375185251236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9652956128120422, + 0.2489136904478073, + -0.07903409004211426, + 0.126494362950325 + ], + [ + 0.22407257556915283, + -0.9448278546333313, + -0.23893891274929047, + 0.06556969881057739 + ], + [ + -0.13414877653121948, + 0.21293729543685913, + -0.9678128957748413, + -0.10205425322055817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9652742743492126, + 0.2489163875579834, + -0.07928553223609924, + 0.11916828900575638 + ], + [ + 0.2240821123123169, + -0.9449366927146912, + -0.23849906027317047, + 0.06419557332992554 + ], + [ + -0.13428613543510437, + 0.2124505341053009, + -0.967900812625885, + -0.0999152734875679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.964720606803894, + 0.25064921379089355, + -0.08055505901575089, + 0.11128303408622742 + ], + [ + 0.22546453773975372, + -0.9445329904556274, + -0.23879525065422058, + 0.06304770708084106 + ], + [ + -0.1359407603740692, + 0.21220839023590088, + -0.9677229523658752, + -0.09794655442237854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9634596109390259, + 0.25458064675331116, + -0.08327247202396393, + 0.1029021218419075 + ], + [ + 0.22861383855342865, + -0.9435668587684631, + -0.23961898684501648, + 0.062302205711603165 + ], + [ + -0.13957549631595612, + 0.21182596683502197, + -0.9672892093658447, + -0.09598053246736526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9631362557411194, + 0.25615501403808594, + -0.0821775272488594, + 0.09390078485012054 + ], + [ + 0.22993145883083344, + -0.9424313306808472, + -0.2428058683872223, + 0.061858534812927246 + ], + [ + -0.1396426111459732, + 0.21495993435382843, + -0.9665879011154175, + -0.09387858957052231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9615511298179626, + 0.2614500820636749, + -0.08404315263032913, + 0.08462648093700409 + ], + [ + 0.2345123291015625, + -0.9409579038619995, + -0.2441355139017105, + 0.06127685308456421 + ], + [ + -0.14291031658649445, + 0.21503962576389313, + -0.9660924673080444, + -0.0918644443154335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9584524035453796, + 0.2697758674621582, + -0.09268206357955933, + 0.07530166953802109 + ], + [ + 0.2411072552204132, + -0.9397979378700256, + -0.2421717643737793, + 0.06040835380554199 + ], + [ + -0.15243451297283173, + 0.2097637951374054, + -0.9657964706420898, + -0.08985523879528046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.957229495048523, + 0.272819846868515, + -0.09633805602788925, + 0.06586387753486633 + ], + [ + 0.243199422955513, + -0.93907231092453, + -0.24289357662200928, + 0.058933913707733154 + ], + [ + -0.15673458576202393, + 0.20907554030418396, + -0.9652573466300964, + -0.08750242739915848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9584369659423828, + 0.2687626779079437, + -0.09573537111282349, + 0.05711915343999863 + ], + [ + 0.23850257694721222, + -0.938909649848938, + -0.24812336266040802, + 0.05713540315628052 + ], + [ + -0.15657316148281097, + 0.2149774581193924, + -0.9639862775802612, + -0.08551232516765594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9593608379364014, + 0.26530271768569946, + -0.09613118320703506, + 0.048535071313381195 + ], + [ + 0.23388713598251343, + -0.9381976127624512, + -0.2551119327545166, + 0.055173132568597794 + ], + [ + -0.15787193179130554, + 0.22226056456565857, + -0.9621209502220154, + -0.08378982543945312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9604645371437073, + 0.26078811287879944, + -0.09745467454195023, + 0.03964441642165184 + ], + [ + 0.2288014143705368, + -0.9388356804847717, + -0.257366418838501, + 0.05339810624718666 + ], + [ + -0.15861202776432037, + 0.22489355504512787, + -0.9613870978355408, + -0.08185435831546783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9603400826454163, + 0.26007315516471863, + -0.10054274648427963, + 0.03068084456026554 + ], + [ + 0.22708939015865326, + -0.938748300075531, + -0.2591949701309204, + 0.051658809185028076 + ], + [ + -0.16179397702217102, + 0.22608312964439392, + -0.9605774879455566, + -0.07994543015956879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9595381617546082, + 0.2623465061187744, + -0.102277971804142, + 0.021555298939347267 + ], + [ + 0.22872495651245117, + -0.938045859336853, + -0.26029759645462036, + 0.049982521682977676 + ], + [ + -0.1642295867204666, + 0.22637194395065308, + -0.960096001625061, + -0.07800490409135818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9588109850883484, + 0.2644893229007721, + -0.10357078164815903, + 0.0119917131960392 + ], + [ + 0.2300017774105072, + -0.9368945360183716, + -0.26330167055130005, + 0.04938971996307373 + ], + [ + -0.1666753739118576, + 0.22863508760929108, + -0.9591377973556519, + -0.07669471949338913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9579784870147705, + 0.267604798078537, + -0.10327067971229553, + 0.0021749401930719614 + ], + [ + 0.23252952098846436, + -0.9353201985359192, + -0.26665741205215454, + 0.048628952354192734 + ], + [ + -0.16794995963573456, + 0.23143859207630157, + -0.958242654800415, + -0.07536103576421738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9572744369506836, + 0.270942747592926, + -0.10107281804084778, + -0.007612701039761305 + ], + [ + 0.23538410663604736, + -0.9330840706825256, + -0.2719345688819885, + 0.04777657985687256 + ], + [ + -0.1679881364107132, + 0.23652507364749908, + -0.9569931626319885, + -0.07427924871444702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9561439752578735, + 0.2753055691719055, + -0.09997779130935669, + -0.017591409385204315 + ], + [ + 0.2394254356622696, + -0.9312642216682434, + -0.27463144063949585, + 0.047643959522247314 + ], + [ + -0.1687133014202118, + 0.23864996433258057, + -0.9563378095626831, + -0.07303696870803833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9551488757133484, + 0.27732768654823303, + -0.10382647812366486, + -0.027132896706461906 + ], + [ + 0.24079395830631256, + -0.9314514994621277, + -0.272793710231781, + 0.047188401222229004 + ], + [ + -0.1723625808954239, + 0.23555782437324524, + -0.9564536809921265, + -0.07176990061998367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9534183144569397, + 0.28177976608276367, + -0.10767405480146408, + -0.03653397411108017 + ], + [ + 0.24456167221069336, + -0.9310150742530823, + -0.2709253430366516, + 0.04663848876953125 + ], + [ + -0.17658744752407074, + 0.23197224736213684, + -0.9565593004226685, + -0.07070434838533401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.955415666103363, + 0.2771380841732025, + -0.10185948759317398, + -0.04520678147673607 + ], + [ + 0.24157556891441345, + -0.9320581555366516, + -0.27001631259918213, + 0.04635307565331459 + ], + [ + -0.16977077722549438, + 0.2333710640668869, + -0.9574527740478516, + -0.06909987330436707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9586464762687683, + 0.26702526211738586, + -0.09846056997776031, + -0.05311453714966774 + ], + [ + 0.23242613673210144, + -0.9342120289802551, + -0.27060291171073914, + 0.046069417148828506 + ], + [ + -0.16424085199832916, + 0.2365276962518692, + -0.9576427340507507, + -0.06769849359989166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9595129489898682, + 0.2653135061264038, + -0.09457074105739594, + -0.06133820116519928 + ], + [ + 0.23140260577201843, + -0.9339556097984314, + -0.27235960960388184, + 0.045426998287439346 + ], + [ + -0.16058555245399475, + 0.2394486516714096, + -0.9575367569923401, + -0.06672240793704987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9622787237167358, + 0.25803837180137634, + -0.08623169362545013, + -0.06858270615339279 + ], + [ + 0.22612646222114563, + -0.9348007440567017, + -0.2738875448703766, + 0.0442604161798954 + ], + [ + -0.15128295123577118, + 0.24405689537525177, + -0.957888126373291, + -0.06559988111257553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9649413228034973, + 0.24923233687877655, + -0.08228933066129684, + -0.07535471022129059 + ], + [ + 0.21833699941635132, + -0.936229407787323, + -0.2753243148326874, + 0.04313015937805176 + ], + [ + -0.14566141366958618, + 0.24770499765872955, + -0.9578230381011963, + -0.06480665504932404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9676316976547241, + 0.24083170294761658, + -0.07542554289102554, + -0.08195129036903381 + ], + [ + 0.21116016805171967, + -0.9363026022911072, + -0.28062212467193604, + 0.04266345500946045 + ], + [ + -0.13820382952690125, + 0.25561198592185974, + -0.9568501710891724, + -0.06396682560443878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9701029062271118, + 0.23379099369049072, + -0.06513132899999619, + -0.0887078270316124 + ], + [ + 0.20626342296600342, + -0.9356558918952942, + -0.28636249899864197, + 0.0420219749212265 + ], + [ + -0.127889484167099, + 0.26436689496040344, + -0.955905020236969, + -0.06354434788227081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9731424450874329, + 0.22307999432086945, + -0.05682536959648132, + -0.09496809542179108 + ], + [ + 0.19780893623828888, + -0.9365876317024231, + -0.28926679491996765, + 0.04138118028640747 + ], + [ + -0.1177515760064125, + 0.27025723457336426, + -0.9555603265762329, + -0.06328141689300537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9778041243553162, + 0.20462298393249512, + -0.045038752257823944, + -0.10067088156938553 + ], + [ + 0.18336333334445953, + -0.9397326111793518, + -0.2885837256908417, + 0.041342198848724365 + ], + [ + -0.10137524455785751, + 0.2739199101924896, + -0.9563947916030884, + -0.06257832795381546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9829190969467163, + 0.18202833831310272, + -0.02712431363761425, + -0.1059282124042511 + ], + [ + 0.1668243408203125, + -0.9434898495674133, + -0.28635042905807495, + 0.041395366191864014 + ], + [ + -0.07771540433168411, + 0.27693429589271545, + -0.9577409625053406, + -0.06187848746776581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9844810962677002, + 0.17456991970539093, + -0.017952749505639076, + -0.1116195097565651 + ], + [ + 0.1619003564119339, + -0.942949652671814, + -0.29091957211494446, + 0.04174860939383507 + ], + [ + -0.06771434843540192, + 0.28349825739860535, + -0.9565790891647339, + -0.0621795654296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9844213128089905, + 0.1755608171224594, + -0.009647182188928127, + -0.11750011146068573 + ], + [ + 0.1649569869041443, + -0.9411696195602417, + -0.29493892192840576, + 0.04220300912857056 + ], + [ + -0.060859352350234985, + 0.28875279426574707, + -0.9554674029350281, + -0.0623830184340477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9864407777786255, + 0.1641070544719696, + -0.0018514594994485378, + -0.12230075895786285 + ], + [ + 0.15611626207828522, + -0.9417685866355896, + -0.2978248596191406, + 0.04252788797020912 + ], + [ + -0.05061880126595497, + 0.2934975326061249, + -0.9546187520027161, + -0.062123894691467285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9884694218635559, + 0.1513523906469345, + 0.0045403954572975636, + -0.12677352130413055 + ], + [ + 0.14561426639556885, + -0.9419153332710266, + -0.3026416003704071, + 0.04265338182449341 + ], + [ + -0.041528861969709396, + 0.2998131215572357, + -0.9530936479568481, + -0.06174817681312561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9905758500099182, + 0.13573114573955536, + 0.01834532804787159, + -0.13119789958000183 + ], + [ + 0.13471688330173492, + -0.9413654804229736, + -0.30932578444480896, + 0.04262262582778931 + ], + [ + -0.0247154850512743, + 0.30888205766677856, + -0.950779139995575, + -0.06109903007745743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9924826622009277, + 0.11876119673252106, + 0.029562363401055336, + -0.13580049574375153 + ], + [ + 0.1220221146941185, + -0.9416409730911255, + -0.3137242794036865, + 0.04322526231408119 + ], + [ + -0.00942113809287548, + 0.3149731755256653, + -0.9490538239479065, + -0.05985112488269806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9940142631530762, + 0.1032867431640625, + 0.03560265898704529, + -0.1406949758529663 + ], + [ + 0.10924514383077621, + -0.9429722428321838, + -0.31443411111831665, + 0.043942783027887344 + ], + [ + 0.0010954454774037004, + 0.3164413869380951, + -0.9486114382743835, + -0.058251310139894485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9949417114257812, + 0.09095397591590881, + 0.04264266788959503, + -0.1458982229232788 + ], + [ + 0.09977804124355316, + -0.9439516663551331, + -0.3146420419216156, + 0.044321510940790176 + ], + [ + 0.011634674854576588, + 0.3173052668571472, + -0.9482520818710327, + -0.056505121290683746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9963781833648682, + 0.07658688724040985, + 0.03694609925150871, + -0.1505117416381836 + ], + [ + 0.08431476354598999, + -0.9461789131164551, + -0.31246843934059143, + 0.044634316116571426 + ], + [ + 0.01102663204073906, + 0.31445184350013733, + -0.9492093920707703, + -0.05458506569266319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9976658821105957, + 0.062261760234832764, + 0.02803962305188179, + -0.1556006371974945 + ], + [ + 0.06790038198232651, + -0.9480418562889099, + -0.3108152747154236, + 0.04495716094970703 + ], + [ + 0.007230832241475582, + 0.31199368834495544, + -0.9500566720962524, + -0.05303933098912239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9985182881355286, + 0.048954080790281296, + 0.023763153702020645, + -0.16090068221092224 + ], + [ + 0.053896863013505936, + -0.9499198198318481, + -0.3078107237815857, + 0.04638782516121864 + ], + [ + 0.007504498586058617, + 0.308635413646698, + -0.9511508345603943, + -0.052116911858320236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9985412955284119, + 0.04762094095349312, + 0.025446098297834396, + -0.16658945381641388 + ], + [ + 0.053213536739349365, + -0.9477763175964355, + -0.3144652843475342, + 0.04730045795440674 + ], + [ + 0.009142075665295124, + 0.3153606653213501, + -0.9489278793334961, + -0.05118153989315033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.998282790184021, + 0.05252246931195259, + 0.025939254090189934, + -0.17283619940280914 + ], + [ + 0.05804571881890297, + -0.9465258717536926, + -0.3173633813858032, + 0.04812714830040932 + ], + [ + 0.007883465848863125, + 0.3183240592479706, + -0.9479491710662842, + -0.050026681274175644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9979723691940308, + 0.061856139451265335, + 0.014997038058936596, + -0.17936711013317108 + ], + [ + 0.06341373175382614, + -0.9460947513580322, + -0.31762152910232544, + 0.0490666963160038 + ], + [ + -0.005458221770823002, + 0.3179285228252411, + -0.9480989575386047, + -0.04915767163038254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 240, + "c2w": [ + [ + 0.9976838827133179, + 0.06743209064006805, + 0.008934449404478073, + -0.18573467433452606 + ], + [ + 0.0667814165353775, + -0.9460456371307373, + -0.3170771896839142, + 0.04954594373703003 + ], + [ + -0.012928782030940056, + 0.31693944334983826, + -0.9483576416969299, + -0.047921471297740936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 241, + "c2w": [ + [ + 0.9975794553756714, + 0.0688222125172615, + 0.00993780791759491, + -0.19189375638961792 + ], + [ + 0.06839028000831604, + -0.9452343583106995, + -0.3191469609737396, + 0.05012392997741699 + ], + [ + -0.012570841237902641, + 0.31905409693717957, + -0.9476531147956848, + -0.04665536433458328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 242, + "c2w": [ + [ + 0.9974907636642456, + 0.07044284790754318, + 0.007070628460496664, + -0.19824117422103882 + ], + [ + 0.0689757764339447, + -0.9444683790206909, + -0.3212815225124359, + 0.050832509994506836 + ], + [ + -0.015953999012708664, + 0.320963054895401, + -0.9469573497772217, + -0.04561679810285568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 243, + "c2w": [ + [ + 0.997552752494812, + 0.06959397345781326, + 0.006724594626575708, + -0.20447991788387299 + ], + [ + 0.06796890497207642, + -0.9426954984664917, + -0.3266579806804657, + 0.051397621631622314 + ], + [ + -0.016394181177020073, + 0.32631561160087585, + -0.9451187252998352, + -0.04479425400495529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 244, + "c2w": [ + [ + 0.9976192116737366, + 0.06852251291275024, + 0.007785258814692497, + -0.2101259082555771 + ], + [ + 0.06725326180458069, + -0.9416778683662415, + -0.3297268748283386, + 0.05207562446594238 + ], + [ + -0.015262509696185589, + 0.32946544885635376, + -0.944044291973114, + -0.043545935302972794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 245, + "c2w": [ + [ + 0.9972370862960815, + 0.07397708296775818, + 0.006752885412424803, + -0.21596521139144897 + ], + [ + 0.07208526134490967, + -0.9417476058006287, + -0.32850441336631775, + 0.052923187613487244 + ], + [ + -0.017942285165190697, + 0.3280835747718811, + -0.9444782733917236, + -0.04170384630560875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 246, + "c2w": [ + [ + 0.9968127608299255, + 0.07716498523950577, + 0.02024696208536625, + -0.2211984544992447 + ], + [ + 0.07950245589017868, + -0.9398183822631836, + -0.3322962820529938, + 0.05379444360733032 + ], + [ + -0.006613170262426138, + 0.33284682035446167, + -0.9429576992988586, + -0.039141811430454254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 247, + "c2w": [ + [ + 0.996013879776001, + 0.08274267613887787, + 0.03331627696752548, + -0.22591184079647064 + ], + [ + 0.08911890536546707, + -0.9388562440872192, + -0.3325760066509247, + 0.054800331592559814 + ], + [ + 0.0037609669379889965, + 0.33421942591667175, + -0.9424877762794495, + -0.03604615852236748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 248, + "c2w": [ + [ + 0.9949524402618408, + 0.09250935167074203, + 0.038880303502082825, + -0.2307436317205429 + ], + [ + 0.10016565769910812, + -0.9388977885246277, + -0.32929885387420654, + 0.05579255521297455 + ], + [ + 0.00604140805080533, + 0.3315311670303345, + -0.9434249401092529, + -0.032896723598241806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 249, + "c2w": [ + [ + 0.9941443204879761, + 0.0995832160115242, + 0.04195551946759224, + -0.23471368849277496 + ], + [ + 0.1078580990433693, + -0.9381927847862244, + -0.3288783133029938, + 0.056791841983795166 + ], + [ + 0.006611606106162071, + 0.3314777612686157, + -0.9434398412704468, + -0.029932901263237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 250, + "c2w": [ + [ + 0.9937477111816406, + 0.09942013025283813, + 0.05080464854836464, + -0.23777201771736145 + ], + [ + 0.11058389395475388, + -0.9391636252403259, + -0.325181245803833, + 0.05776470899581909 + ], + [ + 0.015384318307042122, + 0.3287662863731384, + -0.9442859888076782, + -0.026322368532419205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 251, + "c2w": [ + [ + 0.9938948154449463, + 0.09424940496683121, + 0.05735989660024643, + -0.24009285867214203 + ], + [ + 0.10772567987442017, + -0.9412947297096252, + -0.3199365735054016, + 0.058624863624572754 + ], + [ + 0.02383873611688614, + 0.32416245341300964, + -0.945701003074646, + -0.02234838716685772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 252, + "c2w": [ + [ + 0.9945785999298096, + 0.08222146332263947, + 0.06366351991891861, + -0.24217581748962402 + ], + [ + 0.09812449663877487, + -0.9447283744812012, + -0.3128255605697632, + 0.05918226018548012 + ], + [ + 0.03442375734448433, + 0.3173765540122986, + -0.947674572467804, + -0.017490586265921593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 253, + "c2w": [ + [ + 0.9943873286247253, + 0.07906505465507507, + 0.07030336558818817, + -0.24459274113178253 + ], + [ + 0.09672506898641586, + -0.9486262202262878, + -0.301251620054245, + 0.059791624546051025 + ], + [ + 0.042873140424489975, + 0.3063608705997467, + -0.950949490070343, + -0.012097906321287155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 254, + "c2w": [ + [ + 0.994813859462738, + 0.08095798641443253, + 0.0615730918943882, + -0.24650441110134125 + ], + [ + 0.09537503123283386, + -0.9528285264968872, + -0.28813436627388, + 0.06027799844741821 + ], + [ + 0.03534182161092758, + 0.29251259565353394, + -0.9556083679199219, + -0.006976115517318249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 255, + "c2w": [ + [ + 0.9948620796203613, + 0.0818861722946167, + 0.05953236669301987, + -0.24854181706905365 + ], + [ + 0.0953734815120697, + -0.9553118944168091, + -0.2797911465167999, + 0.06051710620522499 + ], + [ + 0.03396095335483551, + 0.28403139114379883, + -0.9582133293151855, + -0.0022776168771088123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 256, + "c2w": [ + [ + 0.9941449165344238, + 0.09206750988960266, + 0.05656326189637184, + -0.25064465403556824 + ], + [ + 0.10402098298072815, + -0.9571277499198914, + -0.27034446597099304, + 0.0607532262802124 + ], + [ + 0.029248325154185295, + 0.2746453583240509, + -0.9611006379127502, + 0.001976143568754196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 257, + "c2w": [ + [ + 0.9931845664978027, + 0.10752695798873901, + 0.04497027397155762, + -0.2523828446865082 + ], + [ + 0.11558590829372406, + -0.9582595825195312, + -0.26149284839630127, + 0.06087225675582886 + ], + [ + 0.014975663274526596, + 0.2649086117744446, + -0.964157223701477, + 0.005506359506398439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 258, + "c2w": [ + [ + 0.991541862487793, + 0.12366000562906265, + 0.03940731659531593, + -0.2537328004837036 + ], + [ + 0.12965771555900574, + -0.95735102891922, + -0.25820136070251465, + 0.060214970260858536 + ], + [ + 0.005797453690320253, + 0.26112690567970276, + -0.9652870893478394, + 0.008862472139298916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 259, + "c2w": [ + [ + 0.9893863201141357, + 0.14312106370925903, + 0.025121401995420456, + -0.25445544719696045 + ], + [ + 0.14481166005134583, + -0.9568606019020081, + -0.25188761949539185, + 0.059688057750463486 + ], + [ + -0.012012745253741741, + 0.25285205245018005, + -0.9674303531646729, + 0.01175007876008749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 260, + "c2w": [ + [ + 0.9867631196975708, + 0.16175757348537445, + 0.01153174415230751, + -0.25423163175582886 + ], + [ + 0.15948091447353363, + -0.9550639390945435, + -0.24983741343021393, + 0.05926018953323364 + ], + [ + -0.02939954213798046, + 0.24836944043636322, + -0.9682191014289856, + 0.013699403032660484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 261, + "c2w": [ + [ + 0.9829897880554199, + 0.18352223932743073, + 0.007118633948266506, + -0.2537277042865753 + ], + [ + 0.17928704619407654, + -0.9504544734954834, + -0.25395363569259644, + 0.058526039123535156 + ], + [ + -0.039840202778577805, + 0.2509101331233978, + -0.9671902060508728, + 0.01569834165275097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 262, + "c2w": [ + [ + 0.9799513816833496, + 0.1991719752550125, + -0.005080412607640028, + -0.25190314650535583 + ], + [ + 0.19129778444766998, + -0.9477238059043884, + -0.25539135932922363, + 0.05789891257882118 + ], + [ + -0.055681630969047546, + 0.24929925799369812, + -0.9668244123458862, + 0.017519034445285797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 263, + "c2w": [ + [ + 0.9783991575241089, + 0.20597387850284576, + -0.017601536586880684, + -0.24949707090854645 + ], + [ + 0.19491040706634521, + -0.9475060105323792, + -0.25346067547798157, + 0.05771106481552124 + ], + [ + -0.06888383626937866, + 0.24455499649047852, + -0.9671855568885803, + 0.019435932859778404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 264, + "c2w": [ + [ + 0.9772731065750122, + 0.21132123470306396, + -0.016750307753682137, + -0.24653415381908417 + ], + [ + 0.2004614770412445, + -0.9469595551490784, + -0.2511628270149231, + 0.05778324604034424 + ], + [ + -0.06893790513277054, + 0.2420969009399414, + -0.9677999019622803, + 0.02160610444843769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 265, + "c2w": [ + [ + 0.9751048684120178, + 0.22117283940315247, + -0.015908699482679367, + -0.24340157210826874 + ], + [ + 0.2101108282804489, + -0.9444993734359741, + -0.25253593921661377, + 0.05814319849014282 + ], + [ + -0.07087984681129456, + 0.24290642142295837, + -0.9674566984176636, + 0.023442819714546204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 266, + "c2w": [ + [ + 0.9737123847007751, + 0.22702588140964508, + -0.018532507121562958, + -0.23977746069431305 + ], + [ + 0.2148837298154831, + -0.9425228834152222, + -0.2558819651603699, + 0.0586584210395813 + ], + [ + -0.07555913925170898, + 0.24517309665679932, + -0.9665303826332092, + 0.025062892585992813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 267, + "c2w": [ + [ + 0.9745060801506042, + 0.22380858659744263, + -0.015735801309347153, + -0.23583334684371948 + ], + [ + 0.21256278455257416, + -0.9434312582015991, + -0.2544691264629364, + 0.06001739203929901 + ], + [ + -0.07179801911115646, + 0.24463686347007751, + -0.9669528603553772, + 0.027277180925011635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 268, + "c2w": [ + [ + 0.9750562906265259, + 0.22152578830718994, + -0.01383980456739664, + -0.23152147233486176 + ], + [ + 0.21092601120471954, + -0.9442043900489807, + -0.2529589831829071, + 0.061264753341674805 + ], + [ + -0.06910454481840134, + 0.2437300831079483, + -0.9673780202865601, + 0.029302651062607765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 269, + "c2w": [ + [ + 0.9751266241073608, + 0.220896914601326, + -0.018237382173538208, + -0.2269439846277237 + ], + [ + 0.20911447703838348, + -0.9441417455673218, + -0.25469106435775757, + 0.06352996826171875 + ], + [ + -0.07347914576530457, + 0.24454233050346375, + -0.9668504595756531, + 0.03116258978843689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 270, + "c2w": [ + [ + 0.9758040308952332, + 0.2179364264011383, + -0.01761312410235405, + -0.22188271582126617 + ], + [ + 0.20651647448539734, + -0.9451298117637634, + -0.2531414031982422, + 0.06515273451805115 + ], + [ + -0.07181542366743088, + 0.24337901175022125, + -0.9672689437866211, + 0.03303094953298569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 271, + "c2w": [ + [ + 0.9753636717796326, + 0.21971595287322998, + -0.019763262942433357, + -0.2168518602848053 + ], + [ + 0.20782727003097534, + -0.9452275633811951, + -0.2516995966434479, + 0.06651006639003754 + ], + [ + -0.07398319989442825, + 0.24139128625392914, + -0.9676036238670349, + 0.03464642912149429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 272, + "c2w": [ + [ + 0.9742333292961121, + 0.22399291396141052, + -0.02639256976544857, + -0.21190562844276428 + ], + [ + 0.210847869515419, + -0.9460499882698059, + -0.2460336685180664, + 0.06795606017112732 + ], + [ + -0.08007848262786865, + 0.2341293841600418, + -0.9689018726348877, + 0.03648393601179123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 273, + "c2w": [ + [ + 0.9743017554283142, + 0.22357094287872314, + -0.027424262836575508, + -0.20686142146587372 + ], + [ + 0.21065400540828705, + -0.9475128054618835, + -0.24050851166248322, + 0.07024085521697998 + ], + [ + -0.07975555211305618, + 0.22855083644390106, + -0.9702595472335815, + 0.037670161575078964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 274, + "c2w": [ + [ + 0.9711876511573792, + 0.23619994521141052, + -0.03168795630335808, + -0.1997089684009552 + ], + [ + 0.22238783538341522, + -0.9460245966911316, + -0.23575642704963684, + 0.07390138506889343 + ], + [ + -0.08566324412822723, + 0.22191672027111053, + -0.9712954163551331, + 0.03953560069203377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 275, + "c2w": [ + [ + 0.9693604111671448, + 0.24271544814109802, + -0.03780948743224144, + -0.19409404695034027 + ], + [ + 0.22798508405685425, + -0.9462612867355347, + -0.22937384247779846, + 0.07663339376449585 + ], + [ + -0.09145022928714752, + 0.21372592449188232, + -0.9726037383079529, + 0.04192318022251129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 276, + "c2w": [ + [ + 0.9680885672569275, + 0.24743147194385529, + -0.039776530116796494, + -0.188060462474823 + ], + [ + 0.23257049918174744, + -0.9461473226547241, + -0.22520260512828827, + 0.07928639650344849 + ], + [ + -0.0933566689491272, + 0.20876522362232208, + -0.9734996557235718, + 0.044077906757593155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 277, + "c2w": [ + [ + 0.9662669897079468, + 0.25299695134162903, + -0.048173416405916214, + -0.18168951570987701 + ], + [ + 0.23708802461624146, + -0.9468786120414734, + -0.21727898716926575, + 0.08196103572845459 + ], + [ + -0.10058529675006866, + 0.19852817058563232, + -0.9749200940132141, + 0.04625089466571808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 278, + "c2w": [ + [ + 0.9665384292602539, + 0.2501334846019745, + -0.05689181014895439, + -0.17447276413440704 + ], + [ + 0.23304972052574158, + -0.9489108920097351, + -0.21273455023765564, + 0.08494347333908081 + ], + [ + -0.10719729214906693, + 0.19235751032829285, + -0.9754523634910583, + 0.04816057160496712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 279, + "c2w": [ + [ + 0.967492938041687, + 0.2458639293909073, + -0.059231534600257874, + -0.16724583506584167 + ], + [ + 0.22848311066627502, + -0.9501784443855286, + -0.21202915906906128, + 0.08776140213012695 + ], + [ + -0.10841085016727448, + 0.19160330295562744, + -0.9754666686058044, + 0.04992278665304184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 280, + "c2w": [ + [ + 0.9677516222000122, + 0.24396640062332153, + -0.06274691224098206, + -0.16003447771072388 + ], + [ + 0.22613710165023804, + -0.9511197805404663, + -0.2103167474269867, + 0.0906379222869873 + ], + [ + -0.11099005490541458, + 0.18934497237205505, + -0.9756175875663757, + 0.0518566332757473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 281, + "c2w": [ + [ + 0.9680080413818359, + 0.24069912731647491, + -0.07088300585746765, + -0.15247683227062225 + ], + [ + 0.22183354198932648, + -0.9529598355293274, + -0.20653687417507172, + 0.09355616569519043 + ], + [ + -0.11726190149784088, + 0.18420511484146118, + -0.9758678674697876, + 0.05385133996605873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 282, + "c2w": [ + [ + 0.9690791368484497, + 0.23632259666919708, + -0.07097369432449341, + -0.1444934606552124 + ], + [ + 0.2176388055086136, + -0.9541628360748291, + -0.20544248819351196, + 0.09783726930618286 + ], + [ + -0.11627116054296494, + 0.1836433857679367, + -0.9760922789573669, + 0.05584920570254326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 283, + "c2w": [ + [ + 0.9696161150932312, + 0.23369909822940826, + -0.07231386750936508, + -0.13683736324310303 + ], + [ + 0.2149849236011505, + -0.955082356929779, + -0.20395874977111816, + 0.10124486684799194 + ], + [ + -0.11673067510128021, + 0.18221530318260193, + -0.9763050675392151, + 0.05768829211592674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 284, + "c2w": [ + [ + 0.9710408449172974, + 0.2282208353281021, + -0.0706750750541687, + -0.12907527387142181 + ], + [ + 0.20981837809085846, + -0.9560969471931458, + -0.20458461344242096, + 0.10510975122451782 + ], + [ + -0.11426270008087158, + 0.1838310807943344, + -0.9762941002845764, + 0.05936049297451973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 285, + "c2w": [ + [ + 0.9729101657867432, + 0.2215431183576584, + -0.06606370955705643, + -0.12112973630428314 + ], + [ + 0.20368289947509766, + -0.9566087126731873, + -0.2083580195903778, + 0.10893511772155762 + ], + [ + -0.10935740917921066, + 0.18925759196281433, + -0.9758188724517822, + 0.06075136363506317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 286, + "c2w": [ + [ + 0.9744070768356323, + 0.21588747203350067, + -0.06263720989227295, + -0.11329371482133865 + ], + [ + 0.19871294498443604, + -0.9575201272964478, + -0.20896989107131958, + 0.11282789707183838 + ], + [ + -0.10509037226438522, + 0.1911749243736267, + -0.9759140014648438, + 0.062328606843948364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 287, + "c2w": [ + [ + 0.9755069613456726, + 0.21027515828609467, + -0.06457963585853577, + -0.10544534027576447 + ], + [ + 0.19320106506347656, + -0.9594025015830994, + -0.2054755538702011, + 0.11690139770507812 + ], + [ + -0.10516426712274551, + 0.1879659742116928, + -0.9765291810035706, + 0.06410233676433563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 288, + "c2w": [ + [ + 0.9775197505950928, + 0.20180034637451172, + -0.06108780950307846, + -0.09833475202322006 + ], + [ + 0.1854700744152069, + -0.9607983231544495, + -0.20607639849185944, + 0.12311771512031555 + ], + [ + -0.10027935355901718, + 0.19011379778385162, + -0.9766272306442261, + 0.0656404048204422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 289, + "c2w": [ + [ + 0.9793950319290161, + 0.1949743628501892, + -0.05263424292206764, + -0.09108175337314606 + ], + [ + 0.17988499999046326, + -0.960686981678009, + -0.21147555112838745, + 0.12784963846206665 + ], + [ + -0.0917973443865776, + 0.1976499855518341, + -0.9759650230407715, + 0.0667949989438057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 290, + "c2w": [ + [ + 0.9823047518730164, + 0.18416723608970642, + -0.03405610844492912, + -0.08391227573156357 + ], + [ + 0.1722099930047989, + -0.9596413969993591, + -0.22233344614505768, + 0.1330830156803131 + ], + [ + -0.07362818717956543, + 0.21253439784049988, + -0.9743757247924805, + 0.06767599284648895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 291, + "c2w": [ + [ + 0.9846370220184326, + 0.17384004592895508, + -0.016418712213635445, + -0.07709062099456787 + ], + [ + 0.16552774608135223, + -0.9592027068138123, + -0.2291957587003708, + 0.13802647590637207 + ], + [ + -0.05559227615594864, + 0.22295688092708588, + -0.9732418656349182, + 0.06900699436664581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 292, + "c2w": [ + [ + 0.9854238033294678, + 0.1698167622089386, + -0.010110663250088692, + -0.07064926624298096 + ], + [ + 0.16313351690769196, + -0.9601525664329529, + -0.2269238978624344, + 0.14263945817947388 + ], + [ + -0.048243261873722076, + 0.22196681797504425, + -0.9738600254058838, + 0.07090120762586594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 293, + "c2w": [ + [ + 0.9859877824783325, + 0.16659478843212128, + -0.008616711013019085, + -0.06443431228399277 + ], + [ + 0.1602000743150711, + -0.9600152373313904, + -0.22957932949066162, + 0.14792397618293762 + ], + [ + -0.04651889577507973, + 0.22498202323913574, + -0.9732518196105957, + 0.07153576612472534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 294, + "c2w": [ + [ + 0.9867197275161743, + 0.16209761798381805, + -0.010418407618999481, + -0.057657573372125626 + ], + [ + 0.15523788332939148, + -0.9599528312683105, + -0.23322036862373352, + 0.15275773406028748 + ], + [ + -0.04780564829707146, + 0.22850580513477325, + -0.9723681211471558, + 0.0718662440776825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 295, + "c2w": [ + [ + 0.9867565631866455, + 0.16194844245910645, + -0.009172589518129826, + -0.05088124796748161 + ], + [ + 0.15521001815795898, + -0.9591054916381836, + -0.2366991639137268, + 0.157487154006958 + ], + [ + -0.04713054373860359, + 0.23214077949523926, + -0.9715396761894226, + 0.07187411934137344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 296, + "c2w": [ + [ + 0.9856908321380615, + 0.16826990246772766, + -0.009942417033016682, + -0.04353218153119087 + ], + [ + 0.16080518066883087, + -0.956375241279602, + -0.24390184879302979, + 0.16342288255691528 + ], + [ + -0.05055002123117447, + 0.23881302773952484, + -0.9697489738464355, + 0.07192322611808777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 297, + "c2w": [ + [ + 0.984441876411438, + 0.17498627305030823, + -0.015935860574245453, + -0.03654981777071953 + ], + [ + 0.16583172976970673, + -0.955247700214386, + -0.24495236575603485, + 0.16808947920799255 + ], + [ + -0.05808599665760994, + 0.23849870264530182, + -0.9694041609764099, + 0.07157030701637268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 298, + "c2w": [ + [ + 0.9832355976104736, + 0.18047431111335754, + -0.0260142982006073, + -0.029353173449635506 + ], + [ + 0.1691705286502838, + -0.9561269283294678, + -0.2391706109046936, + 0.1723896563053131 + ], + [ + -0.06803712248802185, + 0.23076021671295166, + -0.9706290364265442, + 0.07154752314090729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 299, + "c2w": [ + [ + 0.9823011159896851, + 0.18512596189975739, + -0.02851078100502491, + -0.02186567895114422 + ], + [ + 0.1733522266149521, + -0.9561708569526672, + -0.23597949743270874, + 0.17676007747650146 + ], + [ + -0.07094711065292358, + 0.22686052322387695, + -0.9713397026062012, + 0.07140818238258362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 300, + "c2w": [ + [ + 0.9804945588111877, + 0.19443993270397186, + -0.028697388246655464, + -0.01494363509118557 + ], + [ + 0.1825205236673355, + -0.9549345970153809, + -0.23406454920768738, + 0.1805882453918457 + ], + [ + -0.07291562110185623, + 0.22426114976406097, + -0.9717974066734314, + 0.0711151584982872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 301, + "c2w": [ + [ + 0.9776996970176697, + 0.2077929526567459, + -0.030420392751693726, + -0.00828392244875431 + ], + [ + 0.1957891434431076, + -0.9542838931083679, + -0.22585132718086243, + 0.18426847457885742 + ], + [ + -0.07596000283956528, + 0.2148587852716446, + -0.973686695098877, + 0.07118052989244461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 302, + "c2w": [ + [ + 0.9747365713119507, + 0.22032296657562256, + -0.03669276088476181, + -0.000775130232796073 + ], + [ + 0.20739081501960754, + -0.9537572264671326, + -0.21756894886493683, + 0.1874958574771881 + ], + [ + -0.08293142169713974, + 0.2044626772403717, + -0.9753550291061401, + 0.07064221799373627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 303, + "c2w": [ + [ + 0.9703125953674316, + 0.23721827566623688, + -0.04712714999914169, + 0.006520468275994062 + ], + [ + 0.22253663837909698, + -0.9520071744918823, + -0.21014221012592316, + 0.19070595502853394 + ], + [ + -0.09471496194601059, + 0.19341611862182617, + -0.9765343070030212, + 0.06981954723596573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 304, + "c2w": [ + [ + 0.9659007787704468, + 0.25382745265960693, + -0.05106153339147568, + 0.0137341832742095 + ], + [ + 0.2385205775499344, + -0.9490663409233093, + -0.20586660504341125, + 0.19396349787712097 + ], + [ + -0.10071537643671036, + 0.18666748702526093, + -0.9772469997406006, + 0.06858810037374496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 305, + "c2w": [ + [ + 0.9653190970420837, + 0.25571224093437195, + -0.052633218467235565, + 0.022163497284054756 + ], + [ + 0.24010425806045532, + -0.9487209320068359, + -0.20561759173870087, + 0.19611597061157227 + ], + [ + -0.10251316428184509, + 0.185849130153656, + -0.9772160053253174, + 0.06704860180616379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 306, + "c2w": [ + [ + 0.9649347066879272, + 0.2569676637649536, + -0.053559839725494385, + 0.030650269240140915 + ], + [ + 0.24160200357437134, + -0.9492290616035461, + -0.2014760971069336, + 0.19840365648269653 + ], + [ + -0.1026134043931961, + 0.18147112429141998, + -0.9780279994010925, + 0.06596626341342926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 307, + "c2w": [ + [ + 0.9636510014533997, + 0.2614533603191376, + -0.05494428426027298, + 0.03877432271838188 + ], + [ + 0.2458147406578064, + -0.9482494592666626, + -0.200992614030838, + 0.20051023364067078 + ], + [ + -0.1046510860323906, + 0.180180624127388, + -0.9780506491661072, + 0.064866803586483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 308, + "c2w": [ + [ + 0.9624463319778442, + 0.26546183228492737, + -0.056807518005371094, + 0.04732179269194603 + ], + [ + 0.25001776218414307, + -0.9482941031455994, + -0.19552354514598846, + 0.20269811153411865 + ], + [ + -0.10577426850795746, + 0.1739780306816101, + -0.9790523052215576, + 0.06450910866260529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 309, + "c2w": [ + [ + 0.9605675935745239, + 0.2725507318973541, + -0.05500933900475502, + 0.055644769221544266 + ], + [ + 0.25751394033432007, + -0.9466640949249268, + -0.19368454813957214, + 0.20447807013988495 + ], + [ + -0.10486423224210739, + 0.17188143730163574, + -0.9795204401016235, + 0.06385048478841782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 310, + "c2w": [ + [ + 0.9578557014465332, + 0.2828449308872223, + -0.05011196434497833, + 0.06360149383544922 + ], + [ + 0.2685583829879761, + -0.9436971545219421, + -0.19316324591636658, + 0.20594581961631775 + ], + [ + -0.10192576050758362, + 0.171564519405365, + -0.9798861145973206, + 0.06323806196451187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 311, + "c2w": [ + [ + 0.9556680917739868, + 0.28997570276260376, + -0.05111313983798027, + 0.07197628915309906 + ], + [ + 0.27591967582702637, + -0.94254469871521, + -0.18835553526878357, + 0.20727357268333435 + ], + [ + -0.10279495269060135, + 0.1659022569656372, + -0.98076993227005, + 0.06285519152879715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 312, + "c2w": [ + [ + 0.9540534019470215, + 0.295680433511734, + -0.04852978512644768, + 0.08004117757081985 + ], + [ + 0.2821667194366455, + -0.9410611987113953, + -0.18650932610034943, + 0.20887023210525513 + ], + [ + -0.10081665217876434, + 0.16424638032913208, + -0.9812538623809814, + 0.06178878992795944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 313, + "c2w": [ + [ + 0.9520440101623535, + 0.3027989864349365, + -0.043874531984329224, + 0.08802229166030884 + ], + [ + 0.28987759351730347, + -0.9385567307472229, + -0.18730244040489197, + 0.21047145128250122 + ], + [ + -0.09789372980594635, + 0.1656019240617752, + -0.9813219904899597, + 0.061005230993032455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 314, + "c2w": [ + [ + 0.9473283886909485, + 0.3176834285259247, + -0.04057249426841736, + 0.09492427855730057 + ], + [ + 0.3043566048145294, + -0.9324515461921692, + -0.1946822851896286, + 0.2127210795879364 + ], + [ + -0.09967922419309616, + 0.17207954823970795, + -0.98002690076828, + 0.059971440583467484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 315, + "c2w": [ + [ + 0.9444654583930969, + 0.3267059326171875, + -0.035330165177583694, + 0.10222555696964264 + ], + [ + 0.31384536623954773, + -0.9286655187606812, + -0.1976904273033142, + 0.21462565660476685 + ], + [ + -0.09739654511213303, + 0.1756235659122467, + -0.9796276092529297, + 0.05937521532177925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 316, + "c2w": [ + [ + 0.9415097236633301, + 0.3356657326221466, + -0.029798835515975952, + 0.10972969233989716 + ], + [ + 0.32331332564353943, + -0.9247040152549744, + -0.20097501575946808, + 0.21636080741882324 + ], + [ + -0.09501553326845169, + 0.17958557605743408, + -0.9791430234909058, + 0.058884408324956894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 317, + "c2w": [ + [ + 0.9377678036689758, + 0.34599244594573975, + -0.029677262529730797, + 0.1177184134721756 + ], + [ + 0.33325639367103577, + -0.9206780791282654, + -0.20320437848567963, + 0.21923810243606567 + ], + [ + -0.09763038158416748, + 0.18066838383674622, + -0.978686511516571, + 0.058711156249046326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 318, + "c2w": [ + [ + 0.9343727231025696, + 0.35464873909950256, + -0.03423214331269264, + 0.12593398988246918 + ], + [ + 0.3410055637359619, + -0.9179794192314148, + -0.20255613327026367, + 0.2212626338005066 + ], + [ + -0.10326068103313446, + 0.17758958041667938, + -0.9786721467971802, + 0.05886754393577576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 319, + "c2w": [ + [ + 0.9315661787986755, + 0.3615751266479492, + -0.03805156052112579, + 0.13438837230205536 + ], + [ + 0.34720495343208313, + -0.9157926440238953, + -0.2019222378730774, + 0.22260800004005432 + ], + [ + -0.10785739868879318, + 0.17489224672317505, + -0.9786620736122131, + 0.05911099165678024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 320, + "c2w": [ + [ + 0.9287581443786621, + 0.3686133623123169, + -0.039147261530160904, + 0.1430165320634842 + ], + [ + 0.35402682423591614, + -0.9133614897727966, + -0.20108647644519806, + 0.22359097003936768 + ], + [ + -0.109878771007061, + 0.17290152609348297, + -0.9787909388542175, + 0.059426892548799515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 321, + "c2w": [ + [ + 0.9235747456550598, + 0.3808923661708832, + -0.04393957555294037, + 0.15094506740570068 + ], + [ + 0.3658367097377777, + -0.9097232818603516, + -0.19638507068157196, + 0.22600972652435303 + ], + [ + -0.1147744208574295, + 0.16530157625675201, + -0.9795418381690979, + 0.060727305710315704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 322, + "c2w": [ + [ + 0.9217389225959778, + 0.3851081132888794, + -0.04570697247982025, + 0.15988008677959442 + ], + [ + 0.37028276920318604, + -0.9089770317077637, + -0.19144560396671295, + 0.2271188497543335 + ], + [ + -0.1152738407254219, + 0.1595383584499359, + -0.9804384112358093, + 0.06163811311125755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 323, + "c2w": [ + [ + 0.9196955561637878, + 0.38985297083854675, + -0.046633634716272354, + 0.16985441744327545 + ], + [ + 0.37478169798851013, + -0.9070740342140198, + -0.19171686470508575, + 0.22929811477661133 + ], + [ + -0.11704155057668686, + 0.1588437259197235, + -0.9803417325019836, + 0.06217087060213089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 324, + "c2w": [ + [ + 0.915490984916687, + 0.40009430050849915, + -0.04243539273738861, + 0.17845554649829865 + ], + [ + 0.38539743423461914, + -0.9023351073265076, + -0.19302880764007568, + 0.2305813431739807 + ], + [ + -0.1155206710100174, + 0.160361647605896, + -0.98027503490448, + 0.062244463711977005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 325, + "c2w": [ + [ + 0.9132967591285706, + 0.4056727886199951, + -0.03631218895316124, + 0.1873326599597931 + ], + [ + 0.39186203479766846, + -0.8995014429092407, + -0.19323892891407013, + 0.2316575050354004 + ], + [ + -0.11105464398860931, + 0.16225512325763702, + -0.9804795384407043, + 0.062295641750097275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 326, + "c2w": [ + [ + 0.9088746309280396, + 0.41564419865608215, + -0.03444928675889969, + 0.19596408307552338 + ], + [ + 0.4020138084888458, + -0.895064651966095, + -0.19298739731311798, + 0.2326335906982422 + ], + [ + -0.11104843765497208, + 0.16155226528644562, + -0.9805963039398193, + 0.061977569013834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 327, + "c2w": [ + [ + 0.9012939929962158, + 0.4319533407688141, + -0.032946791499853134, + 0.20390953123569489 + ], + [ + 0.4180716276168823, + -0.8872115612030029, + -0.19511984288692474, + 0.2341749668121338 + ], + [ + -0.11351344734430313, + 0.16208621859550476, + -0.9802258610725403, + 0.060022179037332535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 328, + "c2w": [ + [ + 0.8958271741867065, + 0.4432186484336853, + -0.032417722046375275, + 0.212522953748703 + ], + [ + 0.4291015565395355, + -0.8816556334495544, + -0.19635482132434845, + 0.23465126752853394 + ], + [ + -0.11560938507318497, + 0.1619894951581955, + -0.9799968600273132, + 0.058670587837696075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 329, + "c2w": [ + [ + 0.8938058018684387, + 0.4474206268787384, + -0.03042987361550331, + 0.2214447408914566 + ], + [ + 0.43320900201797485, + -0.8789728879928589, + -0.19934041798114777, + 0.2344881296157837 + ], + [ + -0.1159360483288765, + 0.16498911380767822, + -0.9794577360153198, + 0.05717376247048378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 330, + "c2w": [ + [ + 0.8901534676551819, + 0.4550217092037201, + -0.02412590943276882, + 0.22931936383247375 + ], + [ + 0.4409755766391754, + -0.8735904097557068, + -0.20586487650871277, + 0.2360982596874237 + ], + [ + -0.11474915593862534, + 0.17261239886283875, + -0.9782829880714417, + 0.05582868680357933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 331, + "c2w": [ + [ + 0.8783757090568542, + 0.47744807600975037, + -0.02234829217195511, + 0.23572227358818054 + ], + [ + 0.4634360373020172, + -0.862176239490509, + -0.20464400947093964, + 0.23547208309173584 + ], + [ + -0.11697506159543991, + 0.16939732432365417, + -0.9785813093185425, + 0.054287441074848175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 332, + "c2w": [ + [ + 0.8738729953765869, + 0.48559463024139404, + -0.02331935614347458, + 0.24375267326831818 + ], + [ + 0.47162193059921265, + -0.858415424823761, + -0.20173172652721405, + 0.23562753200531006 + ], + [ + -0.11797753721475601, + 0.1652899980545044, + -0.9791631698608398, + 0.05336125195026398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 333, + "c2w": [ + [ + 0.8743730187416077, + 0.48493069410324097, + -0.017720144242048264, + 0.2518777549266815 + ], + [ + 0.47145482897758484, + -0.8575879335403442, + -0.20560458302497864, + 0.23516380786895752 + ], + [ + -0.11490055173635483, + 0.1714208573102951, + -0.9784747362136841, + 0.051875099539756775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 334, + "c2w": [ + [ + 0.8707664608955383, + 0.491252064704895, + -0.020909758284687996, + 0.25925204157829285 + ], + [ + 0.4766395688056946, + -0.8537806272506714, + -0.2094595581293106, + 0.23479360342025757 + ], + [ + -0.12074978649616241, + 0.17242392897605896, + -0.977593719959259, + 0.0505971685051918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 335, + "c2w": [ + [ + 0.8651233911514282, + 0.5006735324859619, + -0.02979198843240738, + 0.2664744257926941 + ], + [ + 0.4853518605232239, + -0.8506676554679871, + -0.20198535919189453, + 0.23538869619369507 + ], + [ + -0.12647180259227753, + 0.1602826565504074, + -0.9789353013038635, + 0.050491105765104294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 336, + "c2w": [ + [ + 0.8585623502731323, + 0.511688768863678, + -0.032331593334674835, + 0.2733079493045807 + ], + [ + 0.497981458902359, + -0.8472461104393005, + -0.18490132689476013, + 0.2353839874267578 + ], + [ + -0.12200474739074707, + 0.14264878630638123, + -0.9822251200675964, + 0.051086392253637314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 337, + "c2w": [ + [ + 0.8504759669303894, + 0.5245683193206787, + -0.0389707051217556, + 0.2802617847919464 + ], + [ + 0.5115320086479187, + -0.8420529365539551, + -0.1711195409297943, + 0.2349628210067749 + ], + [ + -0.12257929146289825, + 0.12559829652309418, + -0.9844792485237122, + 0.051388390362262726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 338, + "c2w": [ + [ + 0.8482400178909302, + 0.5284150242805481, + -0.03558669984340668, + 0.2886319160461426 + ], + [ + 0.5171645879745483, + -0.840914249420166, + -0.1593865603208542, + 0.23416650295257568 + ], + [ + -0.1141476184129715, + 0.11679388582706451, + -0.986574649810791, + 0.050952330231666565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 339, + "c2w": [ + [ + 0.8506092429161072, + 0.5248621702194214, + -0.03136184811592102, + 0.29755690693855286 + ], + [ + 0.5144138336181641, + -0.8430550694465637, + -0.15696030855178833, + 0.23366934061050415 + ], + [ + -0.108822301030159, + 0.11737892776727676, + -0.9871068596839905, + 0.04964334890246391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 340, + "c2w": [ + [ + 0.8506773114204407, + 0.5250642895698547, + -0.025605041533708572, + 0.3057692348957062 + ], + [ + 0.5150681734085083, + -0.8422435522079468, + -0.1591556966304779, + 0.2331434190273285 + ], + [ + -0.10513264685869217, + 0.12220179289579391, + -0.9869213700294495, + 0.047663722187280655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 341, + "c2w": [ + [ + 0.8508997559547424, + 0.5249267220497131, + -0.02053063176572323, + 0.31419697403907776 + ], + [ + 0.5157128572463989, + -0.8421304821968079, + -0.15765942633152008, + 0.23245811462402344 + ], + [ + -0.10004912316799164, + 0.1235644593834877, + -0.9872801303863525, + 0.045632921159267426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 342, + "c2w": [ + [ + 0.8543498516082764, + 0.5193942785263062, + -0.017774740234017372, + 0.322551965713501 + ], + [ + 0.5107226967811584, + -0.8454323410987854, + -0.15622559189796448, + 0.23168185353279114 + ], + [ + -0.09617002308368683, + 0.12439334392547607, + -0.9875614643096924, + 0.04335913807153702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 343, + "c2w": [ + [ + 0.8496943116188049, + 0.5265471339225769, + -0.027707448229193687, + 0.3294930160045624 + ], + [ + 0.5171031951904297, + -0.8424224257469177, + -0.1514223963022232, + 0.2307620644569397 + ], + [ + -0.10307241231203079, + 0.11433513462543488, + -0.9880807399749756, + 0.040976330637931824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 344, + "c2w": [ + [ + 0.8438083529472351, + 0.5350711345672607, + -0.04106445610523224, + 0.3359460234642029 + ], + [ + 0.5261082649230957, + -0.8399046063423157, + -0.13330549001693726, + 0.22991985082626343 + ], + [ + -0.10581814497709274, + 0.09087993949651718, + -0.9902238845825195, + 0.03897897154092789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 345, + "c2w": [ + [ + 0.8426843285560608, + 0.5360302925109863, + -0.050543464720249176, + 0.34277573227882385 + ], + [ + 0.5279884338378906, + -0.841106116771698, + -0.11733999103307724, + 0.22889217734336853 + ], + [ + -0.10541021078824997, + 0.07219421118497849, + -0.9918047785758972, + 0.03650949150323868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 346, + "c2w": [ + [ + 0.8434666991233826, + 0.5341949462890625, + -0.05656592175364494, + 0.349494993686676 + ], + [ + 0.5263422727584839, + -0.8428992629051208, + -0.11173466593027115, + 0.22780337929725647 + ], + [ + -0.10736747086048126, + 0.06447143107652664, + -0.9921268224716187, + 0.03282266855239868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 347, + "c2w": [ + [ + 0.8472325801849365, + 0.5279507637023926, + -0.05886368453502655, + 0.35632550716400146 + ], + [ + 0.5196861028671265, + -0.8466970324516296, + -0.11415094882249832, + 0.2265491485595703 + ], + [ + -0.11010579019784927, + 0.06612176448106766, + -0.9917179942131042, + 0.02767399698495865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 348, + "c2w": [ + [ + 0.8563486337661743, + 0.5142554640769958, + -0.04699275270104408, + 0.3633807301521301 + ], + [ + 0.5059635043144226, + -0.8537647128105164, + -0.12282825261354446, + 0.22556978464126587 + ], + [ + -0.10328585654497147, + 0.08140718936920166, + -0.991314709186554, + 0.02192365936934948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 349, + "c2w": [ + [ + 0.8624240159988403, + 0.5048885345458984, + -0.03622683882713318, + 0.36981379985809326 + ], + [ + 0.496422678232193, + -0.8576088547706604, + -0.1344306915998459, + 0.2248862087726593 + ], + [ + -0.09894097596406937, + 0.09795244038105011, + -0.9902606010437012, + 0.015917858108878136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 350, + "c2w": [ + [ + 0.8663432002067566, + 0.49861374497413635, + -0.02887527458369732, + 0.3756110370159149 + ], + [ + 0.4898986220359802, + -0.8596075773239136, + -0.14516937732696533, + 0.22433120012283325 + ], + [ + -0.09720485657453537, + 0.11162054538726807, + -0.9889853596687317, + 0.010128641501069069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 351, + "c2w": [ + [ + 0.8683503270149231, + 0.49534159898757935, + -0.02458552084863186, + 0.3802380859851837 + ], + [ + 0.4865313172340393, + -0.8604255318641663, + -0.15150965750217438, + 0.2254338562488556 + ], + [ + -0.09620305150747299, + 0.11960183829069138, + -0.9881500005722046, + 0.004700074438005686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 352, + "c2w": [ + [ + 0.868735671043396, + 0.49474939703941345, + -0.022832375019788742, + 0.3852153420448303 + ], + [ + 0.48543787002563477, + -0.8597168326377869, + -0.1588616520166397, + 0.22530367970466614 + ], + [ + -0.09822607785463333, + 0.12692508101463318, + -0.9870368242263794, + -0.0008928212919272482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + }, + { + "frame_index": 353, + "c2w": [ + [ + 0.8696578145027161, + 0.4933273196220398, + -0.017985643818974495, + 0.3889191150665283 + ], + [ + 0.4838489294052124, + -0.8590424656867981, + -0.16714148223400116, + 0.22601699829101562 + ], + [ + -0.09790588915348053, + 0.13665355741977692, + -0.9857688546180725, + -0.005856744945049286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 831.0727484809026, + "fy": 831.8429734563252, + "cx": 414.7281765407986, + "cy": 244.36318712349396 + } + } + ] +} diff --git a/dycheck_eval/source/teddy__camera_2/caption.txt b/dycheck_eval/source/teddy__camera_2/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..a3e510bc7da13b3275007a244105bf58b8fa9f67 --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/caption.txt @@ -0,0 +1 @@ +A person in a vibrant, comic-themed jacket gently cradles a teddy bear dressed in a navy blue outfit with a gold emblem, adjusting its position while seated on a gray floor against a green wall. diff --git a/dycheck_eval/source/teddy__camera_2/extras/frame_mapping.json b/dycheck_eval/source/teddy__camera_2/extras/frame_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..32f1d3846e0677f1a2c18a048189569bb50d8498 --- /dev/null +++ b/dycheck_eval/source/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/dycheck_eval/source/teddy__camera_2/transforms.json b/dycheck_eval/source/teddy__camera_2/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..3887465716edbf9e223bdf7985c8b5d9bcd11924 --- /dev/null +++ b/dycheck_eval/source/teddy__camera_2/transforms.json @@ -0,0 +1,9253 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 264, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9710864424705505, + 0.17711852490901947, + -0.1600627899169922, + 0.0480746366083622 + ], + [ + 0.17272984981536865, + -0.9841138124465942, + -0.04104119911789894, + 0.026282861828804016 + ], + [ + -0.16478917002677917, + 0.012206931598484516, + -0.9862532615661621, + -0.030024508014321327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9693319201469421, + 0.18410040438175201, + -0.16279630362987518, + 0.052268654108047485 + ], + [ + 0.17945480346679688, + -0.9828292727470398, + -0.042924847453832626, + 0.027294769883155823 + ], + [ + -0.16790345311164856, + 0.012393848039209843, + -0.9857255220413208, + -0.031303271651268005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.967254102230072, + 0.18945986032485962, + -0.16889171302318573, + 0.057480379939079285 + ], + [ + 0.18489423394203186, + -0.9818386435508728, + -0.042508307844400406, + 0.028763994574546814 + ], + [ + -0.1738780289888382, + 0.009889231063425541, + -0.9847175478935242, + -0.03246450424194336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9661795496940613, + 0.1900007575750351, + -0.17434684932231903, + 0.0627424418926239 + ], + [ + 0.1854802519083023, + -0.9817491769790649, + -0.042018916457891464, + 0.029761508107185364 + ], + [ + -0.17914851009845734, + 0.008259919472038746, + -0.9837873578071594, + -0.03365771099925041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9659225940704346, + 0.1880396157503128, + -0.17786134779453278, + 0.06846059858798981 + ], + [ + 0.18348170816898346, + -0.9821302890777588, + -0.041888028383255005, + 0.030581220984458923 + ], + [ + -0.18255962431430817, + 0.007826287299394608, + -0.9831636548042297, + -0.03494482859969139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9648692607879639, + 0.18978947401046753, + -0.1816789209842682, + 0.0748952329158783 + ], + [ + 0.18503956496715546, + -0.981793999671936, + -0.04290630295872688, + 0.03136350214481354 + ], + [ + -0.18651443719863892, + 0.0077811842784285545, + -0.9824213981628418, + -0.0364658497273922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9648764133453369, + 0.19371065497398376, + -0.1774534285068512, + 0.08098110556602478 + ], + [ + 0.18885071575641632, + -0.981017529964447, + -0.04404512047767639, + 0.03235377371311188 + ], + [ + -0.1826169341802597, + 0.008985891006886959, + -0.9831430912017822, + -0.03792016580700874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.966461718082428, + 0.1944635808467865, + -0.16773681342601776, + 0.0878925621509552 + ], + [ + 0.18966715037822723, + -0.9808478951454163, + -0.04431433230638504, + 0.033406808972358704 + ], + [ + -0.17314182221889496, + 0.011013942770659924, + -0.9848353266716003, + -0.039360761642456055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9671374559402466, + 0.19048967957496643, + -0.16840073466300964, + 0.09574732184410095 + ], + [ + 0.18520642817020416, + -0.9815898537635803, + -0.046690091490745544, + 0.034284934401512146 + ], + [ + -0.17419444024562836, + 0.013966834172606468, + -0.984612226486206, + -0.04127615690231323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.968051552772522, + 0.18807175755500793, + -0.16584698855876923, + 0.10319124162197113 + ], + [ + 0.18321605026721954, + -0.9820764064788818, + -0.04424712434411049, + 0.035470470786094666 + ], + [ + -0.17119604349136353, + 0.012447669170796871, + -0.9851583242416382, + -0.04272852838039398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.969288170337677, + 0.18965867161750793, + -0.15655672550201416, + 0.11024440824985504 + ], + [ + 0.18486729264259338, + -0.9817439317703247, + -0.04475422948598862, + 0.036679282784461975 + ], + [ + -0.1621866524219513, + 0.01443752646446228, + -0.9866544604301453, + -0.044093310832977295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9702674746513367, + 0.19228406250476837, + -0.1469961404800415, + 0.1176404356956482 + ], + [ + 0.18753229081630707, + -0.9811965823173523, + -0.045660942792892456, + 0.03768448531627655 + ], + [ + -0.1530119776725769, + 0.01673680730164051, + -0.9880825877189636, + -0.04521841183304787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9718023538589478, + 0.18844112753868103, + -0.141739621758461, + 0.12518589198589325 + ], + [ + 0.18369533121585846, + -0.9819076061248779, + -0.04597314074635506, + 0.03876633942127228 + ], + [ + -0.14783844351768494, + 0.01863989792764187, + -0.988835871219635, + -0.046387165784835815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9720768332481384, + 0.18743188679218292, + -0.14119450747966766, + 0.13183920085430145 + ], + [ + 0.1829729825258255, + -0.9821308255195618, + -0.04404445365071297, + 0.04014776647090912 + ], + [ + -0.14692682027816772, + 0.01697981171309948, + -0.9890016317367554, + -0.04725310206413269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9721658825874329, + 0.19206351041793823, + -0.13418327271938324, + 0.1387413889169693 + ], + [ + 0.18788105249404907, + -0.9812374711036682, + -0.043286729604005814, + 0.04166556894779205 + ], + [ + -0.13997945189476013, + 0.016871383413672447, + -0.990010678768158, + -0.04786102473735809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9726459383964539, + 0.1948785036802292, + -0.12642081081867218, + 0.14522679150104523 + ], + [ + 0.19041559100151062, + -0.9805972576141357, + -0.04659339785575867, + 0.04341386258602142 + ], + [ + -0.1330479383468628, + 0.02124639041721821, + -0.9908818602561951, + -0.04894267022609711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9715248346328735, + 0.19939418137073517, + -0.12798993289470673, + 0.1509544402360916 + ], + [ + 0.1945716291666031, + -0.9796503782272339, + -0.04926491156220436, + 0.04543979465961456 + ], + [ + -0.13520851731300354, + 0.022958878427743912, + -0.9905511140823364, + -0.0502220094203949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9704769253730774, + 0.20170296728610992, + -0.13225142657756805, + 0.1575785130262375 + ], + [ + 0.19669146835803986, + -0.9791867136955261, + -0.05005871132016182, + 0.04780523478984833 + ], + [ + -0.13959582149982452, + 0.022568099200725555, + -0.9899513721466064, + -0.051750123500823975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9692333340644836, + 0.20439030230045319, + -0.1371545046567917, + 0.16389131546020508 + ], + [ + 0.19960878789424896, + -0.978704035282135, + -0.04790308699011803, + 0.05011950433254242 + ], + [ + -0.14402459561824799, + 0.01905202493071556, + -0.9893906712532043, + -0.05291980132460594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9673815965652466, + 0.2093900591135025, + -0.14257849752902985, + 0.16967661678791046 + ], + [ + 0.20488905906677246, + -0.9777169227600098, + -0.04571720212697983, + 0.05238370597362518 + ], + [ + -0.14897413551807404, + 0.015013204887509346, + -0.9887270927429199, + -0.054003626108169556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9654620885848999, + 0.2129736989736557, + -0.15008383989334106, + 0.17628608644008636 + ], + [ + 0.20865902304649353, + -0.9769928455352783, + -0.04411809518933296, + 0.05532775819301605 + ], + [ + -0.15602682530879974, + 0.0112780025228858, + -0.987688422203064, + -0.05592091381549835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9623266458511353, + 0.2220250517129898, + -0.15694668889045715, + 0.1816433221101761 + ], + [ + 0.21824823319911957, + -0.9750264286994934, + -0.04112350195646286, + 0.05797527730464935 + ], + [ + -0.16215761005878448, + 0.005320906639099121, + -0.9867505431175232, + -0.05747310817241669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.958301305770874, + 0.23348072171211243, + -0.16475844383239746, + 0.18604736030101776 + ], + [ + 0.23091529309749603, + -0.9723502397537231, + -0.034830447286367416, + 0.06048978865146637 + ], + [ + -0.16833515465259552, + -0.004667181987315416, + -0.9857187867164612, + -0.058681800961494446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9544960260391235, + 0.24039435386657715, + -0.17648768424987793, + 0.1905919462442398 + ], + [ + 0.23860256373882294, + -0.9706020951271057, + -0.031628645956516266, + 0.06280635297298431 + ], + [ + -0.17890267074108124, + -0.011920998804271221, + -0.9837945699691772, + -0.06051509082317352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9503183364868164, + 0.24871021509170532, + -0.18718504905700684, + 0.19508793950080872 + ], + [ + 0.24673542380332947, + -0.9684807062149048, + -0.0341578908264637, + 0.06553785502910614 + ], + [ + -0.18978051841259003, + -0.013724311254918575, + -0.9817306399345398, + -0.06301210075616837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9461145401000977, + 0.25700312852859497, + -0.19701938331127167, + 0.19930623471736908 + ], + [ + 0.2554072141647339, + -0.9662385582923889, + -0.033914610743522644, + 0.0675993412733078 + ], + [ + -0.19908387959003448, + -0.01823306269943714, + -0.9798128008842468, + -0.06507839262485504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9418503642082214, + 0.2617994546890259, + -0.21066302061080933, + 0.20386792719364166 + ], + [ + 0.26004454493522644, + -0.9649065732955933, + -0.03649882599711418, + 0.0700652152299881 + ], + [ + -0.21282550692558289, + -0.02040533535182476, + -0.9768771529197693, + -0.06783382594585419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9371998310089111, + 0.2712104618549347, + -0.21932023763656616, + 0.20779015123844147 + ], + [ + 0.2693707048892975, + -0.9622529149055481, + -0.03884217515587807, + 0.07207675278186798 + ], + [ + -0.22157594561576843, + -0.022675566375255585, + -0.9748794436454773, + -0.0704181045293808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9321175217628479, + 0.2831045687198639, + -0.2258511334657669, + 0.21131426095962524 + ], + [ + 0.2807728052139282, + -0.9588069915771484, + -0.043078791350126266, + 0.07388158142566681 + ], + [ + -0.22874344885349274, + -0.023258361965417862, + -0.9732088446617126, + -0.07320743054151535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9272151589393616, + 0.2932286262512207, + -0.23299993574619293, + 0.21474526822566986 + ], + [ + 0.29105228185653687, + -0.9556728601455688, + -0.04447445645928383, + 0.07653151452541351 + ], + [ + -0.23571288585662842, + -0.026577768847346306, + -0.9714592695236206, + -0.07627090811729431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9213961958885193, + 0.3020123839378357, + -0.2445763200521469, + 0.21790198981761932 + ], + [ + 0.3009241819381714, + -0.9526897668838501, + -0.04274206981062889, + 0.07907168567180634 + ], + [ + -0.24591399729251862, + -0.03421654924750328, + -0.9686875343322754, + -0.07891714572906494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9167250990867615, + 0.308523029088974, + -0.2538279891014099, + 0.22109432518482208 + ], + [ + 0.30802977085113525, + -0.9504165053367615, + -0.042732637375593185, + 0.08163996040821075 + ], + [ + -0.25442633032798767, + -0.03901250287890434, + -0.9663049578666687, + -0.08154964447021484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9126614928245544, + 0.3121635615825653, + -0.26382362842559814, + 0.22406192123889923 + ], + [ + 0.3123241066932678, + -0.9490256905555725, + -0.0424717478454113, + 0.0851590484380722 + ], + [ + -0.26363351941108704, + -0.043636150658130646, + -0.9636354446411133, + -0.08415982127189636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.908156156539917, + 0.32105836272239685, + -0.2686520218849182, + 0.2264445573091507 + ], + [ + 0.3210369944572449, + -0.9459836483001709, + -0.04527880996465683, + 0.08778761327266693 + ], + [ + -0.26867756247520447, + -0.04512700065970421, + -0.9621725082397461, + -0.08616611361503601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9067321419715881, + 0.3307843506336212, + -0.26156947016716003, + 0.22890205681324005 + ], + [ + 0.32939672470092773, + -0.9428415298461914, + -0.0504746250808239, + 0.09026698768138885 + ], + [ + -0.26331475377082825, + -0.0403931587934494, + -0.9638639688491821, + -0.08763876557350159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9060631394386292, + 0.33432111144065857, + -0.2593819499015808, + 0.23186135292053223 + ], + [ + 0.3321291506290436, + -0.9417096376419067, + -0.053602155297994614, + 0.09257058799266815 + ], + [ + -0.2621828317642212, + -0.03758138045668602, + -0.9642861485481262, + -0.08884923905134201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9061891436576843, + 0.33457449078559875, + -0.2586138844490051, + 0.23508866131305695 + ], + [ + 0.3335806727409363, + -0.9414425492286682, + -0.04909045994281769, + 0.09530512988567352 + ], + [ + -0.2598945200443268, + -0.04178335517644882, + -0.9647325873374939, + -0.08991464972496033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9080927968025208, + 0.3339698314666748, + -0.2526492774486542, + 0.23839209973812103 + ], + [ + 0.3333383798599243, + -0.941653311252594, + -0.046632301062345505, + 0.09689711034297943 + ], + [ + -0.25348180532455444, + -0.041871245950460434, + -0.9664335250854492, + -0.09060400724411011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9082338213920593, + 0.33226078748703003, + -0.2543897330760956, + 0.24132652580738068 + ], + [ + 0.33114445209503174, + -0.9423317313194275, + -0.048521194607019424, + 0.09864379465579987 + ], + [ + -0.2558411955833435, + -0.04017116129398346, + -0.9658838510513306, + -0.0925966203212738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9068173766136169, + 0.33415403962135315, + -0.2569500803947449, + 0.24346591532230377 + ], + [ + 0.3325773775577545, + -0.9416998624801636, + -0.050927724689245224, + 0.09964551031589508 + ], + [ + -0.25898757576942444, + -0.03927364572882652, + -0.9650818705558777, + -0.09421384334564209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9046761989593506, + 0.33927473425865173, + -0.25778594613075256, + 0.2448156476020813 + ], + [ + 0.336582750082016, + -0.9399916529655457, + -0.055926308035850525, + 0.10040561854839325 + ], + [ + -0.2612909972667694, + -0.036171093583106995, + -0.9645821452140808, + -0.09611577540636063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9024512767791748, + 0.34604284167289734, + -0.25658541917800903, + 0.2464207112789154 + ], + [ + 0.34207409620285034, + -0.93766188621521, + -0.06144529953598976, + 0.10270701348781586 + ], + [ + -0.26185306906700134, + -0.03231983631849289, + -0.9645664095878601, + -0.09943849593400955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8996278047561646, + 0.3521643579006195, + -0.25816676020622253, + 0.2469700127840042 + ], + [ + 0.34722498059272766, + -0.9354509711265564, + -0.06607837975025177, + 0.1035175770521164 + ], + [ + -0.26477277278900146, + -0.030195994302630424, + -0.9638379216194153, + -0.10170358419418335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.895230233669281, + 0.35987916588783264, + -0.2627732753753662, + 0.24684633314609528 + ], + [ + 0.3545743227005005, + -0.9324726462364197, + -0.06907796859741211, + 0.10401253402233124 + ], + [ + -0.26988860964775085, + -0.03133196756243706, + -0.9623816609382629, + -0.10360220074653625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8935961723327637, + 0.36509615182876587, + -0.2611334025859833, + 0.2483329027891159 + ], + [ + 0.358510822057724, + -0.9305697679519653, + -0.07422852516174316, + 0.1065426617860794 + ], + [ + -0.27010342478752136, + -0.027288828045129776, + -0.962444543838501, + -0.10619309544563293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8916171789169312, + 0.37040671706199646, + -0.260418176651001, + 0.24862290918827057 + ], + [ + 0.3625923693180084, + -0.9285669922828674, + -0.0793103575706482, + 0.1071508377790451 + ], + [ + -0.2711928188800812, + -0.02371116913855076, + -0.9622329473495483, + -0.10781529545783997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8896230459213257, + 0.3731132447719574, + -0.26335784792900085, + 0.24899877607822418 + ], + [ + 0.3660637438297272, + -0.927374005317688, + -0.07729703933000565, + 0.10755906999111176 + ], + [ + -0.2730717658996582, + -0.027640530839562416, + -0.9615964889526367, + -0.10831695795059204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8896350860595703, + 0.3726145327091217, + -0.2640223205089569, + 0.2509055733680725 + ], + [ + 0.3657454252243042, + -0.9275525808334351, + -0.07665866613388062, + 0.109193816781044 + ], + [ + -0.27345871925354004, + -0.02836671657860279, + -0.9614653587341309, + -0.10994136333465576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8912403583526611, + 0.36928290128707886, + -0.26328837871551514, + 0.25275295972824097 + ], + [ + 0.36209824681282043, + -0.9289380311965942, + -0.07719439268112183, + 0.10994739830493927 + ], + [ + -0.27308517694473267, + -0.02653750590980053, + -0.9616237878799438, + -0.11101219058036804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8919535279273987, + 0.3663082420825958, + -0.2650229334831238, + 0.25399088859558105 + ], + [ + 0.35980474948883057, + -0.9300455451011658, + -0.07453776895999908, + 0.11039818823337555 + ], + [ + -0.2737872004508972, + -0.028872286900877953, + -0.9613568186759949, + -0.11126276850700378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8927359580993652, + 0.364311546087265, + -0.2651407718658447, + 0.25489604473114014 + ], + [ + 0.35812729597091675, + -0.930804431438446, + -0.07312984764575958, + 0.11116765439510345 + ], + [ + -0.2734362483024597, + -0.029668495059013367, + -0.9614324569702148, + -0.11164790391921997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8939319252967834, + 0.3628688454627991, + -0.2630816400051117, + 0.2550985813140869 + ], + [ + 0.3567751348018646, + -0.9313834309577942, + -0.07236295193433762, + 0.11147381365299225 + ], + [ + -0.2712881565093994, + -0.029173439368605614, + -0.9620559215545654, + -0.11170059442520142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8948465585708618, + 0.35906001925468445, + -0.2651897072792053, + 0.25559529662132263 + ], + [ + 0.35362517833709717, + -0.9327861070632935, + -0.06970839947462082, + 0.11147059500217438 + ], + [ + -0.2723947763442993, + -0.0313994437456131, + -0.9616730809211731, + -0.11157012730836868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8951102495193481, + 0.35483214259147644, + -0.26994770765304565, + 0.2550455927848816 + ], + [ + 0.3500727713108063, + -0.9343019723892212, + -0.0672968402504921, + 0.11120323836803436 + ], + [ + -0.2760917544364929, + -0.0342632494866848, + -0.9605203866958618, + -0.11136329174041748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.895641565322876, + 0.3556448519229889, + -0.2671009600162506, + 0.2535477876663208 + ], + [ + 0.3503364026546478, + -0.9340803027153015, + -0.0689813569188118, + 0.11071823537349701 + ], + [ + -0.2740266025066376, + -0.031792618334293365, + -0.9611964821815491, + -0.11143568158149719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8962950706481934, + 0.35830408334732056, + -0.26129162311553955, + 0.2517718970775604 + ], + [ + 0.3518546521663666, + -0.9332224726676941, + -0.07276085019111633, + 0.1101113110780716 + ], + [ + -0.2699137032032013, + -0.02672148123383522, + -0.9625136852264404, + -0.11168370395898819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8968705534934998, + 0.355848103761673, + -0.26266956329345703, + 0.25056836009025574 + ], + [ + 0.3492654263973236, + -0.9341748356819153, + -0.07301364094018936, + 0.1098768562078476 + ], + [ + -0.2713610827922821, + -0.026257606223225594, + -0.9621194005012512, + -0.11197710782289505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.898688018321991, + 0.35331428050994873, + -0.25986313819885254, + 0.24938690662384033 + ], + [ + 0.34644749760627747, + -0.9351946711540222, + -0.07338259369134903, + 0.10937903821468353 + ], + [ + -0.2689497470855713, + -0.024080876260995865, + -0.9628531336784363, + -0.11204991489648819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9006392955780029, + 0.35342004895210266, + -0.25286975502967834, + 0.2477046549320221 + ], + [ + 0.346493661403656, + -0.9352087378501892, + -0.07298494130373001, + 0.10886313021183014 + ], + [ + -0.26228031516075134, + -0.021884657442569733, + -0.9647435545921326, + -0.111298106610775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9014952182769775, + 0.35119545459747314, + -0.25291916728019714, + 0.24618668854236603 + ], + [ + 0.34478554129600525, + -0.9360097050666809, + -0.07077283412218094, + 0.10825015604496002 + ], + [ + -0.2615898847579956, + -0.02340150810778141, + -0.9648953676223755, + -0.1106080710887909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9029048681259155, + 0.35112863779067993, + -0.247934490442276, + 0.24483531713485718 + ], + [ + 0.3446982204914093, + -0.9360708594322205, + -0.07038789987564087, + 0.10761712491512299 + ], + [ + -0.25679945945739746, + -0.02190900593996048, + -0.9662163257598877, + -0.1103091761469841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9050628542900085, + 0.349596232175827, + -0.24216455221176147, + 0.24379734694957733 + ], + [ + 0.3427676260471344, + -0.9367167949676514, + -0.07121780514717102, + 0.10690738260746002 + ], + [ + -0.2517370879650116, + -0.01854958012700081, + -0.9676178693771362, + -0.11043539643287659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9069896340370178, + 0.34804725646972656, + -0.23713475465774536, + 0.24216897785663605 + ], + [ + 0.3405851721763611, + -0.9373657703399658, + -0.07312443852424622, + 0.10627816617488861 + ], + [ + -0.2477327585220337, + -0.0144414771348238, + -0.9687207937240601, + -0.11018034815788269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9103404879570007, + 0.3427472710609436, + -0.2319580465555191, + 0.24108664691448212 + ], + [ + 0.33459460735321045, + -0.939380407333374, + -0.07490605860948563, + 0.10556818544864655 + ], + [ + -0.24357068538665771, + -0.00942188873887062, + -0.9698373675346375, + -0.11020728945732117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9122306704521179, + 0.33949026465415955, + -0.22930675745010376, + 0.23928195238113403 + ], + [ + 0.3308280110359192, + -0.9405896067619324, + -0.07644592970609665, + 0.10447748005390167 + ], + [ + -0.24163620173931122, + -0.006124781910330057, + -0.9703475832939148, + -0.10947621613740921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9131802916526794, + 0.3393690288066864, + -0.2256777137517929, + 0.236958846449852 + ], + [ + 0.3311059772968292, + -0.9406309127807617, + -0.07471509277820587, + 0.1032850593328476 + ], + [ + -0.23763541877269745, + -0.006494894158095121, + -0.9713327288627625, + -0.10827887058258057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9149858355522156, + 0.33630675077438354, + -0.2229321449995041, + 0.2346615493297577 + ], + [ + 0.3280015289783478, + -0.9417392015457153, + -0.07444643974304199, + 0.10212720930576324 + ], + [ + -0.2349807769060135, + -0.005004641599953175, + -0.9719871282577515, + -0.10741781443357468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9170385599136353, + 0.332259863615036, + -0.2205531746149063, + 0.2321331948041916 + ], + [ + 0.32353901863098145, + -0.9431858062744141, + -0.07565087825059891, + 0.10086704790592194 + ], + [ + -0.23315836489200592, + -0.0019827857613563538, + -0.9724367260932922, + -0.10676887631416321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9185757040977478, + 0.32902586460113525, + -0.21899931132793427, + 0.22844941914081573 + ], + [ + 0.3205070197582245, + -0.9443191289901733, + -0.07440867274999619, + 0.0994889885187149 + ], + [ + -0.2312876135110855, + -0.0018408169271424413, + -0.9728837013244629, + -0.10573813319206238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9204850196838379, + 0.3270896077156067, + -0.21382176876068115, + 0.22463476657867432 + ], + [ + 0.31848016381263733, + -0.9449931979179382, + -0.07455382496118546, + 0.09799639880657196 + ], + [ + -0.22644589841365814, + 0.0005276832962408662, + -0.9740235805511475, + -0.10490120202302933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9226813316345215, + 0.32369527220726013, + -0.2094767987728119, + 0.22081169486045837 + ], + [ + 0.314039409160614, + -0.9461362361907959, + -0.07877488434314728, + 0.09645719826221466 + ], + [ + -0.2236926555633545, + 0.0069001405499875546, + -0.9746353030204773, + -0.10454250127077103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9254372715950012, + 0.31882911920547485, + -0.20472873747348785, + 0.21657778322696686 + ], + [ + 0.3084077835083008, + -0.94772869348526, + -0.08182258903980255, + 0.09453649818897247 + ], + [ + -0.22011472284793854, + 0.012581736780703068, + -0.9753928184509277, + -0.10327473282814026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9283986687660217, + 0.31381955742836, + -0.19898037612438202, + 0.21247850358486176 + ], + [ + 0.3028908967971802, + -0.9493176341056824, + -0.08398275077342987, + 0.09304995834827423 + ], + [ + -0.21525101363658905, + 0.017700130119919777, + -0.9763983488082886, + -0.102285236120224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9319925308227539, + 0.3066471219062805, + -0.19328086078166962, + 0.2084607034921646 + ], + [ + 0.29559338092803955, + -0.951580286026001, + -0.08437734842300415, + 0.09182681143283844 + ], + [ + -0.20979632437229156, + 0.02150651253759861, + -0.977508544921875, + -0.10137522220611572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9366747140884399, + 0.2984657287597656, + -0.18319036066532135, + 0.2053503692150116 + ], + [ + 0.2867851257324219, + -0.9539557099342346, + -0.08787953853607178, + 0.09065146744251251 + ], + [ + -0.20098452270030975, + 0.029778266325592995, + -0.9791417121887207, + -0.09995008260011673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9401713609695435, + 0.29248183965682983, + -0.17473451793193817, + 0.2015310376882553 + ], + [ + 0.28087562322616577, + -0.9556658267974854, + -0.08838364481925964, + 0.08952076733112335 + ], + [ + -0.19283843040466309, + 0.03401710465550423, + -0.980640709400177, + -0.09846237301826477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9424042701721191, + 0.2851347029209137, + -0.17484961450099945, + 0.1970544457435608 + ], + [ + 0.2741003632545471, + -0.957952618598938, + -0.08482818305492401, + 0.08842353522777557 + ], + [ + -0.19168509542942047, + 0.032016098499298096, + -0.9809341430664062, + -0.09683435410261154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9463388919830322, + 0.27648288011550903, + -0.16733165085315704, + 0.1937398761510849 + ], + [ + 0.26575401425361633, + -0.9603844285011292, + -0.0838841050863266, + 0.08738230168819427 + ], + [ + -0.18389523029327393, + 0.03491373360157013, + -0.9823256134986877, + -0.09469091892242432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9488003849983215, + 0.26736918091773987, + -0.16820083558559418, + 0.1890772581100464 + ], + [ + 0.25620216131210327, + -0.9628499746322632, + -0.08532485365867615, + 0.0862109512090683 + ], + [ + -0.18476541340351105, + 0.03786283731460571, + -0.9820530414581299, + -0.09357214719057083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9508293271064758, + 0.25974157452583313, + -0.16869476437568665, + 0.18373194336891174 + ], + [ + 0.24876071512699127, + -0.9649477005004883, + -0.08363067358732224, + 0.08509959280490875 + ], + [ + -0.18450398743152618, + 0.03755386546254158, + -0.9821140170097351, + -0.09238959103822708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9558573961257935, + 0.2517087757587433, + -0.15158943831920624, + 0.17977115511894226 + ], + [ + 0.24198248982429504, + -0.9669919610023499, + -0.07981841266155243, + 0.08417858183383942 + ], + [ + -0.16667675971984863, + 0.039613027125597, + -0.9852155447006226, + -0.09064359217882156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9594308733940125, + 0.23893992602825165, + -0.14966653287410736, + 0.17475822567939758 + ], + [ + 0.22907212376594543, + -0.9700933694839478, + -0.08027961850166321, + 0.0827644020318985 + ], + [ + -0.1643725037574768, + 0.04273831471800804, + -0.9854720234870911, + -0.08992145210504532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9629683494567871, + 0.22756904363632202, + -0.14458325505256653, + 0.16933977603912354 + ], + [ + 0.21814954280853271, + -0.9727789759635925, + -0.07817837595939636, + 0.08131097257137299 + ], + [ + -0.1584385335445404, + 0.043742530047893524, + -0.9863994121551514, + -0.08899732679128647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9682247042655945, + 0.2129594087600708, + -0.13110756874084473, + 0.16540086269378662 + ], + [ + 0.20431242883205414, + -0.9759228229522705, + -0.07636169344186783, + 0.07980330288410187 + ], + [ + -0.14421281218528748, + 0.04714837670326233, + -0.9884228110313416, + -0.08811283856630325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9709210991859436, + 0.1976550817489624, + -0.13507305085659027, + 0.15999925136566162 + ], + [ + 0.18613259494304657, + -0.9780840873718262, + -0.09330685436725616, + 0.07749591767787933 + ], + [ + -0.15055537223815918, + 0.06545209884643555, + -0.9864324927330017, + -0.08920291811227798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9740498661994934, + 0.1865536868572235, + -0.12815845012664795, + 0.15419800579547882 + ], + [ + 0.1750980019569397, + -0.9799002408981323, + -0.09558336436748505, + 0.07560114562511444 + ], + [ + -0.14341391623020172, + 0.07066267728805542, + -0.9871369004249573, + -0.08903893828392029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9782397747039795, + 0.1807943880558014, + -0.10178572684526443, + 0.14869274199008942 + ], + [ + 0.17169848084449768, + -0.9808407425880432, + -0.09203862398862839, + 0.07439060509204865 + ], + [ + -0.1164756491780281, + 0.07255938649177551, + -0.99053955078125, + -0.08745816349983215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9806531071662903, + 0.175350159406662, + -0.08701599389314651, + 0.14215901494026184 + ], + [ + 0.1668386161327362, + -0.9811989665031433, + -0.09702323377132416, + 0.07292689383029938 + ], + [ + -0.10239304602146149, + 0.08062850683927536, + -0.991470992565155, + -0.08715665340423584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9828853607177734, + 0.16489270329475403, + -0.08213871717453003, + 0.13548412919044495 + ], + [ + 0.15687374770641327, + -0.9829361438751221, + -0.0960581973195076, + 0.07155601680278778 + ], + [ + -0.09657640755176544, + 0.08152878284454346, + -0.9919808506965637, + -0.08683371543884277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9844682216644287, + 0.15522436797618866, + -0.08202237635850906, + 0.12916967272758484 + ], + [ + 0.14772476255893707, + -0.9848564267158508, + -0.09074801951646805, + 0.0699225515127182 + ], + [ + -0.09486657381057739, + 0.07722180336713791, + -0.9924903512001038, + -0.08601006865501404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.985573947429657, + 0.1477327048778534, + -0.08257770538330078, + 0.12176968157291412 + ], + [ + 0.14014363288879395, + -0.9859221577644348, + -0.09119924157857895, + 0.06848551332950592 + ], + [ + -0.09488829970359802, + 0.07831085473299026, + -0.992402970790863, + -0.08589577674865723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9866293668746948, + 0.1439865380525589, + -0.07635688781738281, + 0.11412961781024933 + ], + [ + 0.136973038315773, + -0.9864514470100403, + -0.09028801321983337, + 0.06743793189525604 + ], + [ + -0.08832262456417084, + 0.07862196862697601, + -0.9929842352867126, + -0.08590176701545715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9870584607124329, + 0.13592533767223358, + -0.0850878581404686, + 0.10738612711429596 + ], + [ + 0.1278916895389557, + -0.9873550534248352, + -0.0936679095029831, + 0.06644050776958466 + ], + [ + -0.09674376994371414, + 0.08157367259263992, + -0.991960883140564, + -0.08677870780229568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9879864454269409, + 0.1272224485874176, + -0.08773360401391983, + 0.10002836585044861 + ], + [ + 0.11886996775865555, + -0.9883889555931091, + -0.09464264661073685, + 0.06554566323757172 + ], + [ + -0.0987555980682373, + 0.08307676762342453, + -0.9916378259658813, + -0.08749464154243469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9839417934417725, + 0.1382361203432083, + -0.11291294544935226, + 0.0938049703836441 + ], + [ + 0.12468410283327103, + -0.9849889278411865, + -0.11937644332647324, + 0.07120843231678009 + ], + [ + -0.12772013247013092, + 0.10338102281093597, + -0.9864075779914856, + -0.09402012825012207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9831123352050781, + 0.1389033943414688, + -0.11914709955453873, + 0.09876576066017151 + ], + [ + 0.12470421940088272, + -0.9849896430969238, + -0.11934949457645416, + 0.07313142716884613 + ], + [ + -0.13393670320510864, + 0.10247581452131271, + -0.9856772422790527, + -0.09657565504312515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9818759560585022, + 0.14454402029514313, + -0.12258308380842209, + 0.10385310649871826 + ], + [ + 0.13020344078540802, + -0.9844520092010498, + -0.11790395528078079, + 0.07469730079174042 + ], + [ + -0.13771946728229523, + 0.09980631619691849, + -0.9854298830032349, + -0.09882590174674988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9807418584823608, + 0.15250223875045776, + -0.12201838195323944, + 0.10915379971265793 + ], + [ + 0.1383405327796936, + -0.9834276437759399, + -0.11718370765447617, + 0.07580626010894775 + ], + [ + -0.1378670185804367, + 0.09804688394069672, + -0.9855858683586121, + -0.10090509802103043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9792366623878479, + 0.1593293398618698, + -0.12533822655677795, + 0.11389520764350891 + ], + [ + 0.14531579613685608, + -0.9827948212623596, + -0.11400750279426575, + 0.07717461884021759 + ], + [ + -0.1413464993238449, + 0.09342670440673828, + -0.9855417609214783, + -0.10277783870697021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9768998026847839, + 0.16925489902496338, + -0.13045893609523773, + 0.11891566216945648 + ], + [ + 0.1551441103219986, + -0.9815560579299927, + -0.111704982817173, + 0.0785033255815506 + ], + [ + -0.14695937931537628, + 0.08888464421033859, + -0.985140860080719, + -0.10464754700660706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9733353853225708, + 0.18342146277427673, + -0.13774891197681427, + 0.12385717034339905 + ], + [ + 0.16904316842556, + -0.9794763922691345, + -0.10977432131767273, + 0.07990394532680511 + ], + [ + -0.15505677461624146, + 0.0835617259144783, + -0.9843651652336121, + -0.10653021931648254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9696131348609924, + 0.19852830469608307, + -0.14295773208141327, + 0.1286373734474182 + ], + [ + 0.18373486399650574, + -0.9767705202102661, + -0.11027638614177704, + 0.08125360310077667 + ], + [ + -0.16152988374233246, + 0.08065910637378693, + -0.9835660457611084, + -0.10819479823112488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9659320116043091, + 0.21158431470394135, + -0.1490214616060257, + 0.13378696143627167 + ], + [ + 0.19633015990257263, + -0.9742677807807922, + -0.11071021854877472, + 0.08289478719234467 + ], + [ + -0.1686113476753235, + 0.07768113911151886, + -0.9826168417930603, + -0.11017018556594849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9610525369644165, + 0.22408823668956757, + -0.16174812614917755, + 0.1389184296131134 + ], + [ + 0.20760397613048553, + -0.9716997742652893, + -0.11269468814134598, + 0.08458808064460754 + ], + [ + -0.1824241727590561, + 0.07472596317529678, + -0.9803761839866638, + -0.11252257972955704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9555441737174988, + 0.23588240146636963, + -0.17690354585647583, + 0.14399194717407227 + ], + [ + 0.21772387623786926, + -0.9690771698951721, + -0.11612805724143982, + 0.08638013899326324 + ], + [ + -0.19882576167583466, + 0.07244936376810074, + -0.9773532748222351, + -0.11485660821199417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9528456330299377, + 0.24635350704193115, + -0.17718689143657684, + 0.14874501526355743 + ], + [ + 0.22889311611652374, + -0.9668309092521667, + -0.11334013193845749, + 0.0879519134759903 + ], + [ + -0.19923150539398193, + 0.06743878126144409, + -0.9776291847229004, + -0.11599096655845642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9502159357070923, + 0.25594475865364075, + -0.1777130514383316, + 0.15382707118988037 + ], + [ + 0.23877458274364471, + -0.9645431637763977, + -0.11244165897369385, + 0.08967022597789764 + ], + [ + -0.20019076764583588, + 0.064410500228405, + -0.9776374101638794, + -0.117350272834301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9466336369514465, + 0.2650589644908905, + -0.18338081240653992, + 0.15892592072486877 + ], + [ + 0.24829579889774323, + -0.9624821543693542, + -0.10944102704524994, + 0.09141887724399567 + ], + [ + -0.20550908148288727, + 0.05806787312030792, + -0.9769309759140015, + -0.11853582412004471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9445050954818726, + 0.27076369524002075, + -0.186003178358078, + 0.163359135389328 + ], + [ + 0.25470778346061707, + -0.9612080454826355, + -0.10584463179111481, + 0.09407977759838104 + ], + [ + -0.2074466347694397, + 0.05259433016180992, + -0.9768314957618713, + -0.11972355097532272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9427741765975952, + 0.27529776096343994, + -0.18811702728271484, + 0.1681581288576126 + ], + [ + 0.25942978262901306, + -0.9600570797920227, + -0.10481708496809006, + 0.09627340734004974 + ], + [ + -0.20945899188518524, + 0.050015680491924286, + -0.9765374064445496, + -0.12108606100082397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9403083324432373, + 0.28323909640312195, + -0.18866871297359467, + 0.17269091308116913 + ], + [ + 0.26736053824424744, + -0.957813024520874, + -0.10541628301143646, + 0.09819965064525604 + ], + [ + -0.21056735515594482, + 0.048681244254112244, + -0.9763665199279785, + -0.12246191501617432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9375312328338623, + 0.2891996502876282, + -0.19338753819465637, + 0.17665012180805206 + ], + [ + 0.2726473808288574, + -0.9560415744781494, + -0.10792561620473862, + 0.10161958634853363 + ], + [ + -0.2160985767841339, + 0.04845702648162842, + -0.9751683473587036, + -0.1244719922542572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.932996392250061, + 0.296885222196579, + -0.2034129798412323, + 0.18021966516971588 + ], + [ + 0.27979615330696106, + -0.9538692235946655, + -0.10884688049554825, + 0.1041625589132309 + ], + [ + -0.22634442150592804, + 0.044639576226472855, + -0.9730238914489746, + -0.1259581446647644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9278948903083801, + 0.30853596329689026, + -0.20932431519031525, + 0.18309670686721802 + ], + [ + 0.2914082705974579, + -0.9503636360168457, + -0.10904192924499512, + 0.10657171905040741 + ], + [ + -0.2325775921344757, + 0.04018061235547066, + -0.9717475175857544, + -0.12697358429431915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9234663248062134, + 0.3172363340854645, + -0.21580339968204498, + 0.18663771450519562 + ], + [ + 0.30037063360214233, + -0.9477100372314453, + -0.1078105941414833, + 0.10915355384349823 + ], + [ + -0.23872047662734985, + 0.0347384475171566, + -0.9704667925834656, + -0.12844878435134888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9177282452583313, + 0.32599321007728577, + -0.22694329917430878, + 0.1893894225358963 + ], + [ + 0.3092736005783081, + -0.9449642896652222, + -0.10673503577709198, + 0.111376091837883 + ], + [ + -0.249248206615448, + 0.027766184881329536, + -0.9680415391921997, + -0.12959709763526917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9141402244567871, + 0.3295060396194458, + -0.2361638844013214, + 0.19224543869495392 + ], + [ + 0.31262868642807007, + -0.9438537955284119, + -0.10678624361753464, + 0.1132909506559372 + ], + [ + -0.25809088349342346, + 0.023786000907421112, + -0.9658277630805969, + -0.13085776567459106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9099367260932922, + 0.3333553075790405, + -0.24675779044628143, + 0.1959453821182251 + ], + [ + 0.31603583693504333, + -0.9425835013389587, + -0.10797068476676941, + 0.1142844706773758 + ], + [ + -0.26858243346214294, + 0.020262185484170914, + -0.9630435705184937, + -0.13219906389713287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.902991771697998, + 0.33534079790115356, + -0.26861193776130676, + 0.19837670028209686 + ], + [ + 0.31912702322006226, + -0.9420666694641113, + -0.10328762978315353, + 0.11531780660152435 + ], + [ + -0.28768688440322876, + 0.007546552922576666, + -0.9576947689056396, + -0.132557213306427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8986749649047852, + 0.3297915458679199, + -0.2891727089881897, + 0.2013658732175827 + ], + [ + 0.31625816226005554, + -0.944026529788971, + -0.09378020465373993, + 0.11638055741786957 + ], + [ + -0.3039146363735199, + -0.0071753161028027534, + -0.9526722431182861, + -0.13273075222969055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8957829475402832, + 0.3341602385044098, + -0.2931038737297058, + 0.20292611420154572 + ], + [ + 0.3200499415397644, + -0.942486584186554, + -0.09636953473091125, + 0.11727090179920197 + ], + [ + -0.30844932794570923, + -0.00748169282451272, + -0.9512113332748413, + -0.13398590683937073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8920896649360657, + 0.3425915837287903, + -0.29463034868240356, + 0.20446884632110596 + ], + [ + 0.32849252223968506, + -0.9394354820251465, + -0.09774250537157059, + 0.11804281175136566 + ], + [ + -0.3102719783782959, + -0.009588790126144886, + -0.9505994915962219, + -0.13506372272968292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8891043066978455, + 0.3464159667491913, + -0.29914796352386475, + 0.20634675025939941 + ], + [ + 0.33237189054489136, + -0.9380046725273132, + -0.09836768358945847, + 0.11924032866954803 + ], + [ + -0.3146783113479614, + -0.011969238519668579, + -0.9491229057312012, + -0.13637755811214447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8871930241584778, + 0.3488636910915375, + -0.3019646108150482, + 0.20823471248149872 + ], + [ + 0.3334488868713379, + -0.9371270537376404, + -0.10297921299934387, + 0.12170462310314178 + ], + [ + -0.31890493631362915, + -0.009327325969934464, + -0.9477407932281494, + -0.1376429796218872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8854703903198242, + 0.34833765029907227, + -0.30757614970207214, + 0.2103453278541565 + ], + [ + 0.333993524312973, + -0.937261164188385, + -0.0999491885304451, + 0.12375406920909882 + ], + [ + -0.32309526205062866, + -0.014226392842829227, + -0.9462594985961914, + -0.13838176429271698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8841904997825623, + 0.34517717361450195, + -0.31473785638809204, + 0.21236547827720642 + ], + [ + 0.33167749643325806, + -0.9383584856987, + -0.09733129292726517, + 0.1257084459066391 + ], + [ + -0.3289334774017334, + -0.018332069739699364, + -0.944175124168396, + -0.13913126289844513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8827481865882874, + 0.3441106379032135, + -0.3199116885662079, + 0.21529078483581543 + ], + [ + 0.3306092619895935, + -0.938721776008606, + -0.09746253490447998, + 0.12860630452632904 + ], + [ + -0.33384597301483154, + -0.01973089575767517, + -0.9424211382865906, + -0.1399385780096054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.8826786279678345, + 0.3476664125919342, + -0.3162381052970886, + 0.2171715795993805 + ], + [ + 0.33254656195640564, + -0.9375028610229492, + -0.10247506201267242, + 0.13064737617969513 + ], + [ + -0.3321012854576111, + -0.014711348339915276, + -0.9431290030479431, + -0.1412854641675949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.882423996925354, + 0.3516291081905365, + -0.3125458061695099, + 0.21858474612236023 + ], + [ + 0.33528393507003784, + -0.9360770583152771, + -0.10651032626628876, + 0.1322202831506729 + ], + [ + -0.33001908659935, + -0.010804315097630024, + -0.9439124464988708, + -0.1423921138048172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.8810002207756042, + 0.3505445718765259, + -0.31773748993873596, + 0.22148215770721436 + ], + [ + 0.3341826796531677, + -0.9364652037620544, + -0.10655897110700607, + 0.13516207039356232 + ], + [ + -0.3349037766456604, + -0.012303890660405159, + -0.9421719908714294, + -0.14447356760501862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.8823327422142029, + 0.34933146834373474, + -0.3153672218322754, + 0.22358407080173492 + ], + [ + 0.33315467834472656, + -0.9369252324104309, + -0.10573123395442963, + 0.13621218502521515 + ], + [ + -0.3324107527732849, + -0.011775941587984562, + -0.9430611729621887, + -0.1449829339981079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.8845151662826538, + 0.34498655796051025, + -0.31403371691703796, + 0.2259470820426941 + ], + [ + 0.3294179141521454, + -0.9385286569595337, + -0.10318838059902191, + 0.13658545911312103 + ], + [ + -0.3303282558917999, + -0.01217664871364832, + -0.9437875747680664, + -0.14493413269519806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.8855905532836914, + 0.33515843749046326, + -0.3215559124946594, + 0.22931507229804993 + ], + [ + 0.32096585631370544, + -0.942017138004303, + -0.0979011058807373, + 0.13804306089878082 + ], + [ + -0.3357235789299011, + -0.016508178785443306, + -0.9418159127235413, + -0.14587827026844025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.8866153359413147, + 0.33464205265045166, + -0.3192616105079651, + 0.2311009019613266 + ], + [ + 0.3203568756580353, + -0.9422189593315125, + -0.09795345366001129, + 0.13878490030765533 + ], + [ + -0.3335936665534973, + -0.015430611558258533, + -0.9425906538963318, + -0.14654314517974854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.8880726099014282, + 0.3391517400741577, + -0.31032752990722656, + 0.23175397515296936 + ], + [ + 0.3236984610557556, + -0.9406772255897522, + -0.10171380639076233, + 0.13906587660312653 + ], + [ + -0.32641443610191345, + -0.0101232985034585, + -0.9451725482940674, + -0.14700154960155487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.8874143958091736, + 0.3383637070655823, + -0.31305867433547974, + 0.23324470221996307 + ], + [ + 0.32318758964538574, + -0.94094318151474, + -0.10087472200393677, + 0.1404939740896225 + ], + [ + -0.32870277762413025, + -0.011659003794193268, + -0.9443614482879639, + -0.14782381057739258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.8864921927452087, + 0.3329525887966156, + -0.32136300206184387, + 0.2342894822359085 + ], + [ + 0.3194068670272827, + -0.9427750706672668, + -0.09567905217409134, + 0.14139734208583832 + ], + [ + -0.3348296284675598, + -0.01782681979238987, + -0.9421100616455078, + -0.14792200922966003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.8878472447395325, + 0.33056557178497314, + -0.3200837969779968, + 0.23495955765247345 + ], + [ + 0.3171229362487793, + -0.943625271320343, + -0.09489170461893082, + 0.14172862470149994 + ], + [ + -0.33340707421302795, + -0.017256565392017365, + -0.9426250457763672, + -0.14819440245628357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.8904522061347961, + 0.32861822843551636, + -0.3148094117641449, + 0.23536573350429535 + ], + [ + 0.31283846497535706, + -0.9444239139556885, + -0.10097295045852661, + 0.14260481297969818 + ], + [ + -0.33049508929252625, + -0.008572908118367195, + -0.9437687993049622, + -0.15041542053222656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.8922357559204102, + 0.32725733518600464, + -0.31115594506263733, + 0.23607774078845978 + ], + [ + 0.3107709288597107, + -0.944921612739563, + -0.1026867926120758, + 0.142741397023201 + ], + [ + -0.3276229798793793, + -0.005077390931546688, + -0.9447948932647705, + -0.15132653713226318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.8940975666046143, + 0.32114383578300476, + -0.31217971444129944, + 0.23726509511470795 + ], + [ + 0.30527716875076294, + -0.947011411190033, + -0.09987612068653107, + 0.14271752536296844 + ], + [ + -0.32771235704421997, + -0.006002338137477636, + -0.9447584748268127, + -0.1517956554889679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.8982803225517273, + 0.31122535467147827, + -0.31021156907081604, + 0.23851333558559418 + ], + [ + 0.2956010699272156, + -0.9503270387649536, + -0.09746016561985016, + 0.14278964698314667 + ], + [ + -0.3251345157623291, + -0.004152314737439156, + -0.9456586837768555, + -0.1525074541568756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9025107026100159, + 0.30114200711250305, + -0.3078765273094177, + 0.23988763988018036 + ], + [ + 0.285114586353302, + -0.9535792469978333, + -0.09693434089422226, + 0.14262866973876953 + ], + [ + -0.3227756917476654, + -0.00029580577393062413, + -0.9464754462242126, + -0.15327297151088715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9055588245391846, + 0.2924363911151886, + -0.30731767416000366, + 0.2410740703344345 + ], + [ + 0.27618110179901123, + -0.9562824368476868, + -0.09616613388061523, + 0.1423671990633011 + ], + [ + -0.32200494408607483, + 0.002208765596151352, + -0.9467353820800781, + -0.15370893478393555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9077069163322449, + 0.28435978293418884, + -0.3085574209690094, + 0.2410016655921936 + ], + [ + 0.26951295137405396, + -0.9587172865867615, + -0.09068606793880463, + 0.1420041173696518 + ], + [ + -0.3216067850589752, + -0.0008438471704721451, + -0.9468729496002197, + -0.15342338383197784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9110683798789978, + 0.28031572699546814, + -0.30228713154792786, + 0.2409488707780838 + ], + [ + 0.2659786641597748, + -0.9599078297615051, + -0.08850041031837463, + 0.1415010541677475 + ], + [ + -0.3149758279323578, + 0.00022800511214882135, + -0.9490996599197388, + -0.1531398892402649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9131259322166443, + 0.2757534384727478, + -0.300268292427063, + 0.24081648886203766 + ], + [ + 0.26171985268592834, + -0.9612281322479248, + -0.08685151487588882, + 0.14076651632785797 + ], + [ + -0.31257593631744385, + 0.0007201969856396317, + -0.949892520904541, + -0.15281212329864502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9136496186256409, + 0.27214154601097107, + -0.3019658029079437, + 0.23935385048389435 + ], + [ + 0.2583712637424469, + -0.9622572064399719, + -0.08547115325927734, + 0.1411459594964981 + ], + [ + -0.3138290047645569, + 7.14040215825662e-05, + -0.9494795203208923, + -0.15234684944152832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.915171205997467, + 0.26707613468170166, + -0.30188074707984924, + 0.2382981926202774 + ], + [ + 0.2532447874546051, + -0.9636746644973755, + -0.08484205603599548, + 0.14089812338352203 + ], + [ + -0.3135741353034973, + 0.0011952819768339396, + -0.9495629668235779, + -0.1518460512161255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9179367423057556, + 0.26686298847198486, + -0.2935580313205719, + 0.23726505041122437 + ], + [ + 0.25103089213371277, + -0.9636833667755127, + -0.09109260141849518, + 0.14011459052562714 + ], + [ + -0.30720624327659607, + 0.009925116784870625, + -0.9515911936759949, + -0.15146885812282562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9200353622436523, + 0.26845094561576843, + -0.28542768955230713, + 0.23587559163570404 + ], + [ + 0.2517966330051422, + -0.963178813457489, + -0.09426017850637436, + 0.1405649036169052 + ], + [ + -0.30022215843200684, + 0.014852968044579029, + -0.953753650188446, + -0.15148571133613586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9213810563087463, + 0.2666398882865906, + -0.2827723026275635, + 0.23473970592021942 + ], + [ + 0.24997098743915558, + -0.9636618494987488, + -0.09418231248855591, + 0.14079509675502777 + ], + [ + -0.2976096570491791, + 0.016092922538518906, + -0.9545519948005676, + -0.1504410207271576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9235363602638245, + 0.2600059509277344, + -0.2819174826145172, + 0.23464468121528625 + ], + [ + 0.24326558411121368, + -0.9654436707496643, + -0.09349004179239273, + 0.14168642461299896 + ], + [ + -0.2964833974838257, + 0.017760640010237694, + -0.9548728466033936, + -0.1491655856370926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9275322556495667, + 0.2543036639690399, + -0.27388596534729004, + 0.2347756177186966 + ], + [ + 0.23722222447395325, + -0.966861367225647, + -0.09436455368995667, + 0.1424652487039566 + ], + [ + -0.2888070344924927, + 0.02255433052778244, + -0.9571216106414795, + -0.14751607179641724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.931289553642273, + 0.2504101097583771, + -0.2645648717880249, + 0.2346607744693756 + ], + [ + 0.23161126673221588, + -0.9675990343093872, + -0.10054032504558563, + 0.1428978592157364 + ], + [ + -0.28116902709007263, + 0.03235594928264618, + -0.9591126441955566, + -0.14582468569278717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9338538646697998, + 0.24740441143512726, + -0.2582789659500122, + 0.23446732759475708 + ], + [ + 0.22775618731975555, + -0.9681587815284729, + -0.10390223562717438, + 0.14351291954517365 + ], + [ + -0.2757609188556671, + 0.038204871118068695, + -0.9604666829109192, + -0.14364980161190033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9376918077468872, + 0.24406544864177704, + -0.24731796979904175, + 0.23543201386928558 + ], + [ + 0.2229604721069336, + -0.9685479998588562, + -0.1104687973856926, + 0.14479605853557587 + ], + [ + -0.26650094985961914, + 0.04844355210661888, + -0.9626164436340332, + -0.1416417360305786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9408102035522461, + 0.2373717725276947, + -0.24193130433559418, + 0.23688796162605286 + ], + [ + 0.21402862668037415, + -0.9695544838905334, + -0.11897818744182587, + 0.14649316668510437 + ], + [ + -0.2628076672554016, + 0.06015567108988762, + -0.9629711508750916, + -0.13979071378707886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9434288144111633, + 0.22894427180290222, + -0.2398470789194107, + 0.23771588504314423 + ], + [ + 0.20487123727798462, + -0.9712501764297485, + -0.12124698609113693, + 0.14829061925411224 + ], + [ + -0.26071032881736755, + 0.06525012850761414, + -0.9632095098495483, + -0.1371508240699768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9467178583145142, + 0.22013357281684875, + -0.23508837819099426, + 0.23877668380737305 + ], + [ + 0.1942887008190155, + -0.9725251793861389, + -0.1282448172569275, + 0.15022654831409454 + ], + [ + -0.2568603456020355, + 0.0757366418838501, + -0.9634763598442078, + -0.13457588851451874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9487701058387756, + 0.21378007531166077, + -0.23266589641571045, + 0.23910833895206451 + ], + [ + 0.1871127188205719, + -0.9735013246536255, + -0.13146854937076569, + 0.1523749679327011 + ], + [ + -0.2546059191226959, + 0.08119868487119675, + -0.9636299014091492, + -0.1314052939414978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9512584209442139, + 0.21055445075035095, + -0.22533148527145386, + 0.2387533187866211 + ], + [ + 0.1829768866300583, + -0.9734964370727539, + -0.13720102608203888, + 0.15487714111804962 + ], + [ + -0.2482476830482483, + 0.08928316831588745, + -0.9645732641220093, + -0.1280655711889267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9540145397186279, + 0.2055148333311081, + -0.21821986138820648, + 0.2386273592710495 + ], + [ + 0.17687144875526428, + -0.9736806750297546, + -0.14374439418315887, + 0.15732713043689728 + ], + [ + -0.24201805889606476, + 0.098537378013134, + -0.9652552008628845, + -0.12457269430160522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9565463662147522, + 0.19944699108600616, + -0.21269670128822327, + 0.23857705295085907 + ], + [ + 0.1698126643896103, + -0.9740430116653442, + -0.14967913925647736, + 0.1596880704164505 + ], + [ + -0.2370287925004959, + 0.10705643892288208, + -0.9655859470367432, + -0.12117582559585571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9593557119369507, + 0.18587973713874817, + -0.2123330682516098, + 0.23909538984298706 + ], + [ + 0.1536119282245636, + -0.9751535654067993, + -0.1596209555864334, + 0.16195060312747955 + ], + [ + -0.23672765493392944, + 0.12051638960838318, + -0.9640725255012512, + -0.11860092729330063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9619654417037964, + 0.17475564777851105, + -0.20995943248271942, + 0.23999987542629242 + ], + [ + 0.14200131595134735, + -0.9764933586120605, + -0.1621616631746292, + 0.16262896358966827 + ], + [ + -0.23336264491081238, + 0.12617939710617065, + -0.96416836977005, + -0.11420285701751709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9641857743263245, + 0.16690227389335632, + -0.2061297446489334, + 0.24038000404834747 + ], + [ + 0.13380707800388336, + -0.977126955986023, + -0.16528338193893433, + 0.16442187130451202 + ], + [ + -0.22900108993053436, + 0.13178226351737976, + -0.9644646048545837, + -0.11028656363487244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9668029546737671, + 0.1566394567489624, + -0.20188143849372864, + 0.24117474257946014 + ], + [ + 0.12273461371660233, + -0.9776360392570496, + -0.17077450454235077, + 0.1660061627626419 + ], + [ + -0.22411660850048065, + 0.14032745361328125, + -0.9644065499305725, + -0.10683345794677734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9691399931907654, + 0.15277233719825745, + -0.1934640258550644, + 0.24186861515045166 + ], + [ + 0.12028898298740387, + -0.978108823299408, + -0.16980479657649994, + 0.16758529841899872 + ], + [ + -0.21517035365104675, + 0.14129303395748138, + -0.9663012027740479, + -0.10288994759321213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.970035195350647, + 0.14916159212589264, + -0.19178785383701324, + 0.2424018234014511 + ], + [ + 0.11768871545791626, + -0.9790451526641846, + -0.1661926656961441, + 0.1692417412996292 + ], + [ + -0.21255852282047272, + 0.13864146173000336, + -0.967262864112854, + -0.09901449084281921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9710412621498108, + 0.14250299334526062, + -0.19175978004932404, + 0.24330167472362518 + ], + [ + 0.11186475306749344, + -0.9804113507270813, + -0.16211047768592834, + 0.17104999721050262 + ], + [ + -0.21110469102859497, + 0.13596481084823608, + -0.9679609537124634, + -0.09579426050186157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9718353748321533, + 0.1377648264169693, + -0.19119861721992493, + 0.24313171207904816 + ], + [ + 0.10815070569515228, + -0.9815724492073059, + -0.1575402468442917, + 0.17233024537563324 + ], + [ + -0.20937879383563995, + 0.13242492079734802, + -0.968826174736023, + -0.09301266074180603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9724234938621521, + 0.1342373639345169, + -0.1907167136669159, + 0.24342375993728638 + ], + [ + 0.10519896447658539, + -0.9822959303855896, + -0.15500932931900024, + 0.1738366037607193 + ], + [ + -0.2081483006477356, + 0.13067150115966797, + -0.969329297542572, + -0.09107860177755356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9736388325691223, + 0.1291295737028122, + -0.18802373111248016, + 0.24383561313152313 + ], + [ + 0.1003020778298378, + -0.9827275276184082, + -0.15551865100860596, + 0.1750572770833969 + ], + [ + -0.20485815405845642, + 0.13255983591079712, + -0.9697737097740173, + -0.09004965424537659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9755849838256836, + 0.12176806479692459, + -0.18277433514595032, + 0.2429656982421875 + ], + [ + 0.09246449917554855, + -0.9825994968414307, + -0.1610853523015976, + 0.17506568133831024 + ], + [ + -0.1992090344429016, + 0.14025232195854187, + -0.9698686003684998, + -0.08917630463838577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9774786233901978, + 0.11509258300065994, + -0.17688778042793274, + 0.24201996624469757 + ], + [ + 0.08552053570747375, + -0.9823153614997864, + -0.16656163334846497, + 0.1753268986940384 + ], + [ + -0.19292959570884705, + 0.14768289029598236, + -0.9700350165367126, + -0.0885193943977356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9792935848236084, + 0.11219862848520279, + -0.16850970685482025, + 0.24053846299648285 + ], + [ + 0.08327662944793701, + -0.9819456934928894, + -0.16984595358371735, + 0.17615272104740143 + ], + [ + -0.18452386558055878, + 0.15229614078998566, + -0.9709566831588745, + -0.08764022588729858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9804474115371704, + 0.10991518944501877, + -0.16322214901447296, + 0.23730804026126862 + ], + [ + 0.08085877448320389, + -0.9812309741973877, + -0.1750645488500595, + 0.1757747381925583 + ], + [ + -0.17940087616443634, + 0.1584436446428299, + -0.9709330201148987, + -0.08520224690437317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9804420471191406, + 0.10493180900812149, + -0.1665014624595642, + 0.23404328525066376 + ], + [ + 0.0754045695066452, + -0.9817329049110413, + -0.17468436062335968, + 0.17604927718639374 + ], + [ + -0.18178990483283997, + 0.15871292352676392, + -0.9704445600509644, + -0.08271613717079163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9806697368621826, + 0.1011514812707901, + -0.16749683022499084, + 0.2308637946844101 + ], + [ + 0.07242707163095474, + -0.9828647375106812, + -0.16950282454490662, + 0.1767836958169937 + ], + [ + -0.18177218735218048, + 0.15409499406814575, + -0.9711918234825134, + -0.07993015646934509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9803302884101868, + 0.1000397726893425, + -0.17013099789619446, + 0.22505803406238556 + ], + [ + 0.07089900225400925, + -0.9829811453819275, + -0.16947394609451294, + 0.17534373700618744 + ], + [ + -0.18418969213962555, + 0.15407833456993103, + -0.9707388877868652, + -0.0769839733839035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.979729950428009, + 0.10227513313293457, + -0.17224691808223724, + 0.22001974284648895 + ], + [ + 0.07264392822980881, + -0.9827092885971069, + -0.17030948400497437, + 0.17475582659244537 + ], + [ + -0.18668706715106964, + 0.1543446034193039, + -0.9702193737030029, + -0.07429474592208862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9794424176216125, + 0.10189664363861084, + -0.17409653961658478, + 0.21505682170391083 + ], + [ + 0.07209286093711853, + -0.9828600883483887, + -0.1696721464395523, + 0.17388252913951874 + ], + [ + -0.18840156495571136, + 0.1536329835653305, + -0.9700009226799011, + -0.07137258350849152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9786322712898254, + 0.10041804611682892, + -0.17942993342876434, + 0.21058738231658936 + ], + [ + 0.0696563795208931, + -0.9829459190368652, + -0.1701919585466385, + 0.173127219080925 + ], + [ + -0.19346027076244354, + 0.15405690670013428, + -0.968937337398529, + -0.06898481398820877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9776292443275452, + 0.09629835933446884, + -0.18699662387371063, + 0.20682524144649506 + ], + [ + 0.06475065648555756, + -0.9836521744728088, + -0.16803491115570068, + 0.1726328283548355 + ], + [ + -0.20012111961841583, + 0.1521676778793335, + -0.967882513999939, + -0.06670224666595459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9774245619773865, + 0.09407249838113785, + -0.1891867220401764, + 0.20219463109970093 + ], + [ + 0.06234971806406975, + -0.9839591383934021, + -0.1671435832977295, + 0.17139120399951935 + ], + [ + -0.20187561213970184, + 0.15157450735569, + -0.9676111936569214, + -0.06391013413667679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9773347973823547, + 0.09472639113664627, + -0.18932393193244934, + 0.1974717676639557 + ], + [ + 0.0634925365447998, + -0.9842948317527771, + -0.16471892595291138, + 0.17033489048480988 + ], + [ + -0.20195379853248596, + 0.14896488189697266, + -0.968000054359436, + -0.061246033757925034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9776217341423035, + 0.09252035617828369, + -0.18893307447433472, + 0.19322273135185242 + ], + [ + 0.06184687092900276, + -0.9848114252090454, + -0.1622387170791626, + 0.16946832835674286 + ], + [ + -0.20107384026050568, + 0.14692318439483643, + -0.9684951901435852, + -0.05893823876976967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9793924689292908, + 0.09248501807451248, + -0.17954635620117188, + 0.18848980963230133 + ], + [ + 0.06337705999612808, + -0.9848231077194214, + -0.16157594323158264, + 0.1685646027326584 + ], + [ + -0.19176475703716278, + 0.14686714112758636, + -0.9703897833824158, + -0.05591750144958496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9825006723403931, + 0.09943292289972305, + -0.1574978530406952, + 0.18328724801540375 + ], + [ + 0.07330382615327835, + -0.9837667346000671, + -0.16379742324352264, + 0.16774164140224457 + ], + [ + -0.17122800648212433, + 0.14938586950302124, + -0.9738402366638184, + -0.05329115688800812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9823692440986633, + 0.09956327080726624, + -0.15823349356651306, + 0.1782066971063614 + ], + [ + 0.07295652478933334, + -0.9834465980529785, + -0.16586193442344666, + 0.1666245013475418 + ], + [ + -0.17212794721126556, + 0.15139350295066833, + -0.9733714461326599, + -0.05175945162773132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9815825819969177, + 0.09470634162425995, + -0.16591079533100128, + 0.1727173924446106 + ], + [ + 0.06753510236740112, + -0.9844158291816711, + -0.16237126290798187, + 0.16619934141635895 + ], + [ + -0.17870280146598816, + 0.14817599952220917, + -0.97268146276474, + -0.04997413232922554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9818090796470642, + 0.09518453478813171, + -0.16428880393505096, + 0.1672079712152481 + ], + [ + 0.06786639988422394, + -0.984032154083252, + -0.16454435884952545, + 0.16532649099826813 + ], + [ + -0.17732754349708557, + 0.15040145814418793, + -0.9725915789604187, + -0.048530325293540955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9816728234291077, + 0.09963769465684891, + -0.16245242953300476, + 0.1614503115415573 + ], + [ + 0.0714694932103157, + -0.9827020764350891, + -0.17084699869155884, + 0.16403202712535858 + ], + [ + -0.17666514217853546, + 0.15610545873641968, + -0.9718130230903625, + -0.04773882031440735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9809064865112305, + 0.1031079888343811, + -0.16489742696285248, + 0.15576614439487457 + ], + [ + 0.0739881619811058, + -0.9819810390472412, + -0.17389367520809174, + 0.16263465583324432 + ], + [ + -0.17985597252845764, + 0.15837298333644867, + -0.9708603620529175, + -0.04704630374908447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9804825782775879, + 0.10214941203594208, + -0.1679861843585968, + 0.14933542907238007 + ], + [ + 0.0725831463932991, + -0.9821417331695557, + -0.17357787489891052, + 0.16233353316783905 + ], + [ + -0.18271711468696594, + 0.15799713134765625, + -0.9703872203826904, + -0.04470531642436981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9800971150398254, + 0.10567206889390945, + -0.16805686056613922, + 0.14376576244831085 + ], + [ + 0.07567625492811203, + -0.9815089702606201, + -0.17582149803638458, + 0.16089333593845367 + ], + [ + -0.18352873623371124, + 0.15960422158241272, + -0.9699710011482239, + -0.04369517043232918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9799264669418335, + 0.10759522020816803, + -0.16783148050308228, + 0.13854475319385529 + ], + [ + 0.07732866704463959, + -0.981084942817688, + -0.17746157944202423, + 0.1592867225408554 + ], + [ + -0.1837509423494339, + 0.160921111702919, + -0.9697113037109375, + -0.04292197898030281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9816552400588989, + 0.11373879760503769, + -0.1530245691537857, + 0.13115166127681732 + ], + [ + 0.08564969897270203, + -0.9801063537597656, + -0.17904086410999298, + 0.1579546183347702 + ], + [ + -0.1703442484140396, + 0.16264989972114563, + -0.9718682169914246, + -0.039323482662439346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9814084768295288, + 0.11918972432613373, + -0.15043692290782928, + 0.12543967366218567 + ], + [ + 0.09029500186443329, + -0.9783735871315002, + -0.18609657883644104, + 0.15617917478084564 + ], + [ + -0.1693643182516098, + 0.16905304789543152, + -0.9709463119506836, + -0.03876812756061554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.98103928565979, + 0.12020039558410645, + -0.15203234553337097, + 0.12029658257961273 + ], + [ + 0.09058937430381775, + -0.9778724312782288, + -0.18857119977474213, + 0.15446586906909943 + ], + [ + -0.17133456468582153, + 0.1712232381105423, + -0.9702200889587402, + -0.038216203451156616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9825575947761536, + 0.12350922077894211, + -0.1390181928873062, + 0.11428949236869812 + ], + [ + 0.0954316034913063, + -0.9765287637710571, + -0.19309169054031372, + 0.15181083977222443 + ], + [ + -0.15960386395454407, + 0.1764569729566574, + -0.971282422542572, + -0.03648165985941887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9826608896255493, + 0.12318272888660431, + -0.13857705891132355, + 0.10864448547363281 + ], + [ + 0.09424489736557007, + -0.9754922986030579, + -0.19882825016975403, + 0.14913935959339142 + ], + [ + -0.1596730500459671, + 0.18232056498527527, + -0.9701874852180481, + -0.03543539345264435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9827390313148499, + 0.11745709180831909, + -0.14292597770690918, + 0.10284997522830963 + ], + [ + 0.08738138526678085, + -0.9756861329078674, + -0.20100024342536926, + 0.1460259109735489 + ], + [ + -0.1630597859621048, + 0.18504172563552856, + -0.9691084027290344, + -0.033438075333833694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9852984547615051, + 0.11596034467220306, + -0.12545980513095856, + 0.0979379266500473 + ], + [ + 0.08868254721164703, + -0.9748304486274719, + -0.20455072820186615, + 0.14354173839092255 + ], + [ + -0.14602181315422058, + 0.19041742384433746, + -0.9707825779914856, + -0.03166176378726959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9872786402702332, + 0.11098723858594894, + -0.11385385692119598, + 0.09379935264587402 + ], + [ + 0.08575177937746048, + -0.9746732115745544, + -0.2065400779247284, + 0.1414097100496292 + ], + [ + -0.13389360904693604, + 0.194149449467659, + -0.9717913866043091, + -0.030256351456046104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.987677276134491, + 0.09451734274625778, + -0.12474013864994049, + 0.08928945660591125 + ], + [ + 0.06732164323329926, + -0.9761130213737488, + -0.2065698653459549, + 0.13937781751155853 + ], + [ + -0.14128491282463074, + 0.1956266462802887, + -0.9704477190971375, + -0.028891906142234802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9888703227043152, + 0.08457805961370468, + -0.12240099906921387, + 0.08486217260360718 + ], + [ + 0.05786293372511864, + -0.9765596985816956, + -0.20732338726520538, + 0.13783781230449677 + ], + [ + -0.13706690073013306, + 0.19793346524238586, + -0.9705848693847656, + -0.027745908126235008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9904277324676514, + 0.08813063055276871, + -0.10623524338006973, + 0.07961389422416687 + ], + [ + 0.0642637237906456, + -0.9755507111549377, + -0.21016880869865417, + 0.13668929040431976 + ], + [ + -0.1221601814031601, + 0.20132994651794434, + -0.9718760848045349, + -0.026800021529197693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9891915917396545, + 0.08539027720689774, + -0.11919946223497391, + 0.07410375773906708 + ], + [ + 0.05874616652727127, + -0.9756332635879517, + -0.21139681339263916, + 0.13535980880260468 + ], + [ + -0.13434618711471558, + 0.2021094262599945, + -0.9701045751571655, + -0.026639029383659363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9889013767242432, + 0.08101861923933029, + -0.1245393455028534, + 0.06807377934455872 + ], + [ + 0.05349532514810562, + -0.9761784076690674, + -0.21027112007141113, + 0.1353577822446823 + ], + [ + -0.13860850036144257, + 0.20127512514591217, + -0.9696782827377319, + -0.02659909427165985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.990273118019104, + 0.0831499844789505, + -0.11155819147825241, + 0.06293673813343048 + ], + [ + 0.058159179985523224, + -0.9757514595985413, + -0.21101318299770355, + 0.13435493409633636 + ], + [ + -0.12639881670475006, + 0.20247255265712738, + -0.971096396446228, + -0.026226842775940895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9898202419281006, + 0.0844535157084465, + -0.11455762386322021, + 0.05785692110657692 + ], + [ + 0.05878202244639397, + -0.9756397008895874, + -0.21135708689689636, + 0.1329721063375473 + ], + [ + -0.12961681187152863, + 0.20247159898281097, + -0.9706723093986511, + -0.026192689314484596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9896830916404724, + 0.08295807987451553, + -0.11681307107210159, + 0.05282057821750641 + ], + [ + 0.05756388604640961, + -0.9768499732017517, + -0.20603515207767487, + 0.1328568011522293 + ], + [ + -0.1312011331319809, + 0.19718529284000397, + -0.9715473055839539, + -0.02537250518798828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9906182289123535, + 0.08206110447645187, + -0.10927722603082657, + 0.048862263560295105 + ], + [ + 0.05837933346629143, + -0.9771157503128052, + -0.20454004406929016, + 0.13167743384838104 + ], + [ + -0.12356128543615341, + 0.1962415724992752, + -0.9727393388748169, + -0.02540828287601471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9593129754066467, + 0.2516832649707794, + -0.12796157598495483, + 0.11157968640327454 + ], + [ + 0.23354245722293854, + -0.9620211720466614, + -0.1413263976573944, + 0.07724900543689728 + ], + [ + -0.15867123007774353, + 0.10569178313016891, + -0.9816581606864929, + -0.11975541710853577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9576377272605896, + 0.25726261734962463, + -0.12940596044063568, + 0.11661027371883392 + ], + [ + 0.24066436290740967, + -0.9617315530776978, + -0.13096983730793, + 0.07863692939281464 + ], + [ + -0.1581474393606186, + 0.0942782536149025, + -0.9829043745994568, + -0.11951682716608047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9560880064964294, + 0.26007935404777527, + -0.1351090520620346, + 0.12210056185722351 + ], + [ + 0.24434685707092285, + -0.961913526058197, + -0.122543565928936, + 0.07955054938793182 + ], + [ + -0.16183428466320038, + 0.08414895832538605, + -0.983223557472229, + -0.11919913440942764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9544011354446411, + 0.26363593339920044, + -0.14005222916603088, + 0.12740540504455566 + ], + [ + 0.24873611330986023, + -0.9616893529891968, + -0.11525589227676392, + 0.08046145737171173 + ], + [ + -0.16507232189178467, + 0.0751643106341362, + -0.9834131598472595, + -0.11887618899345398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9523919820785522, + 0.26940059661865234, + -0.1427333652973175, + 0.13193559646606445 + ], + [ + 0.25529488921165466, + -0.9606245160102844, + -0.10965900868177414, + 0.08139444887638092 + ], + [ + -0.16665537655353546, + 0.06799926608800888, + -0.9836676716804504, + -0.11868911981582642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9499884247779846, + 0.2769324779510498, + -0.14432752132415771, + 0.13648571074008942 + ], + [ + 0.26323363184928894, + -0.9587765336036682, + -0.10703076422214508, + 0.08220122754573822 + ], + [ + -0.1680181324481964, + 0.06368612498044968, + -0.9837245345115662, + -0.11859048157930374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9481821656227112, + 0.2837236225605011, + -0.14300881326198578, + 0.1411028653383255 + ], + [ + 0.2703520655632019, + -0.9569112658500671, + -0.10597465187311172, + 0.08301191031932831 + ], + [ + -0.16691425442695618, + 0.06182054802775383, + -0.9840314388275146, + -0.11860690265893936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9461614489555359, + 0.289408415555954, + -0.14498697221279144, + 0.14638863503932953 + ], + [ + 0.27588629722595215, + -0.9552784562110901, + -0.10644171386957169, + 0.08405166864395142 + ], + [ + -0.16930806636810303, + 0.06071113049983978, + -0.9836915135383606, + -0.11881531029939651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.944137692451477, + 0.2941480576992035, + -0.14859655499458313, + 0.15114852786064148 + ], + [ + 0.27989476919174194, + -0.9537543654441833, + -0.10959729552268982, + 0.08481879532337189 + ], + [ + -0.17396244406700134, + 0.061883535236120224, + -0.9828059077262878, + -0.11914931982755661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9429137706756592, + 0.29880034923553467, + -0.1470780074596405, + 0.15583638846874237 + ], + [ + 0.2839983403682709, + -0.952081024646759, + -0.1135193482041359, + 0.08561168611049652 + ], + [ + -0.17394980788230896, + 0.06526904553174973, + -0.9825891256332397, + -0.11967465281486511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9401937127113342, + 0.30708375573158264, + -0.14742934703826904, + 0.16063587367534637 + ], + [ + 0.2913587987422943, + -0.9491826891899109, + -0.11900535970926285, + 0.08665232360363007 + ], + [ + -0.17648199200630188, + 0.06893325597047806, + -0.9818871021270752, + -0.12034785747528076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9370515942573547, + 0.31327229738235474, + -0.1542557179927826, + 0.1652001291513443 + ], + [ + 0.29698988795280457, + -0.9473361372947693, + -0.1197967529296875, + 0.08773182332515717 + ], + [ + -0.18366102874279022, + 0.06644334644079208, + -0.9807415008544922, + -0.12028145790100098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9360572099685669, + 0.3144253194332123, + -0.15790395438671112, + 0.17006829380989075 + ], + [ + 0.29790782928466797, + -0.9470474123954773, + -0.11980023235082626, + 0.08884821832180023 + ], + [ + -0.18721075356006622, + 0.06509904563426971, + -0.9801602959632874, + -0.12001844495534897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9356935620307922, + 0.31169596314430237, + -0.16529738903045654, + 0.17479456961154938 + ], + [ + 0.29462847113609314, + -0.9480568170547485, + -0.11992654204368591, + 0.09096731245517731 + ], + [ + -0.19409193098545074, + 0.06351317465305328, + -0.9789251089096069, + -0.12019559741020203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9348475933074951, + 0.30978018045425415, + -0.17348262667655945, + 0.17923589050769806 + ], + [ + 0.29193609952926636, + -0.9487543702125549, + -0.12098930031061172, + 0.09285695850849152 + ], + [ + -0.20207248628139496, + 0.06246071681380272, + -0.9773767590522766, + -0.12021607160568237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9336170554161072, + 0.3142797648906708, + -0.17200985550880432, + 0.18310688436031342 + ], + [ + 0.2953900992870331, + -0.9469202160835266, + -0.12683351337909698, + 0.09462301433086395 + ], + [ + -0.20274081826210022, + 0.0676039308309555, + -0.9768960475921631, + -0.12036117911338806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9319260716438293, + 0.31898945569992065, + -0.17250949144363403, + 0.1864272803068161 + ], + [ + 0.2993798851966858, + -0.9451763033866882, + -0.13043542206287384, + 0.0983041375875473 + ], + [ + -0.20465940237045288, + 0.06991030275821686, + -0.976333498954773, + -0.12086856365203857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9308172464370728, + 0.32080501317977905, + -0.17510978877544403, + 0.1901196986436844 + ], + [ + 0.30088114738464355, + -0.9445995688438416, + -0.1311572790145874, + 0.10092030465602875 + ], + [ + -0.20748454332351685, + 0.06939622759819031, + -0.9757736921310425, + -0.12046575546264648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9292606711387634, + 0.3242715299129486, + -0.17698177695274353, + 0.19352100789546967 + ], + [ + 0.3046902120113373, + -0.9436506628990173, + -0.12917932868003845, + 0.10361535847187042 + ], + [ + -0.2088981568813324, + 0.06611665338277817, + -0.9756998419761658, + -0.11947309970855713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9270456433296204, + 0.32837918400764465, + -0.18097920715808868, + 0.19662587344646454 + ], + [ + 0.3091038465499878, + -0.942532479763031, + -0.1268359273672104, + 0.10737977921962738 + ], + [ + -0.21222904324531555, + 0.06164132058620453, + -0.9752739071846008, + -0.11848756670951843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9250320196151733, + 0.32898378372192383, + -0.18996164202690125, + 0.19993914663791656 + ], + [ + 0.30958226323127747, + -0.9426273703575134, + -0.12494964897632599, + 0.11101709306240082 + ], + [ + -0.22016946971416473, + 0.05677367374300957, + -0.9738080501556396, + -0.1174730658531189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9220061302185059, + 0.3340482711791992, + -0.19574598968029022, + 0.20270954072475433 + ], + [ + 0.3150373697280884, + -0.9411724209785461, + -0.12225349992513657, + 0.1144380122423172 + ], + [ + -0.2250692993402481, + 0.051051173359155655, + -0.9730044007301331, + -0.1161465048789978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9183990359306335, + 0.33936548233032227, + -0.20340673625469208, + 0.20454654097557068 + ], + [ + 0.32079586386680603, + -0.9396129846572876, + -0.11923695355653763, + 0.11867107450962067 + ], + [ + -0.23158851265907288, + 0.04425506666302681, + -0.9718067049980164, + -0.11521533876657486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9146903157234192, + 0.3464415967464447, + -0.2081342488527298, + 0.20650142431259155 + ], + [ + 0.3292422890663147, + -0.9374107718467712, + -0.11340448260307312, + 0.1223336011171341 + ], + [ + -0.2343953251838684, + 0.03520338609814644, + -0.971503734588623, + -0.11365566402673721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9116042852401733, + 0.35365059971809387, + -0.20954442024230957, + 0.20861861109733582 + ], + [ + 0.3371465802192688, + -0.9348766207695007, + -0.11107613891363144, + 0.12578006088733673 + ], + [ + -0.2351803183555603, + 0.030610300600528717, + -0.9714696407318115, + -0.11252055317163467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 240, + "c2w": [ + [ + 0.9096872210502625, + 0.35845309495925903, + -0.20971529185771942, + 0.210452139377594 + ], + [ + 0.34284257888793945, + -0.9331792593002319, + -0.10786759108304977, + 0.12954489886760712 + ], + [ + -0.23436744511127472, + 0.026226438581943512, + -0.9717942476272583, + -0.11207035928964615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 241, + "c2w": [ + [ + 0.9074839949607849, + 0.36105483770370483, + -0.21473756432533264, + 0.21268801391124725 + ], + [ + 0.3460700809955597, + -0.9323074817657471, + -0.10506341606378555, + 0.13284428417682648 + ], + [ + -0.23813508450984955, + 0.021029118448495865, + -0.9710043668746948, + -0.11136415600776672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 242, + "c2w": [ + [ + 0.9064585566520691, + 0.3645959198474884, + -0.21307913959026337, + 0.21491840481758118 + ], + [ + 0.3504255414009094, + -0.9309913516044617, + -0.10225968062877655, + 0.13585729897022247 + ], + [ + -0.23565828800201416, + 0.01802579127252102, + -0.9716687798500061, + -0.1107935979962349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 243, + "c2w": [ + [ + 0.9061905145645142, + 0.3666191101074219, + -0.21073484420776367, + 0.21699289977550507 + ], + [ + 0.35198891162872314, + -0.9301431179046631, + -0.1045827642083168, + 0.13868798315525055 + ], + [ + -0.2343556135892868, + 0.020595576614141464, + -0.9719327688217163, + -0.11111903190612793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 244, + "c2w": [ + [ + 0.9048675894737244, + 0.3671976625919342, + -0.21536126732826233, + 0.21878169476985931 + ], + [ + 0.35261204838752747, + -0.9299641847610474, + -0.10407379269599915, + 0.14104776084423065 + ], + [ + -0.2384939193725586, + 0.018234025686979294, + -0.9709727764129639, + -0.1110319197177887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 245, + "c2w": [ + [ + 0.9021170735359192, + 0.3710569143295288, + -0.2202305942773819, + 0.21968193352222443 + ], + [ + 0.35698890686035156, + -0.9285122156143188, + -0.10209786891937256, + 0.1431480348110199 + ], + [ + -0.24237091839313507, + 0.013484351336956024, + -0.9700899720191956, + -0.11064321547746658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 246, + "c2w": [ + [ + 0.899517834186554, + 0.3787432909011841, + -0.21776410937309265, + 0.21982258558273315 + ], + [ + 0.3637442886829376, + -0.9253469109535217, + -0.10687921196222305, + 0.14508043229579926 + ], + [ + -0.24198712408542633, + 0.016929300501942635, + -0.9701317548751831, + -0.11099549382925034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 247, + "c2w": [ + [ + 0.8963614106178284, + 0.38543590903282166, + -0.21903276443481445, + 0.2198428064584732 + ], + [ + 0.36895644664764404, + -0.9224987030029297, + -0.11343418061733246, + 0.14647750556468964 + ], + [ + -0.24577905237674713, + 0.020864471793174744, + -0.9691013097763062, + -0.11154234409332275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 248, + "c2w": [ + [ + 0.8934981226921082, + 0.38961705565452576, + -0.22329279780387878, + 0.21988290548324585 + ], + [ + 0.37257903814315796, + -0.9207550287246704, + -0.11573690921068192, + 0.14761535823345184 + ], + [ + -0.2506910562515259, + 0.02021649479866028, + -0.9678560495376587, + -0.11164767295122147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 249, + "c2w": [ + [ + 0.8903303742408752, + 0.3962966501712799, + -0.2241891473531723, + 0.21941234171390533 + ], + [ + 0.3791729211807251, + -0.9179264903068542, + -0.11678537726402283, + 0.14922527968883514 + ], + [ + -0.252070814371109, + 0.018971113488078117, + -0.9675227999687195, + -0.11127179861068726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 250, + "c2w": [ + [ + 0.8881543874740601, + 0.39710214734077454, + -0.23128265142440796, + 0.21942909061908722 + ], + [ + 0.37945520877838135, + -0.9176105260848999, + -0.11834140866994858, + 0.1503041386604309 + ], + [ + -0.25922101736068726, + 0.0173440333455801, + -0.9656623005867004, + -0.11112923175096512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 251, + "c2w": [ + [ + 0.8859068751335144, + 0.39971688389778137, + -0.23536233603954315, + 0.2192385345697403 + ], + [ + 0.38243934512138367, + -0.9165365099906921, + -0.11705130338668823, + 0.15108026564121246 + ], + [ + -0.26250556111335754, + 0.013684737496078014, + -0.9648334383964539, + -0.11057406663894653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 252, + "c2w": [ + [ + 0.8837577104568481, + 0.40372130274772644, + -0.2366039752960205, + 0.21941587328910828 + ], + [ + 0.3866594135761261, + -0.9148077368736267, + -0.11671043932437897, + 0.1527300626039505 + ], + [ + -0.26356562972068787, + 0.011658594012260437, + -0.9645709991455078, + -0.11031088978052139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 253, + "c2w": [ + [ + 0.882783830165863, + 0.40340274572372437, + -0.2407466024160385, + 0.21935461461544037 + ], + [ + 0.38561326265335083, + -0.9149396419525146, + -0.11911273747682571, + 0.15338198840618134 + ], + [ + -0.2683190107345581, + 0.012315712869167328, + -0.9632514119148254, + -0.11028113961219788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 254, + "c2w": [ + [ + 0.881822407245636, + 0.40359973907470703, + -0.24391895532608032, + 0.21920914947986603 + ], + [ + 0.38503438234329224, + -0.9148369431495667, + -0.12174525856971741, + 0.15384729206562042 + ], + [ + -0.2722824215888977, + 0.013440515846014023, + -0.9621235132217407, + -0.11034446954727173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 255, + "c2w": [ + [ + 0.8806014657020569, + 0.406277596950531, + -0.24388442933559418, + 0.21908412873744965 + ], + [ + 0.3867377042770386, + -0.9136056303977966, + -0.12553367018699646, + 0.15541432797908783 + ], + [ + -0.27381569147109985, + 0.01622583344578743, + -0.9616453051567078, + -0.1113419234752655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 256, + "c2w": [ + [ + 0.8784528374671936, + 0.40727880597114563, + -0.24988922476768494, + 0.21890385448932648 + ], + [ + 0.3882959187030792, + -0.9132329225540161, + -0.12341771274805069, + 0.15567801892757416 + ], + [ + -0.2784724831581116, + 0.011385674588382244, + -0.9603767395019531, + -0.11091715097427368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 257, + "c2w": [ + [ + 0.876593828201294, + 0.40985107421875, + -0.25220102071762085, + 0.2189808189868927 + ], + [ + 0.3911088705062866, + -0.9121074676513672, + -0.12285669893026352, + 0.15561209619045258 + ], + [ + -0.28038740158081055, + 0.009057366289198399, + -0.959844172000885, + -0.11040455847978592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 258, + "c2w": [ + [ + 0.8759942054748535, + 0.41337692737579346, + -0.2485029697418213, + 0.21947120130062103 + ], + [ + 0.39540988206863403, + -0.9105287790298462, + -0.12078248709440231, + 0.15692810714244843 + ], + [ + -0.27619779109954834, + 0.007544221822172403, + -0.9610711932182312, + -0.10993742942810059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 259, + "c2w": [ + [ + 0.8743709921836853, + 0.41284245252609253, + -0.2550225853919983, + 0.21947382390499115 + ], + [ + 0.39697688817977905, + -0.9107999801635742, + -0.11336968094110489, + 0.1567045897245407 + ], + [ + -0.2790783941745758, + -0.002110926201567054, + -0.9602659940719604, + -0.10853075981140137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 260, + "c2w": [ + [ + 0.8731676340103149, + 0.41336482763290405, + -0.25827842950820923, + 0.21943630278110504 + ], + [ + 0.39854109287261963, + -0.9105389714241028, + -0.10992633551359177, + 0.1564020961523056 + ], + [ + -0.2806122601032257, + -0.006950450129806995, + -0.9597960710525513, + -0.1075785756111145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 261, + "c2w": [ + [ + 0.8732262253761292, + 0.41584402322769165, + -0.2540663480758667, + 0.21920137107372284 + ], + [ + 0.40127047896385193, + -0.9094128012657166, + -0.10931777209043503, + 0.15822459757328033 + ], + [ + -0.2765103280544281, + -0.0064901807345449924, + -0.9609890580177307, + -0.10700738430023193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 262, + "c2w": [ + [ + 0.8730718493461609, + 0.41051679849624634, + -0.2630997598171234, + 0.21960105001926422 + ], + [ + 0.3956946134567261, + -0.9118144512176514, + -0.10963648557662964, + 0.1585477739572525 + ], + [ + -0.2849057614803314, + -0.008386626839637756, + -0.9585188627243042, + -0.1068263053894043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + }, + { + "frame_index": 263, + "c2w": [ + [ + 0.8707200884819031, + 0.4080812633037567, + -0.27443793416023254, + 0.21951307356357574 + ], + [ + 0.3947572708129883, + -0.9127861261367798, + -0.10482456535100937, + 0.15860693156719208 + ], + [ + -0.29328009486198425, + -0.01706351712346077, + -0.9558742642402649, + -0.10548657178878784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 835.9294108072916, + "fy": 836.7041368599397, + "cx": 415.18954535590274, + "cy": 245.5154014495482 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_106/boom_up/transforms.json b/spatialvid_eval/camera_controls/scene_106/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..26d050d385fc5428f663c2a892a3cab1e0730a76 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_106/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": [ + [ + 0.999999985025809, + 0.00016934445780937977, + -3.5648794809986274e-05, + 0.00015959458016825788 + ], + [ + -0.00016934681711025033, + 0.9999999834703245, + -6.618917302777639e-05, + 7.467887279583668e-05 + ], + [ + 3.563758545110402e-05, + 6.619520904658196e-05, + 0.9999999971740785, + -0.00010853633831516076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999903281308647, + 3.386818943133933e-05, + -0.013907799292000594, + -0.0008744599462904406 + ], + [ + -1.862340365529811e-05, + 0.9999993989332052, + 0.001096260186828887, + -0.0005867228335425495 + ], + [ + 0.013907828060831925, + -0.0010958951474180625, + 0.9999026809307275, + 0.004990473231210534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9996494695727124, + -0.0002488192348435415, + -0.026474064138015545, + -0.0016977762026693678 + ], + [ + 0.0003056120486363594, + 0.9999976609289121, + 0.0021412001263268333, + -0.0012172442563413487 + ], + [ + 0.026473469441520455, + -0.0021485403635085926, + 0.9996472073636958, + 0.010072631236993135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993107218789395, + -0.0010260874810752087, + -0.037108331709657286, + -0.0020361524351654326 + ], + [ + 0.0011381731352574107, + 0.9999948537695413, + 0.002999499349515938, + -0.0016710441460215798 + ], + [ + 0.03710506299289834, + -0.0030396675664863338, + 0.9993067470608703, + 0.015826599875858462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9989793204176154, + -0.0012656527461978656, + -0.04515213728147842, + -0.0018727872049400561 + ], + [ + 0.0014703581460920544, + 0.9999887905513877, + 0.004500757546829587, + -0.0031754334874867524 + ], + [ + 0.045145934754766706, + -0.004562553528361562, + 0.9989699833730838, + 0.020733913944794884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9986100439716861, + -0.0013193153232436592, + -0.05269003213080572, + -0.0015260703311709399 + ], + [ + 0.0016536855703206744, + 0.9999787691979123, + 0.006302894371893272, + -0.005060218699570029 + ], + [ + 0.052680597974035924, + -0.006381266371699679, + 0.9985910244121923, + 0.02559346473577279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9980805756216313, + -0.0015211968174456841, + -0.06191001960131701, + -0.0011080927303133649 + ], + [ + 0.0023883155360491046, + 0.999900057521862, + 0.013934522477547569, + -0.006488140889956341 + ], + [ + 0.061882635009291004, + -0.014055636877054169, + 0.9979844580735149, + 0.029199409312402263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9974472213743943, + -0.0014013581428456128, + -0.07139381463303146, + -0.0007573404386740677 + ], + [ + 0.003015991459028665, + 0.9997419988990633, + 0.022513094696742186, + -0.007728346655169427 + ], + [ + 0.07134384604168212, + -0.022670946884964804, + 0.9971941053773433, + 0.03264168605540172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.996550950476124, + -0.0004277502688196473, + -0.08298204706345572, + -0.0005509111279319639 + ], + [ + 0.0033464881578064926, + 0.999380404964789, + 0.03503722576666571, + -0.008431151421036363 + ], + [ + 0.08291564461634315, + -0.035194079077625645, + 0.9959349239160831, + 0.036077091241485386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9955829784538744, + 0.0005674615382803383, + -0.09388402952747224, + -0.0006821501884103683 + ], + [ + 0.0037590276058547087, + 0.9989389638348887, + 0.045900068016702496, + -0.008834332978953308 + ], + [ + 0.09381046170002111, + -0.046050239086046725, + 0.9945244958047778, + 0.03879128864175396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9944627844613273, + 0.001692548701448298, + -0.10507571365599756, + -0.0009407765586825262 + ], + [ + 0.004293565573900488, + 0.9983810520533014, + 0.056717194884848755, + -0.009088663834363304 + ], + [ + 0.10500159815967842, + -0.05685428901882885, + 0.9928455339095187, + 0.041402561953436036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.993368314078518, + 0.00303810777160952, + -0.11493547096510638, + -0.0011802529654676359 + ], + [ + 0.00477536274176243, + 0.9976980264432551, + 0.06764498460283881, + -0.009496181127317486 + ], + [ + 0.11487640530364497, + -0.067745242876543, + 0.991067098420743, + 0.04309016849506293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9922339507303302, + 0.004653709191382074, + -0.1242985519177239, + -0.0014464848623096669 + ], + [ + 0.005198182305188046, + 0.9968754579778704, + 0.0788181462744064, + -0.009926728022701448 + ], + [ + 0.12427697260073198, + -0.07885216720023451, + 0.9891094832267172, + 0.04475315572132251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9910076273578479, + 0.007085605272441241, + -0.1336176512160435, + -0.0018193090343153074 + ], + [ + 0.005327032526421519, + 0.9957159737205735, + 0.09231100910591775, + -0.010311510626019118 + ], + [ + 0.13369930905966396, + -0.09219269968719615, + 0.986724379389379, + 0.046524488772156335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9900530924776427, + 0.009015003530567353, + -0.14040514159673934, + -0.0022331059919850796 + ], + [ + 0.005653047551231957, + 0.9945902992627385, + 0.10372164511730525, + -0.010880040559885246 + ], + [ + 0.1405806427956569, + -0.10348365244714047, + 0.9846462392897054, + 0.04789191022188081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9891309533024026, + 0.010897993173572436, + -0.14663284408299834, + -0.002684705422921733 + ], + [ + 0.006098265644574718, + 0.9933509267946387, + 0.11496411349791098, + -0.011475922712796098 + ], + [ + 0.14691074969248621, + -0.11460876921519193, + 0.9824876903268409, + 0.04919669072326159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9883969934122601, + 0.012952353702482992, + -0.15133941967369394, + -0.003303025569832965 + ], + [ + 0.006426464019321464, + 0.9918994660806439, + 0.12686272009200253, + -0.01258704374356509 + ], + [ + 0.15175666039358224, + -0.1263633084502744, + 0.9803072122063, + 0.050388042742626094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9876788366728605, + 0.015083023415775028, + -0.15576590767297022, + -0.0038208983649067386 + ], + [ + 0.006716401721024225, + 0.9903419744020561, + 0.13848344191765058, + -0.01375259586086203 + ], + [ + 0.1563502655465187, + -0.1378233512220504, + 0.9780385055412986, + 0.05149387344239363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9869477852916418, + 0.01763236989860952, + -0.16007238562501006, + -0.004112419369432933 + ], + [ + 0.0068310392140423564, + 0.9885094792708923, + 0.15100445786414943, + -0.015074499872576235 + ], + [ + 0.16089563701722784, + -0.1501269760014771, + 0.9754867938959872, + 0.05243752888690796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.98634592671475, + 0.019697840355975715, + -0.16350445846683093, + -0.004279962572806876 + ], + [ + 0.006943024513210752, + 0.986964800114016, + 0.16078643520679645, + -0.016542428672500477 + ], + [ + 0.16454029070057613, + -0.1597262609003632, + 0.9733519478148482, + 0.053342486362147584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9857530347643705, + 0.021711887071224137, + -0.16679193149742103, + -0.004414605560539138 + ], + [ + 0.007075730636707347, + 0.9854028809006772, + 0.17009143525940035, + -0.018069833315988548 + ], + [ + 0.1680502558426816, + -0.1688483232740332, + 0.9712102528488654, + 0.05428214713777732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9850860204991329, + 0.023451340741476177, + -0.17045693542537194, + -0.004287486913904996 + ], + [ + 0.007309393195533129, + 0.9840703214483075, + 0.17762931969620888, + -0.019483222718410863 + ], + [ + 0.17190725693901154, + -0.17622609642743625, + 0.9692225017763737, + 0.05487142844682435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.984419388108208, + 0.025245615107031952, + -0.17401473280883287, + -0.004178810344107819 + ], + [ + 0.007451319572159764, + 0.98276117830088, + 0.1847293811533511, + -0.020880179482676182 + ], + [ + 0.17567853071247905, + -0.1831478237450124, + 0.9672610446534952, + 0.0554284466136467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9836846241169145, + 0.027401014618234888, + -0.17780254405900997, + -0.00409419954816658 + ], + [ + 0.007296200603236706, + 0.9814429831680193, + 0.19161533406023837, + -0.02226331265031598 + ], + [ + 0.17975351382580046, + -0.18978634088930293, + 0.9652304486904292, + 0.0559064927709376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9827731400270107, + 0.029239969713525653, + -0.18248829938547334, + -0.0041767417094081384 + ], + [ + 0.007305927452669697, + 0.9804870053238097, + 0.19644809954592155, + -0.023272158363623986 + ], + [ + 0.18467154265209995, + -0.19439716191935538, + 0.9633826678803153, + 0.05636474496545207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9817319338702094, + 0.031073645900592903, + -0.1877147797854599, + -0.004323312631320195 + ], + [ + 0.007388631864674554, + 0.9796039626456056, + 0.2008021027982415, + -0.024137778952437138 + ], + [ + 0.1901257955634307, + -0.19852079210871543, + 0.9614789009447379, + 0.0568319884503716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9802767546414494, + 0.033220371214419106, + -0.1948175845400101, + -0.004435906121666154 + ], + [ + 0.007425937624781187, + 0.978883258319881, + 0.20428514882743257, + -0.02530302856623396 + ], + [ + 0.1974901004101741, + -0.2017026859450057, + 0.9593298112341501, + 0.057235454954855505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9785622344094433, + 0.03560892702907481, + -0.20284959379657622, + -0.004613946141295427 + ], + [ + 0.007440241547488593, + 0.97818419403099, + 0.2076061785055006, + -0.026459685176640206 + ], + [ + 0.20581689967860503, + -0.20466481589120486, + 0.9569491715566227, + 0.057635353137529634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9759008602540806, + 0.038993805009629734, + -0.21470210554677074, + -0.004989151616093766 + ], + [ + 0.007352283510651505, + 0.977470233266441, + 0.21094522275991154, + -0.027586389046943088 + ], + [ + 0.2180904740756109, + -0.20744017510819998, + 0.9536273480078866, + 0.05803121644631288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9727578716551615, + 0.04235629403769761, + -0.2279211870105816, + -0.005539736930075038 + ], + [ + 0.007525907438426401, + 0.9768788887402892, + 0.21366094039567946, + -0.02870702764340237 + ], + [ + 0.23170128150303496, + -0.2095556753918394, + 0.9499478591275005, + 0.058137287351028584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9691311940503565, + 0.04589711804816661, + -0.24223580097376843, + -0.006183118905304829 + ], + [ + 0.007825391394470645, + 0.9762978858711427, + 0.2162896236370596, + -0.029819533719180495 + ], + [ + 0.24642137076165663, + -0.2115086111684586, + 0.945801572970534, + 0.058135571206946006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9641838282087016, + 0.050584550739031744, + -0.260366565916869, + -0.00684183398117936 + ], + [ + 0.007982620687810124, + 0.9756662696183709, + 0.21911551313388805, + -0.031343210331583334 + ], + [ + 0.2651147358932874, + -0.2133460418088483, + 0.940317841613531, + 0.05786616796480307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9585853287785016, + 0.055499515420165055, + -0.27934561252817186, + -0.007537604571692714 + ], + [ + 0.008233038055696664, + 0.975019678762515, + 0.22196586023579412, + -0.03292501590308744 + ], + [ + 0.28468646707384265, + -0.21507308017036791, + 0.9341826297095472, + 0.057529441862197016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9508007503363178, + 0.061711888054799324, + -0.3035944268800186, + -0.008407845563542654 + ], + [ + 0.008704411877706167, + 0.9742511525623155, + 0.22529741442116694, + -0.0347279217424758 + ], + [ + 0.3096807491171485, + -0.21685556161581768, + 0.9257815611808922, + 0.056910391081633496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9430476856280261, + 0.0677442276929598, + -0.3256866319729876, + -0.008975700368576537 + ], + [ + 0.008840617037758652, + 0.9735950906752583, + 0.22811059358001634, + -0.03646265949318466 + ], + [ + 0.3325400819781212, + -0.21799843813046027, + 0.9175476962265583, + 0.05626520504050355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9345704118675304, + 0.07402467690437436, + -0.3479920867935905, + -0.00947261484143449 + ], + [ + 0.008906934465219625, + 0.9729405408258712, + 0.23088388972791907, + -0.0381982042855636 + ], + [ + 0.3556667144676138, + -0.2188767946280843, + 0.9086221090162558, + 0.05556186916354727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9241866730159133, + 0.08063324979755508, + -0.3733326565502443, + -0.01020898738549721 + ], + [ + 0.009317293466347618, + 0.9724108780611953, + 0.2330885502780376, + -0.039784384788372415 + ], + [ + 0.38182742366446065, + -0.21889578172121177, + 0.8979378905483498, + 0.054407922391227194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9129431400133635, + 0.08710369490806075, + -0.39868254217598226, + -0.0109580219944601 + ], + [ + 0.009745227509018774, + 0.9720233209167145, + 0.2346821129418249, + -0.0413451818971223 + ], + [ + 0.4079704078034801, + -0.21813667717145935, + 0.8865531774401674, + 0.053221120466474356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8987977553781276, + 0.09405155330982158, + -0.4281552291485526, + -0.011802990677915858 + ], + [ + 0.010130790547392021, + 0.9719952277543722, + 0.2347821209240841, + -0.042886452593231206 + ], + [ + 0.4382464626327572, + -0.21535919423775748, + 0.8726743123566428, + 0.05174174342137728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8859019743823427, + 0.09909083122623508, + -0.4531652005089984, + -0.012391165871625434 + ], + [ + 0.010418610863790229, + 0.9724207357239122, + 0.23300078386527825, + -0.044226419971313886 + ], + [ + 0.46375547903300923, + -0.21113720633999825, + 0.8604370608974286, + 0.05087933214997384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8724113351851603, + 0.10361406824804614, + -0.47766367571915636, + -0.012913992570096813 + ], + [ + 0.010622743628752346, + 0.9730219350852302, + 0.23046793955080205, + -0.04550327603129817 + ], + [ + 0.48865695488578076, + -0.2061369416288201, + 0.8477746998688229, + 0.05016417783475478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8597306175748878, + 0.10759043239745306, + -0.4992870557713581, + -0.01341465811320166 + ], + [ + 0.010966859587049481, + 0.9734468594059034, + 0.22865025673193898, + -0.046547188860134515 + ], + [ + 0.5106299963722266, + -0.20205323746308237, + 0.8357221404483594, + 0.049715174567658234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8472852308617456, + 0.11135905532422319, + -0.5193331285031361, + -0.013892152534970243 + ], + [ + 0.01121642130738635, + 0.9738046412130776, + 0.22710947282076124, + -0.04756060424477304 + ], + [ + 0.5310197072205639, + -0.19825156127800223, + 0.8238412401635529, + 0.04934650403992532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8348106896652552, + 0.1152818220815908, + -0.53833188083019, + -0.01434464536312027 + ], + [ + 0.01133362514392524, + 0.9740244033893886, + 0.22615925924675992, + -0.04845565664372609 + ], + [ + 0.5504204405377024, + -0.19490141892632443, + 0.8118194229869026, + 0.049148750913992796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8252878922866884, + 0.11842409059794673, + -0.5521554397187852, + -0.014631399458345974 + ], + [ + 0.011409464413388186, + 0.9740680114877794, + 0.22596754881629189, + -0.04965626644094729 + ], + [ + 0.564596952672254, + -0.19278807992791702, + 0.8025353806972699, + 0.0489796223103994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8162423163266673, + 0.12144306395343189, + -0.5648009058555762, + -0.014871148838228057 + ], + [ + 0.01148044045428627, + 0.9740523686911985, + 0.2260313751098309, + -0.05096283020144047 + ], + [ + 0.5775956029305039, + -0.19098053635035206, + 0.7936685417796774, + 0.048796726757941375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.809607179965449, + 0.12425331790027769, + -0.5736700507601613, + -0.015152617551519176 + ], + [ + 0.01113830797370071, + 0.9739097977772391, + 0.2266619595101493, + -0.05248408793761913 + ], + [ + 0.5868663836376016, + -0.1898968635451099, + 0.7871003931976236, + 0.04865498372043103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8032091837182066, + 0.12675273043167173, + -0.5820556266533709, + -0.015407747030561176 + ], + [ + 0.010971760381070193, + 0.9737864434294545, + 0.22719943456609706, + -0.05400556624378243 + ], + [ + 0.5955960272406732, + -0.18887484724316736, + 0.780763513756885, + 0.04857065498905887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.7967758523498991, + 0.1287457789811442, + -0.5904005127933325, + -0.015588873720056143 + ], + [ + 0.011267331614988135, + 0.9737042892808828, + 0.22753681960133093, + -0.05557210797703042 + ], + [ + 0.6041699167869661, + -0.18794808174213723, + 0.7743734436427178, + 0.04861353869621293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7926498428595022, + 0.12981525990054876, + -0.5956964200931207, + -0.015586746070504191 + ], + [ + 0.011281175898737186, + 0.9737784300922148, + 0.22721862634362458, + -0.057024126053910586 + ], + [ + 0.6095727698028748, + -0.1868249645633445, + 0.7704008508112883, + 0.04875700770691058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7891226337540393, + 0.1306109716276334, + -0.6001885062108187, + -0.015512669314673534 + ], + [ + 0.011193439219416443, + 0.9739105254467888, + 0.2266561169313569, + -0.058448107003249296 + ], + [ + 0.6141336791086526, + -0.18557764551379902, + 0.7670728529090475, + 0.048928997614670955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7872865892092717, + 0.12882660074602084, + -0.6029788830394122, + -0.015257561673728166 + ], + [ + 0.011005768028941536, + 0.9748376580901534, + 0.22264414081533454, + -0.059721539689488345 + ], + [ + 0.616489010057215, + -0.18192099194301556, + 0.7660587791867832, + 0.04882180960951059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7856590547750135, + 0.1266251702333584, + -0.6055624789511035, + -0.015041006355833208 + ], + [ + 0.010865647703863661, + 0.9758544033627734, + 0.2181516012718256, + -0.060901229900650417 + ], + [ + 0.6185642952434357, + -0.17797260941183912, + 0.7653129836538337, + 0.048693458642263585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7844086478120421, + 0.12293913022742833, + -0.6079383550135715, + -0.014887441645577511 + ], + [ + 0.010863076724394904, + 0.9772859980078467, + 0.21164610003939896, + -0.061804853195074796 + ], + [ + 0.6201492294615578, + -0.17262111214081197, + 0.7652560910188861, + 0.04846795375898329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7834631367824961, + 0.11928187370017905, + -0.6098830608481486, + -0.015056063901332 + ], + [ + 0.01080092965256381, + 0.9786437547351925, + 0.20527966591078833, + -0.06269772038276537 + ], + [ + 0.6213443918002096, + -0.16741635500864022, + 0.7654429507507721, + 0.04840726583747822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7825767467162846, + 0.1154441706614592, + -0.6117567154999153, + -0.015331538689457663 + ], + [ + 0.010709471625859474, + 0.9800144767186675, + 0.19863769188986172, + -0.0635705810173225 + ], + [ + 0.6224620010221116, + -0.162000829880975, + 0.765700194855287, + 0.04838172032414259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.78234451296536, + 0.11226237492556423, + -0.6126452662096277, + -0.015705580374352032 + ], + [ + 0.010583224762990513, + 0.981084461893649, + 0.19329064639672888, + -0.06456847043006743 + ], + [ + 0.6227560183463582, + -0.1577036391682871, + 0.7663579475718048, + 0.04874841382414992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7820608770530614, + 0.10928753192809294, + -0.6135446356607336, + -0.016138691276988977 + ], + [ + 0.01054342117099416, + 0.9820424161869274, + 0.188365413703664, + -0.06551962289796184 + ], + [ + 0.6231128476070825, + -0.1537820801485255, + 0.7668646888285997, + 0.04913213231260847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7815884204110802, + 0.1064878265967781, + -0.6146380104305355, + -0.016798534979634648 + ], + [ + 0.010747793602798289, + 0.982876218334432, + 0.18395332115859706, + -0.06629673329213492 + ], + [ + 0.623701872702002, + -0.15038178819026196, + 0.7670601617661519, + 0.049613279360032715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.781578774913484, + 0.1059603683797766, + -0.6147414244522323, + -0.0174656979477587 + ], + [ + 0.010768772019597986, + 0.9830293596304513, + 0.1831319514823526, + -0.06732843365824563 + ], + [ + 0.6237135978587668, + -0.14975205653802173, + 0.7671738195537605, + 0.05024197948582562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7817308050060502, + 0.10620280546486614, + -0.6145062348064375, + -0.018164291185860288 + ], + [ + 0.01072726965791776, + 0.982956121405911, + 0.18352707995370673, + -0.06843907543121307 + ], + [ + 0.6235237559149444, + -0.15006074603986128, + 0.7672678139396186, + 0.05094694889403258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7817592168865182, + 0.10671036003669153, + -0.6143821497031126, + -0.019003639281496877 + ], + [ + 0.010430750163418712, + 0.9828736921764136, + 0.183985066455224, + -0.06967303401506356 + ], + [ + 0.6234931645687918, + -0.15024048817926716, + 0.7672574987888025, + 0.05179697569847863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7818247777089035, + 0.10711332711780515, + -0.6142285829511501, + -0.0198621518364218 + ], + [ + 0.010254109811825049, + 0.982790716256887, + 0.18443768940008531, + -0.07093048383589545 + ], + [ + 0.6234138835415769, + -0.15049632285550824, + 0.7672717814533386, + 0.052696085629946356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7820062030229997, + 0.10727505707871228, + -0.6139693482270188, + -0.020876091060672022 + ], + [ + 0.010394702903010075, + 0.9826948758262655, + 0.18493980419682282, + -0.07225958198096874 + ], + [ + 0.6231839604684233, + -0.15100610303414902, + 0.7673583962278193, + 0.05383672109001917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7821085265001513, + 0.1075995658882985, + -0.6137821976861274, + -0.02154641501624813 + ], + [ + 0.010279922082441176, + 0.9826173572756832, + 0.18535763373147512, + -0.07362003628268979 + ], + [ + 0.6230574419567924, + -0.1512794189610816, + 0.767407298258921, + 0.05475738383888085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.782188202371802, + 0.10799726078696734, + -0.6136107949937656, + -0.022124045419544464 + ], + [ + 0.010070009104990195, + 0.9825422587867934, + 0.1857668017024886, + -0.07499795328015853 + ], + [ + 0.6229608422581588, + -0.15148366697653604, + 0.7674454297553329, + 0.055637804594515616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7822859876858276, + 0.1081536914004855, + -0.613458566251102, + -0.02267435769581744 + ], + [ + 0.01000519794693789, + 0.9825034290277785, + 0.18597555743349564, + -0.07611253469009671 + ], + [ + 0.6228390879548679, + -0.15162384701987147, + 0.7675165662905543, + 0.05635814691859378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7823879882653761, + 0.10827675307020222, + -0.6133067589409336, + -0.023328508052884604 + ], + [ + 0.009982920332495232, + 0.9824639850919972, + 0.18618501362566064, + -0.07721150041719778 + ], + [ + 0.6227113112186842, + -0.15179151076963043, + 0.767587102639551, + 0.05709593638323668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7825166626743187, + 0.10832208847920491, + -0.6131345674356892, + -0.02435257145968724 + ], + [ + 0.010079033909654943, + 0.9824172199791833, + 0.18642644384266152, + -0.07824757329837313 + ], + [ + 0.6225480589580972, + -0.15206160276636674, + 0.7676660623289461, + 0.05796143946791768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7826389248541851, + 0.10834675994528052, + -0.6129741372296592, + -0.025364306933652953 + ], + [ + 0.01011095187223035, + 0.9823928245569055, + 0.1865532280914557, + -0.0792068578678695 + ], + [ + 0.6223938318744192, + -0.15220156986202543, + 0.7677633751203636, + 0.058671085872999185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7827650345687389, + 0.10836542722604602, + -0.6128097868333349, + -0.02641555831534142 + ], + [ + 0.010121992013441786, + 0.9823750465877301, + 0.1866462244982062, + -0.08012581855879437 + ], + [ + 0.6222350407476909, + -0.15230299413954898, + 0.767871963312796, + 0.05935222653830847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7828584481557012, + 0.10850174753167743, + -0.612666321037659, + -0.02722268927899696 + ], + [ + 0.010064266497803294, + 0.982340666284992, + 0.1868302060765861, + -0.0813576704613838 + ], + [ + 0.6221184458695216, + -0.15242764232687775, + 0.76794169906547, + 0.05952445153964862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7829896967429966, + 0.10855488964539284, + -0.6124891596823465, + -0.02806961544824252 + ], + [ + 0.010075834666588318, + 0.9823117979624115, + 0.18698130692565534, + -0.08255013920400486 + ], + [ + 0.6219530628191181, + -0.15257577631436497, + 0.7680462356733395, + 0.0596111184049217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7832477593015572, + 0.1083779698189941, + -0.6121904631787423, + -0.029130727754531856 + ], + [ + 0.010287084611460329, + 0.9822946003543122, + 0.1870601347293396, + -0.08362521148712763 + ], + [ + 0.6216245840049173, + -0.15281208647445146, + 0.7682651513559874, + 0.05943807749269855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7835320108701826, + 0.10804511461421326, + -0.6118854804207482, + -0.029916482343167926 + ], + [ + 0.01066434232935301, + 0.9822820937781307, + 0.1871046767067418, + -0.08454277127963154 + ], + [ + 0.621259897099765, + -0.1531278598128163, + 0.7684972340904918, + 0.059195401936537044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7838393768398979, + 0.10764090947766598, + -0.6115629697112652, + -0.03063759731087374 + ], + [ + 0.011118555601973626, + 0.9822704070893931, + 0.1871395871475736, + -0.08538965289419284 + ], + [ + 0.6208640825789222, + -0.15348707425467265, + 0.7687454123441481, + 0.05890729191510584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7845453032899535, + 0.10678483445995446, + -0.6108073888019325, + -0.0306831768989228 + ], + [ + 0.011792990193369282, + 0.9823118203177935, + 0.18688074552035167, + -0.08640394344356157 + ], + [ + 0.6199593474317282, + -0.1538196567194956, + 0.7694088124909427, + 0.05836972788441251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7857769751530705, + 0.10560811234546968, + -0.6094271670397682, + -0.030545786753147414 + ], + [ + 0.012398930136324392, + 0.9824274765948118, + 0.18623243477714915, + -0.087535927390778 + ], + [ + 0.6183856497775198, + -0.15389340414188393, + 0.7706594632591346, + 0.057654383316718495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7886789409494762, + 0.10334976898626526, + -0.6060563945321411, + -0.029849002880776226 + ], + [ + 0.012900568514263577, + 0.9827707195948225, + 0.1843781116051569, + -0.08899065328162188 + ], + [ + 0.6146699142099128, + -0.15323360583618892, + 0.7737572995504586, + 0.05629788816129716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7960273011412453, + 0.0996451903748547, + -0.597001986489948, + -0.02876778450371556 + ], + [ + 0.012455789101886161, + 0.9834492651055442, + 0.1807550726292748, + -0.09037603426278157 + ], + [ + 0.6051325385034542, + -0.15132210346979727, + 0.781611304834981, + 0.055026793913031835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8051462351547869, + 0.09527952111770045, + -0.5853728323655398, + -0.02748637617273353 + ], + [ + 0.011714314621927749, + 0.9842635125680343, + 0.1763182142042433, + -0.09174501741447814 + ], + [ + 0.5929606351597139, + -0.14881918788522067, + 0.7913599272569798, + 0.053701815479807985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_106/move_left/transforms.json b/spatialvid_eval/camera_controls/scene_106/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7c7803da9432aa6442c980502b06164f158fd0c3 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_106/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": [ + [ + 0.999999985025809, + 0.00016934445780937977, + -3.5648794809986274e-05, + 0.00015959458016825788 + ], + [ + -0.00016934681711025033, + 0.9999999834703245, + -6.618917302777639e-05, + 7.467887279583668e-05 + ], + [ + 3.563758545110402e-05, + 6.619520904658196e-05, + 0.9999999971740785, + -0.00010853633831516076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999903281308647, + 3.386818943133933e-05, + -0.013907799292000594, + -0.0021242967126894607 + ], + [ + -1.862340365529811e-05, + 0.9999993989332052, + 0.001096260186828887, + 0.0006632996943785265 + ], + [ + 0.013907828060831925, + -0.0010958951474180625, + 0.9999026809307275, + 0.004971718577200221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9996494695727124, + -0.0002488192348435415, + -0.026474064138015545, + -0.0041975219246882575 + ], + [ + 0.0003056120486363594, + 0.9999976609289121, + 0.0021412001263268333, + 0.0012819858658593413 + ], + [ + 0.026473469441520455, + -0.0021485403635085926, + 0.9996472073636958, + 0.010001076212480564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993107218789395, + -0.0010260874810752087, + -0.037108331709657286, + -0.005787415470265489 + ], + [ + 0.0011381731352574107, + 0.9999948537695413, + 0.002999499349515938, + 0.002074668406356986 + ], + [ + 0.03710506299289834, + -0.0030396675664863338, + 0.9993067470608703, + 0.01567605713626077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9989793204176154, + -0.0012656527461978656, + -0.04515213728147842, + -0.006874012070759123 + ], + [ + 0.0014703581460920544, + 0.9999887905513877, + 0.004500757546829587, + 0.0018171586745397265 + ], + [ + 0.045145934754766706, + -0.004562553528361562, + 0.9989699833730838, + 0.020485371503379243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9986100439716861, + -0.0013193153232436592, + -0.05269003213080572, + -0.0077756288267642505 + ], + [ + 0.0016536855703206744, + 0.9999787691979123, + 0.006302894371893272, + 0.0011793130731024188 + ], + [ + 0.052680597974035924, + -0.006381266371699679, + 0.9985910244121923, + 0.025224328083611944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9980805756216313, + -0.0015211968174456841, + -0.06191001960131701, + -0.008605106023606444 + ], + [ + 0.0023883155360491046, + 0.999900057521862, + 0.013934522477547569, + 0.0009931971749372569 + ], + [ + 0.061882635009291004, + -0.014055636877054169, + 0.9979844580735149, + 0.028629872273254673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9974472213743943, + -0.0014013581428456128, + -0.07139381463303146, + -0.00949726550944992 + ], + [ + 0.003015991459028665, + 0.9997419988990633, + 0.022513094696742186, + 0.0009930059099308778 + ], + [ + 0.07134384604168212, + -0.022670946884964804, + 0.9971941053773433, + 0.03181905661729356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.996550950476124, + -0.0004277502688196473, + -0.08298204706345572, + -0.010520698135381402 + ], + [ + 0.0033464881578064926, + 0.999380404964789, + 0.03503722576666571, + 0.0015291877470334646 + ], + [ + 0.08291564461634315, + -0.035194079077625645, + 0.9959349239160831, + 0.0348959940045457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9955829784538744, + 0.0005674615382803383, + -0.09388402952747224, + -0.011876074753710802 + ], + [ + 0.0037590276058547087, + 0.9989389638348887, + 0.045900068016702496, + 0.0023614413036233263 + ], + [ + 0.09381046170002111, + -0.046050239086046725, + 0.9945244958047778, + 0.0372178557579107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9944627844613273, + 0.001692548701448298, + -0.10507571365599756, + -0.013350404505681014 + ], + [ + 0.004293565573900488, + 0.9983810520533014, + 0.056717194884848755, + 0.0033374297466292092 + ], + [ + 0.10500159815967842, + -0.05685428901882885, + 0.9928455339095187, + 0.03937936336370469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.993368314078518, + 0.00303810777160952, + -0.11493547096510638, + -0.014797293302187629 + ], + [ + 0.00477536274176243, + 0.9976980264432551, + 0.06764498460283881, + 0.004156505498578041 + ], + [ + 0.11487640530364497, + -0.067745242876543, + 0.991067098420743, + 0.04057912083258535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9922339507303302, + 0.004653709191382074, + -0.1242985519177239, + -0.01626018848539389 + ], + [ + 0.005198182305188046, + 0.9968754579778704, + 0.0788181462744064, + 0.004948431112388789 + ], + [ + 0.12427697260073198, + -0.07885216720023451, + 0.9891094832267172, + 0.04170621862430802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9910076273578479, + 0.007085605272441241, + -0.1336176512160435, + -0.017808041893203164 + ], + [ + 0.005327032526421519, + 0.9957159737205735, + 0.09231100910591775, + 0.005782309668385855 + ], + [ + 0.13369930905966396, + -0.09219269968719615, + 0.986724379389379, + 0.042853743630019855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9900530924776427, + 0.009015003530567353, + -0.14040514159673934, + -0.0194012725485589 + ], + [ + 0.005653047551231957, + 0.9945902992627385, + 0.10372164511730525, + 0.006426361345066118 + ], + [ + 0.1405806427956569, + -0.10348365244714047, + 0.9846462392897054, + 0.04362078505513185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9891309533024026, + 0.010897993173572436, + -0.14663284408299834, + -0.021026573425337303 + ], + [ + 0.006098265644574718, + 0.9933509267946387, + 0.11496411349791098, + 0.007035064683767606 + ], + [ + 0.14691074969248621, + -0.11460876921519193, + 0.9824876903268409, + 0.04429319974374262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9883969934122601, + 0.012952353702482992, + -0.15133941967369394, + -0.022811918364028513 + ], + [ + 0.006426464019321464, + 0.9918994660806439, + 0.12686272009200253, + 0.007122416297661363 + ], + [ + 0.15175666039358224, + -0.1263633084502744, + 0.9803072122063, + 0.04482564336574896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9876788366728605, + 0.015083023415775028, + -0.15576590767297022, + -0.02448855939661981 + ], + [ + 0.006716401721024225, + 0.9903419744020561, + 0.13848344191765058, + 0.007149447558609901 + ], + [ + 0.1563502655465187, + -0.1378233512220504, + 0.9780385055412986, + 0.04524268408606154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9869477852916418, + 0.01763236989860952, + -0.16007238562501006, + -0.025922016215776163 + ], + [ + 0.0068310392140423564, + 0.9885094792708923, + 0.15100445786414943, + 0.0070132650287028885 + ], + [ + 0.16089563701722784, + -0.1501269760014771, + 0.9754867938959872, + 0.0454395200939871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.98634592671475, + 0.019697840355975715, + -0.16350445846683093, + -0.027237854623827766 + ], + [ + 0.006943024513210752, + 0.986964800114016, + 0.16078643520679645, + 0.006733088498018649 + ], + [ + 0.16454029070057613, + -0.1597262609003632, + 0.9733519478148482, + 0.04564115576162528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9857530347643705, + 0.021711887071224137, + -0.16679193149742103, + -0.0285156342528678 + ], + [ + 0.007075730636707347, + 0.9854028809006772, + 0.17009143525940035, + 0.0063883454406106965 + ], + [ + 0.1680502558426816, + -0.1688483232740332, + 0.9712102528488654, + 0.04585968265985945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9850860204991329, + 0.023451340741476177, + -0.17045693542537194, + -0.029530397257543486 + ], + [ + 0.007309393195533129, + 0.9840703214483075, + 0.17762931969620888, + 0.0061567516482244665 + ], + [ + 0.17190725693901154, + -0.17622609642743625, + 0.9692225017763737, + 0.04573292792095509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.984419388108208, + 0.025245615107031952, + -0.17401473280883287, + -0.030556089101640163 + ], + [ + 0.007451319572159764, + 0.98276117830088, + 0.1847293811533511, + 0.005940841632363624 + ], + [ + 0.17567853071247905, + -0.1831478237450124, + 0.9672610446534952, + 0.04556072186606568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9836846241169145, + 0.027401014618234888, + -0.17780254405900997, + -0.031587353321253626 + ], + [ + 0.007296200603236706, + 0.9814429831680193, + 0.19161533406023837, + 0.005743407348421526 + ], + [ + 0.17975351382580046, + -0.18978634088930293, + 0.9652304486904292, + 0.04528222194787838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9827731400270107, + 0.029239969713525653, + -0.18248829938547334, + -0.03278273681881269 + ], + [ + 0.007305927452669697, + 0.9804870053238097, + 0.19644809954592155, + 0.00592327397251022 + ], + [ + 0.18467154265209995, + -0.19439716191935538, + 0.9633826678803153, + 0.04499268382830841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9817319338702094, + 0.031073645900592903, + -0.1877147797854599, + -0.03403138413037071 + ], + [ + 0.007388631864674554, + 0.9796039626456056, + 0.2008021027982415, + 0.006243950134466955 + ], + [ + 0.1901257955634307, + -0.19852079210871543, + 0.9614789009447379, + 0.044686782585617035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9802767546414494, + 0.033220371214419106, + -0.1948175845400101, + -0.035215238583044636 + ], + [ + 0.007425937624781187, + 0.978883258319881, + 0.20428514882743257, + 0.0062693343563567806 + ], + [ + 0.1974901004101741, + -0.2017026859450057, + 0.9593298112341501, + 0.04426168939831216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9785622344094433, + 0.03560892702907481, + -0.20284959379657622, + -0.036438620265382866 + ], + [ + 0.007440241547488593, + 0.97818419403099, + 0.2076061785055006, + 0.006302923219677971 + ], + [ + 0.20581689967860503, + -0.20466481589120486, + 0.9569491715566227, + 0.04378159523704855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9759008602540806, + 0.038993805009629734, + -0.21470210554677074, + -0.03778089854964955 + ], + [ + 0.007352283510651505, + 0.977470233266441, + 0.21094522275991154, + 0.006367739194509545 + ], + [ + 0.2180904740756109, + -0.20744017510819998, + 0.9536273480078866, + 0.0431376437248795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9727578716551615, + 0.04235629403769761, + -0.2279211870105816, + -0.03926679411870811 + ], + [ + 0.007525907438426401, + 0.9768788887402892, + 0.21366094039567946, + 0.006432017928790157 + ], + [ + 0.23170128150303496, + -0.2095556753918394, + 0.9499478591275005, + 0.04214172266358939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9691311940503565, + 0.04589711804816661, + -0.24223580097376843, + -0.040804396755386954 + ], + [ + 0.007825391394470645, + 0.9762978858711427, + 0.2162896236370596, + 0.0064981848236947155 + ], + [ + 0.24642137076165663, + -0.2115086111684586, + 0.945801572970534, + 0.04096319688456668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9641838282087016, + 0.050584550739031744, + -0.260366565916869, + -0.042243805983129074 + ], + [ + 0.007982620687810124, + 0.9756662696183709, + 0.21911551313388805, + 0.0061545310644759025 + ], + [ + 0.2651147358932874, + -0.2133460418088483, + 0.940317841613531, + 0.039325812828845313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9585853287785016, + 0.055499515420165055, + -0.27934561252817186, + -0.04366103710602618 + ], + [ + 0.008233038055696664, + 0.975019678762515, + 0.22196586023579412, + 0.005746449725185302 + ], + [ + 0.28468646707384265, + -0.21507308017036791, + 0.9341826297095472, + 0.03753905997242859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9508007503363178, + 0.061711888054799324, + -0.3035944268800186, + -0.045082761132655295 + ], + [ + 0.008704411877706167, + 0.9742511525623155, + 0.22529741442116694, + 0.005100881310764343 + ], + [ + 0.3096807491171485, + -0.21685556161581768, + 0.9257815611808922, + 0.03519076826389864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9430476856280261, + 0.0677442276929598, + -0.3256866319729876, + -0.046176097330816866 + ], + [ + 0.008840617037758652, + 0.9735950906752583, + 0.22811059358001634, + 0.00453940563640908 + ], + [ + 0.3325400819781212, + -0.21799843813046027, + 0.9175476962265583, + 0.03286731793588883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9345704118675304, + 0.07402467690437436, + -0.3479920867935905, + -0.047121490746072574 + ], + [ + 0.008906934465219625, + 0.9729405408258712, + 0.23088388972791907, + 0.0039782659927149085 + ], + [ + 0.3556667144676138, + -0.2188767946280843, + 0.9086221090162558, + 0.030425590640610477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9241866730159133, + 0.08063324979755508, + -0.3733326565502443, + -0.04816889143032333 + ], + [ + 0.009317293466347618, + 0.9724108780611953, + 0.2330885502780376, + 0.0035548265183957374 + ], + [ + 0.38182742366446065, + -0.21889578172121177, + 0.8979378905483498, + 0.02737537814887193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9129431400133635, + 0.08710369490806075, + -0.39868254217598226, + -0.04915309633058036 + ], + [ + 0.009745227509018774, + 0.9720233209167145, + 0.2346821129418249, + 0.003160179922983633 + ], + [ + 0.4079704078034801, + -0.21813667717145935, + 0.8865531774401674, + 0.024263667786383405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8987977553781276, + 0.09405155330982158, + -0.4281552291485526, + -0.0500284352761604 + ], + [ + 0.010130790547392021, + 0.9719952277543722, + 0.2347821209240841, + 0.0028021081741003576 + ], + [ + 0.4382464626327572, + -0.21535919423775748, + 0.8726743123566428, + 0.020695474720027827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8859019743823427, + 0.09909083122623508, + -0.4531652005089984, + -0.05074820910048569 + ], + [ + 0.010418610863790229, + 0.9724207357239122, + 0.23300078386527825, + 0.002671183615617066 + ], + [ + 0.46375547903300923, + -0.21113720633999825, + 0.8604370608974286, + 0.017978313738039715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8724113351851603, + 0.10361406824804614, + -0.47766367571915636, + -0.05135385591695252 + ], + [ + 0.010622743628752346, + 0.9730219350852302, + 0.23046793955080205, + 0.002616683541525724 + ], + [ + 0.48865695488578076, + -0.2061369416288201, + 0.8477746998688229, + 0.015424483009024735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8597306175748878, + 0.10759043239745306, + -0.4992870557713581, + -0.0519618426035452 + ], + [ + 0.010966859587049481, + 0.9734468594059034, + 0.22865025673193898, + 0.0027799111305817524 + ], + [ + 0.5106299963722266, + -0.20205323746308237, + 0.8357221404483594, + 0.013190158833598642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8472852308617456, + 0.11135905532422319, + -0.5193331285031361, + -0.05252827675069017 + ], + [ + 0.01121642130738635, + 0.9738046412130776, + 0.22710947282076124, + 0.0029752773002757536 + ], + [ + 0.5310197072205639, + -0.19825156127800223, + 0.8238412401635529, + 0.011059762443750596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8348106896652552, + 0.1152818220815908, + -0.53833188083019, + -0.05301932199574223 + ], + [ + 0.01133362514392524, + 0.9740244033893886, + 0.22615925924675992, + 0.003288972686967559 + ], + [ + 0.5504204405377024, + -0.19490141892632443, + 0.8118194229869026, + 0.009087700967801354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8252878922866884, + 0.11842409059794673, + -0.5521554397187852, + -0.05350890855122677 + ], + [ + 0.011409464413388186, + 0.9740680114877794, + 0.22596754881629189, + 0.003289953648144236 + ], + [ + 0.564596952672254, + -0.19278807992791702, + 0.8025353806972699, + 0.007323445517389986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8162423163266673, + 0.12144306395343189, + -0.5648009058555762, + -0.05395360678422255 + ], + [ + 0.01148044045428627, + 0.9740523686911985, + 0.2260313751098309, + 0.0031818407618858457 + ], + [ + 0.5775956029305039, + -0.19098053635035206, + 0.7936685417796774, + 0.005564318923393222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.809607179965449, + 0.12425331790027769, + -0.5736700507601613, + -0.05456046462026653 + ], + [ + 0.01113830797370071, + 0.9739097977772391, + 0.2266619595101493, + 0.002875272726084334 + ], + [ + 0.5868663836376016, + -0.1898968635451099, + 0.7871003931976236, + 0.003991097007425115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8032091837182066, + 0.12675273043167173, + -0.5820556266533709, + -0.055149563661145096 + ], + [ + 0.010971760381070193, + 0.9737864434294545, + 0.22719943456609706, + 0.0025597963853101545 + ], + [ + 0.5955960272406732, + -0.18887484724316736, + 0.780763513756885, + 0.002482991113133236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.7967758523498991, + 0.1287457789811442, + -0.5904005127933325, + -0.05567067812218145 + ], + [ + 0.011267331614988135, + 0.9737042892808828, + 0.22753681960133093, + 0.002174109482923277 + ], + [ + 0.6041699167869661, + -0.18794808174213723, + 0.7743734436427178, + 0.0010864587844667262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7926498428595022, + 0.12981525990054876, + -0.5956964200931207, + -0.0561853642767401 + ], + [ + 0.011281175898737186, + 0.9737784300922148, + 0.22721862634362458, + 0.0019288307654399231 + ], + [ + 0.6095727698028748, + -0.1868249645633445, + 0.7704008508112883, + -2.2353523020351984e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7891226337540393, + 0.1306109716276334, + -0.6001885062108187, + -0.056669648197573905 + ], + [ + 0.011193439219416443, + 0.9739105254467888, + 0.2266561169313569, + 0.0017217108859614756 + ], + [ + 0.6141336791086526, + -0.18557764551379902, + 0.7670728529090475, + -0.001052960174232273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7872865892092717, + 0.12882660074602084, + -0.6029788830394122, + -0.05723438593826042 + ], + [ + 0.011005768028941536, + 0.9748376580901534, + 0.22264414081533454, + 0.0017227433019139304 + ], + [ + 0.616489010057215, + -0.18192099194301556, + 0.7660587791867832, + -0.0020768280180041288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7856590547750135, + 0.1266251702333584, + -0.6055624789511035, + -0.057878208851040794 + ], + [ + 0.010865647703863661, + 0.9758544033627734, + 0.2181516012718256, + 0.0018230392171787219 + ], + [ + 0.6185642952434357, + -0.17797260941183912, + 0.7653129836538337, + -0.0030814401603292824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7844086478120421, + 0.12293913022742833, + -0.6079383550135715, + -0.05870979718555819 + ], + [ + 0.010863076724394904, + 0.9772859980078467, + 0.21164610003939896, + 0.002220665339953894 + ], + [ + 0.6201492294615578, + -0.17262111214081197, + 0.7652560910188861, + -0.0040530813721737224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7834631367824961, + 0.11928187370017905, + -0.6098830608481486, + -0.05988829915938841 + ], + [ + 0.01080092965256381, + 0.9786437547351925, + 0.20527966591078833, + 0.002631670310312059 + ], + [ + 0.6213443918002096, + -0.16741635500864022, + 0.7654429507507721, + -0.004834084572119153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7825767467162846, + 0.1154441706614592, + -0.6117567154999153, + -0.06119690329322692 + ], + [ + 0.010709471625859474, + 0.9800144767186675, + 0.19863769188986172, + 0.003069138082808042 + ], + [ + 0.6224620010221116, + -0.162000829880975, + 0.765700194855287, + -0.0055500993004446095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.78234451296536, + 0.11226237492556423, + -0.6126452662096277, + -0.06261133003713774 + ], + [ + 0.010583224762990513, + 0.981084461893649, + 0.19329064639672888, + 0.0033666161690786623 + ], + [ + 0.6227560183463582, + -0.1577036391682871, + 0.7663579475718048, + -0.00588376220187526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7820608770530614, + 0.10928753192809294, + -0.6135446356607336, + -0.06407379211714298 + ], + [ + 0.01054342117099416, + 0.9820424161869274, + 0.188365413703664, + 0.0036996804969234133 + ], + [ + 0.6231128476070825, + -0.1537820801485255, + 0.7668646888285997, + -0.006221631289978609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7815884204110802, + 0.1064878265967781, + -0.6146380104305355, + -0.06574332803117156 + ], + [ + 0.010747793602798289, + 0.982876218334432, + 0.18395332115859706, + 0.004182577500908529 + ], + [ + 0.623701872702002, + -0.15038178819026196, + 0.7670601617661519, + -0.006507786054656427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.781578774913484, + 0.1059603683797766, + -0.6147414244522323, + -0.06729255542961962 + ], + [ + 0.010768772019597986, + 0.9830293596304513, + 0.1831319514823526, + 0.0043757846780548065 + ], + [ + 0.6237135978587668, + -0.14975205653802173, + 0.7671738195537605, + -0.0068011125259375416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7817308050060502, + 0.10620280546486614, + -0.6145062348064375, + -0.06882889115144909 + ], + [ + 0.01072726965791776, + 0.982956121405911, + 0.18352707995370673, + 0.004478088449886451 + ], + [ + 0.6235237559149444, + -0.15006074603986128, + 0.7672678139396186, + -0.007071888752577846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7817592168865182, + 0.10671036003669153, + -0.6143821497031126, + -0.07047611461629617 + ], + [ + 0.010430750163418712, + 0.9828736921764136, + 0.183985066455224, + 0.004475740313427317 + ], + [ + 0.6234931645687918, + -0.15024048817926716, + 0.7672574987888025, + -0.0072002153235608685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7818247777089035, + 0.10711332711780515, + -0.6142285829511501, + -0.07215228925723194 + ], + [ + 0.010254109811825049, + 0.982790716256887, + 0.18443768940008531, + 0.004441103163596867 + ], + [ + 0.6234138835415769, + -0.15049632285550824, + 0.7672717814533386, + -0.00728195536582775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7820062030229997, + 0.10727505707871228, + -0.6139693482270188, + -0.07401116880378467 + ], + [ + 0.010394702903010075, + 0.9826948758262655, + 0.18493980419682282, + 0.004309056636737638 + ], + [ + 0.6231839604684233, + -0.15100610303414902, + 0.7673583962278193, + -0.007130746410808408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7821085265001513, + 0.1075995658882985, + -0.6137821976861274, + -0.07550713186519636 + ], + [ + 0.010279922082441176, + 0.9826173572756832, + 0.18535763373147512, + 0.004166958532769589 + ], + [ + 0.6230574419567924, + -0.1512794189610816, + 0.767407298258921, + -0.007189565034549074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.782188202371802, + 0.10799726078696734, + -0.6136107949937656, + -0.07690205942331228 + ], + [ + 0.010070009104990195, + 0.9825422587867934, + 0.1857668017024886, + 0.004015417006487982 + ], + [ + 0.6229608422581588, + -0.15148366697653604, + 0.7674454297553329, + -0.007285811780803342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7822859876858276, + 0.1081536914004855, + -0.613458566251102, + -0.07829027213935819 + ], + [ + 0.01000519794693789, + 0.9825034290277785, + 0.18597555743349564, + 0.004118569374072649 + ], + [ + 0.6228390879548679, + -0.15162384701987147, + 0.7675165662905543, + -0.007535045216822231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7823879882653761, + 0.10827675307020222, + -0.6133067589409336, + -0.07978532400048041 + ], + [ + 0.009982920332495232, + 0.9824639850919972, + 0.18618501362566064, + 0.004233788756410516 + ], + [ + 0.6227113112186842, + -0.15179151076963043, + 0.767587102639551, + -0.007768674958284677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7825166626743187, + 0.10832208847920491, + -0.6131345674356892, + -0.08165911026627193 + ], + [ + 0.010079033909654943, + 0.9824172199791833, + 0.18642644384266152, + 0.004401172517536797 + ], + [ + 0.6225480589580972, + -0.15206160276636674, + 0.7676660623289461, + -0.007880381778661766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7826389248541851, + 0.10834675994528052, + -0.6129741372296592, + -0.08352200615704597 + ], + [ + 0.01011095187223035, + 0.9823928245569055, + 0.1865532280914557, + 0.004652453651183735 + ], + [ + 0.6223938318744192, + -0.15220156986202543, + 0.7677633751203636, + -0.008137767526769174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7827650345687389, + 0.10836542722604602, + -0.6128097868333349, + -0.08542552395782706 + ], + [ + 0.010121992013441786, + 0.9823750465877301, + 0.1866462244982062, + 0.004946323716455871 + ], + [ + 0.6222350407476909, + -0.15230299413954898, + 0.767871963312796, + -0.008419851514325026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7828584481557012, + 0.10850174753167743, + -0.612666321037659, + -0.08707184645937907 + ], + [ + 0.010064266497803294, + 0.982340666284992, + 0.1868302060765861, + 0.0049318600197292015 + ], + [ + 0.6221184458695216, + -0.15242764232687775, + 0.76794169906547, + -0.009216513787781828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7829896967429966, + 0.10855488964539284, + -0.6124891596823465, + -0.08876874808702687 + ], + [ + 0.010075834666588318, + 0.9823117979624115, + 0.18698130692565534, + 0.004951097492619241 + ], + [ + 0.6219530628191181, + -0.15257577631436497, + 0.7680462356733395, + -0.010096477117091787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7832477593015572, + 0.1083779698189941, + -0.6121904631787423, + -0.09071259604481574 + ], + [ + 0.010287084611460329, + 0.9822946003543122, + 0.1870601347293396, + 0.0050704743244075964 + ], + [ + 0.6216245840049173, + -0.15281208647445146, + 0.7682651513559874, + -0.011229268688543854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7835320108701826, + 0.10804511461421326, + -0.6118854804207482, + -0.09239902024684511 + ], + [ + 0.01066434232935301, + 0.9822820937781307, + 0.1871046767067418, + 0.005331870729380409 + ], + [ + 0.621259897099765, + -0.1531278598128163, + 0.7684972340904918, + -0.01243546557787674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7838393768398979, + 0.10764090947766598, + -0.6115629697112652, + -0.09403120362608298 + ], + [ + 0.011118555601973626, + 0.9822704070893931, + 0.1871395871475736, + 0.005655833182752725 + ], + [ + 0.6208640825789222, + -0.15348707425467265, + 0.7687454123441481, + -0.01368812903804368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7845453032899535, + 0.10678483445995446, + -0.6108073888019325, + -0.09507042143777272 + ], + [ + 0.011792990193369282, + 0.9823118203177935, + 0.18688074552035167, + 0.005795345418258743 + ], + [ + 0.6199593474317282, + -0.1538196567194956, + 0.7694088124909427, + -0.015139277509953766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7857769751530705, + 0.10560811234546968, + -0.6094271670397682, + -0.096012039798379 + ], + [ + 0.012398930136324392, + 0.9824274765948118, + 0.18623243477714915, + 0.005829320205851403 + ], + [ + 0.6183856497775198, + -0.15389340414188393, + 0.7706594632591346, + -0.01667747562302411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7886789409494762, + 0.10334976898626526, + -0.6060563945321411, + -0.09666859714718931 + ], + [ + 0.012900568514263577, + 0.9827707195948225, + 0.1843781116051569, + 0.005571686448732634 + ], + [ + 0.6146699142099128, + -0.15323360583618892, + 0.7737572995504586, + -0.018572705043197774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7960273011412453, + 0.0996451903748547, + -0.597001986489948, + -0.09753551794189665 + ], + [ + 0.012455789101886161, + 0.9834492651055442, + 0.1807550726292748, + 0.005509571492579658 + ], + [ + 0.6051325385034542, + -0.15132210346979727, + 0.781611304834981, + -0.01967310198182675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8051462351547869, + 0.09527952111770045, + -0.5853728323655398, + -0.09847304757644218 + ], + [ + 0.011714314621927749, + 0.9842635125680343, + 0.1763182142042433, + 0.005509902380132511 + ], + [ + 0.5929606351597139, + -0.14881918788522067, + 0.7913599272569798, + -0.02047616682468547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_106/move_right/transforms.json b/spatialvid_eval/camera_controls/scene_106/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9be69bfcc38b302c0cb138c14e7f4a735591398b --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_106/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": [ + [ + 0.999999985025809, + 0.00016934445780937977, + -3.5648794809986274e-05, + 0.00015959458016825788 + ], + [ + -0.00016934681711025033, + 0.9999999834703245, + -6.618917302777639e-05, + 7.467887279583668e-05 + ], + [ + 3.563758545110402e-05, + 6.619520904658196e-05, + 0.9999999971740785, + -0.00010853633831516076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999903281308647, + 3.386818943133933e-05, + -0.013907799292000594, + 0.0003754614905821577 + ], + [ + -1.862340365529811e-05, + 0.9999993989332052, + 0.001096260186828887, + 0.0006632531358693882 + ], + [ + 0.013907828060831925, + -0.0010958951474180625, + 0.9999026809307275, + 0.005006488147352301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9996494695727124, + -0.0002488192348435415, + -0.026474064138015545, + 0.0008007254231753047 + ], + [ + 0.0003056120486363594, + 0.9999976609289121, + 0.0021412001263268333, + 0.001283513926102523 + ], + [ + 0.026473469441520455, + -0.0021485403635085926, + 0.9996472073636958, + 0.010133443559688165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993107218789395, + -0.0010260874810752087, + -0.037108331709657286, + 0.0017074149438265594 + ], + [ + 0.0011381731352574107, + 0.9999948537695413, + 0.002999499349515938, + 0.002083204704871416 + ], + [ + 0.03710506299289834, + -0.0030396675664863338, + 0.9993067470608703, + 0.015954345108707507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9989793204176154, + -0.0012656527461978656, + -0.04515213728147842, + 0.0031157811334170324 + ], + [ + 0.0014703581460920544, + 0.9999887905513877, + 0.004500757546829587, + 0.0018318622560006472 + ], + [ + 0.045145934754766706, + -0.004562553528361562, + 0.9989699833730838, + 0.02093683085092691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9986100439716861, + -0.0013193153232436592, + -0.05269003213080572, + 0.004706996722881825 + ], + [ + 0.0016536855703206744, + 0.9999787691979123, + 0.006302894371893272, + 0.0011999841427314274 + ], + [ + 0.052680597974035924, + -0.006381266371699679, + 0.9985910244121923, + 0.025882835558287392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9980805756216313, + -0.0015211968174456841, + -0.06191001960131701, + 0.0063661026107180285 + ], + [ + 0.0023883155360491046, + 0.999900057521862, + 0.013934522477547569, + 0.0010290219079779933 + ], + [ + 0.061882635009291004, + -0.014055636877054169, + 0.9979844580735149, + 0.02955811179839404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9974472213743943, + -0.0014013581428456128, + -0.07139381463303146, + 0.007958060864601985 + ], + [ + 0.003015991459028665, + 0.9997419988990633, + 0.022513094696742186, + 0.0010457857604638792 + ], + [ + 0.07134384604168212, + -0.022670946884964804, + 0.9971941053773433, + 0.033067573923022994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.996550950476124, + -0.0004277502688196473, + -0.08298204706345572, + 0.009410320874141082 + ], + [ + 0.0033464881578064926, + 0.999380404964789, + 0.03503722576666571, + 0.0015961175101895943 + ], + [ + 0.08291564461634315, + -0.035194079077625645, + 0.9959349239160831, + 0.03655430689687256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9955829784538744, + 0.0005674615382803383, + -0.09388402952747224, + 0.010524542261501374 + ], + [ + 0.0037590276058547087, + 0.9989389638348887, + 0.045900068016702496, + 0.002446019424755057 + ], + [ + 0.09381046170002111, + -0.046050239086046725, + 0.9945244958047778, + 0.039328591146161176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9944627844613273, + 0.001692548701448298, + -0.10507571365599756, + 0.011511165105852171 + ], + [ + 0.004293565573900488, + 0.9983810520533014, + 0.056717194884848755, + 0.0034447688859767216 + ], + [ + 0.10500159815967842, + -0.05685428901882885, + 0.9928455339095187, + 0.042004403317696656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.993368314078518, + 0.00303810777160952, + -0.11493547096510638, + 0.01252033533497162 + ], + [ + 0.00477536274176243, + 0.9976980264432551, + 0.06764498460283881, + 0.004287827973976508 + ], + [ + 0.11487640530364497, + -0.067745242876543, + 0.991067098420743, + 0.04373822197843558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9922339507303302, + 0.004653709191382074, + -0.1242985519177239, + 0.01350683003651602 + ], + [ + 0.005198182305188046, + 0.9968754579778704, + 0.0788181462744064, + 0.00510437658154443 + ], + [ + 0.12427697260073198, + -0.07885216720023451, + 0.9891094832267172, + 0.045434527802329976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9910076273578479, + 0.007085605272441241, + -0.1336176512160435, + 0.014399705995926892 + ], + [ + 0.005327032526421519, + 0.9957159737205735, + 0.09231100910591775, + 0.005955438225494554 + ], + [ + 0.13369930905966396, + -0.09219269968719615, + 0.986724379389379, + 0.04719897117445894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9900530924776427, + 0.009015003530567353, + -0.14040514159673934, + 0.0152505856881586 + ], + [ + 0.005653047551231957, + 0.9945902992627385, + 0.10372164511730525, + 0.006624218009359237 + ], + [ + 0.1405806427956569, + -0.10348365244714047, + 0.9846462392897054, + 0.04854110755297984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9891309533024026, + 0.010897993173572436, + -0.14663284408299834, + 0.016065837323502804 + ], + [ + 0.006098265644574718, + 0.9933509267946387, + 0.11496411349791098, + 0.007263749645439157 + ], + [ + 0.14691074969248621, + -0.11460876921519193, + 0.9824876903268409, + 0.04980235285721086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9883969934122601, + 0.012952353702482992, + -0.15133941967369394, + 0.0167239613724619 + ], + [ + 0.006426464019321464, + 0.9918994660806439, + 0.12686272009200253, + 0.007379474858434221 + ], + [ + 0.15175666039358224, + -0.1263633084502744, + 0.9803072122063, + 0.05089590978149225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9876788366728605, + 0.015083023415775028, + -0.15576590767297022, + 0.01748779116197677 + ], + [ + 0.006716401721024225, + 0.9903419744020561, + 0.13848344191765058, + 0.00743489463175343 + ], + [ + 0.1563502655465187, + -0.1378233512220504, + 0.9780385055412986, + 0.05188757037178858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9869477852916418, + 0.01763236989860952, + -0.16007238562501006, + 0.018490634122347725 + ], + [ + 0.0068310392140423564, + 0.9885094792708923, + 0.15100445786414943, + 0.007320661793334795 + ], + [ + 0.16089563701722784, + -0.1501269760014771, + 0.9754867938959872, + 0.05267982375976236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.98634592671475, + 0.019697840355975715, + -0.16350445846683093, + 0.019613576895122865 + ], + [ + 0.006943024513210752, + 0.986964800114016, + 0.16078643520679645, + 0.00706288216239616 + ], + [ + 0.16454029070057613, + -0.1597262609003632, + 0.9733519478148482, + 0.05345681956990264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9857530347643705, + 0.021711887071224137, + -0.16679193149742103, + 0.02077201748535073 + ], + [ + 0.007075730636707347, + 0.9854028809006772, + 0.17009143525940035, + 0.006742131972446064 + ], + [ + 0.1680502558426816, + -0.1688483232740332, + 0.9712102528488654, + 0.05426219545199353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9850860204991329, + 0.023451340741476177, + -0.17045693542537194, + 0.02218661881866099 + ], + [ + 0.007309393195533129, + 0.9840703214483075, + 0.17762931969620888, + 0.006540494790989956 + ], + [ + 0.17190725693901154, + -0.17622609642743625, + 0.9692225017763737, + 0.0547580589102532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.984419388108208, + 0.025245615107031952, + -0.17401473280883287, + 0.02358697724431128 + ], + [ + 0.007451319572159764, + 0.98276117830088, + 0.1847293811533511, + 0.00635066420883241 + ], + [ + 0.17567853071247905, + -0.1831478237450124, + 0.9672610446534952, + 0.05522304105525203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9836846241169145, + 0.027401014618234888, + -0.17780254405900997, + 0.02497451256546897 + ], + [ + 0.007296200603236706, + 0.9814429831680193, + 0.19161533406023837, + 0.006162938883107636 + ], + [ + 0.17975351382580046, + -0.18978634088930293, + 0.9652304486904292, + 0.0556180489928619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9827731400270107, + 0.029239969713525653, + -0.18248829938547334, + 0.026183651582807957 + ], + [ + 0.007305927452669697, + 0.9804870053238097, + 0.19644809954592155, + 0.006361629619670402 + ], + [ + 0.18467154265209995, + -0.19439716191935538, + 0.9633826678803153, + 0.05607297638743441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9817319338702094, + 0.031073645900592903, + -0.1877147797854599, + 0.027326861736517376 + ], + [ + 0.007388631864674554, + 0.9796039626456056, + 0.2008021027982415, + 0.006705739626009115 + ], + [ + 0.1901257955634307, + -0.19852079210871543, + 0.9614789009447379, + 0.05656964480833146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9802767546414494, + 0.033220371214419106, + -0.1948175845400101, + 0.02850275046864957 + ], + [ + 0.007425937624781187, + 0.978883258319881, + 0.20428514882743257, + 0.006752020301967558 + ], + [ + 0.1974901004101741, + -0.2017026859450057, + 0.9593298112341501, + 0.05709854592497348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9785622344094433, + 0.03560892702907481, + -0.20284959379657622, + 0.029614330557254563 + ], + [ + 0.007440241547488593, + 0.97818419403099, + 0.2076061785055006, + 0.006805139524133451 + ], + [ + 0.20581689967860503, + -0.20466481589120486, + 0.9569491715566227, + 0.05767423596535439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9759008602540806, + 0.038993805009629734, + -0.21470210554677074, + 0.030532161668136097 + ], + [ + 0.007352283510651505, + 0.977470233266441, + 0.21094522275991154, + 0.006882399040255151 + ], + [ + 0.2180904740756109, + -0.20744017510819998, + 0.9536273480078866, + 0.05840397691017226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9727578716551615, + 0.04235629403769761, + -0.2279211870105816, + 0.03125815157629111 + ], + [ + 0.007525907438426401, + 0.9768788887402892, + 0.21366094039567946, + 0.006977646218076071 + ], + [ + 0.23170128150303496, + -0.2095556753918394, + 0.9499478591275005, + 0.05894006557255942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9691311940503565, + 0.04589711804816661, + -0.24223580097376843, + 0.031880442798389794 + ], + [ + 0.007825391394470645, + 0.9762978858711427, + 0.2162896236370596, + 0.007085089178280013 + ], + [ + 0.24642137076165663, + -0.2115086111684586, + 0.945801572970534, + 0.05944479969169093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9641838282087016, + 0.050584550739031744, + -0.260366565916869, + 0.032480440703045316 + ], + [ + 0.007982620687810124, + 0.9756662696183709, + 0.21911551313388805, + 0.006773184167781187 + ], + [ + 0.2651147358932874, + -0.2133460418088483, + 0.940317841613531, + 0.05987220486057508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9585853287785016, + 0.055499515420165055, + -0.27934561252817186, + 0.033025789196253964 + ], + [ + 0.008233038055696664, + 0.975019678762515, + 0.22196586023579412, + 0.006405092769641035 + ], + [ + 0.28468646707384265, + -0.21507308017036791, + 0.9341826297095472, + 0.06031397733833601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9508007503363178, + 0.061711888054799324, + -0.3035944268800186, + 0.033358300770090936 + ], + [ + 0.008704411877706167, + 0.9742511525623155, + 0.22529741442116694, + 0.0058189952906751025 + ], + [ + 0.3096807491171485, + -0.21685556161581768, + 0.9257815611808922, + 0.060739430066063395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9430476856280261, + 0.0677442276929598, + -0.3256866319729876, + 0.033982955947565376 + ], + [ + 0.008840617037758652, + 0.9735950906752583, + 0.22811059358001634, + 0.005290858084618565 + ], + [ + 0.3325400819781212, + -0.21799843813046027, + 0.9175476962265583, + 0.06113322490402914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9345704118675304, + 0.07402467690437436, + -0.3479920867935905, + 0.03465342029233635 + ], + [ + 0.008906934465219625, + 0.9729405408258712, + 0.23088388972791907, + 0.004757622758421625 + ], + [ + 0.3556667144676138, + -0.2188767946280843, + 0.9086221090162558, + 0.06154642815652669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9241866730159133, + 0.08063324979755508, + -0.3733326565502443, + 0.03500790914110887 + ], + [ + 0.009317293466347618, + 0.9724108780611953, + 0.2330885502780376, + 0.004393382930367023 + ], + [ + 0.38182742366446065, + -0.21889578172121177, + 0.8979378905483498, + 0.06173984627867339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9129431400133635, + 0.08710369490806075, + -0.39868254217598226, + 0.03529414412065578 + ], + [ + 0.009745227509018774, + 0.9720233209167145, + 0.2346821129418249, + 0.004061613467567869 + ], + [ + 0.4079704078034801, + -0.21813667717145935, + 0.8865531774401674, + 0.06200093050820532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8987977553781276, + 0.09405155330982158, + -0.4281552291485526, + 0.03535735148476173 + ], + [ + 0.010130790547392021, + 0.9719952277543722, + 0.2347821209240841, + 0.0037645332761025996 + ], + [ + 0.4382464626327572, + -0.21535919423775748, + 0.8726743123566428, + 0.06232888867013977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8859019743823427, + 0.09909083122623508, + -0.4531652005089984, + 0.035627233401792746 + ], + [ + 0.010418610863790229, + 0.9724207357239122, + 0.23300078386527825, + 0.003686998174836614 + ], + [ + 0.46375547903300923, + -0.21113720633999825, + 0.8604370608974286, + 0.06319447294375813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8724113351851603, + 0.10361406824804614, + -0.47766367571915636, + 0.035887277601563516 + ], + [ + 0.010622743628752346, + 0.9730219350852302, + 0.23046793955080205, + 0.0036789579044009583 + ], + [ + 0.48865695488578076, + -0.2061369416288201, + 0.8477746998688229, + 0.06429017849760282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8597306175748878, + 0.10759043239745306, + -0.4992870557713581, + 0.03616054569788082 + ], + [ + 0.010966859587049481, + 0.9734468594059034, + 0.22865025673193898, + 0.003904014238254324 + ], + [ + 0.5106299963722266, + -0.20205323746308237, + 0.8357221404483594, + 0.06552973346175188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8472852308617456, + 0.11135905532422319, + -0.5193331285031361, + 0.03643667248979312 + ], + [ + 0.01121642130738635, + 0.9738046412130776, + 0.22710947282076124, + 0.00415300153755132 + ], + [ + 0.5310197072205639, + -0.19825156127800223, + 0.8238412401635529, + 0.06681683170190982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8348106896652552, + 0.1152818220815908, + -0.53833188083019, + 0.0367228271432727 + ], + [ + 0.01133362514392524, + 0.9740244033893886, + 0.22615925924675992, + 0.004507337389939522 + ], + [ + 0.5504204405377024, + -0.19490141892632443, + 0.8118194229869026, + 0.06825789832560436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8252878922866884, + 0.11842409059794673, + -0.5521554397187852, + 0.037272759600308965 + ], + [ + 0.011409464413388186, + 0.9740680114877794, + 0.22596754881629189, + 0.004544994733616936 + ], + [ + 0.564596952672254, + -0.19278807992791702, + 0.8025353806972699, + 0.06942911031133793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8162423163266673, + 0.12144306395343189, + -0.5648009058555762, + 0.037873653802527524 + ], + [ + 0.01148044045428627, + 0.9740523686911985, + 0.2260313751098309, + 0.004473390312993051 + ], + [ + 0.5775956029305039, + -0.19098053635035206, + 0.7936685417796774, + 0.07054382425307491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.809607179965449, + 0.12425331790027769, + -0.5736700507601613, + 0.03854436107576011 + ], + [ + 0.01113830797370071, + 0.9739097977772391, + 0.2266619595101493, + 0.004156178143059916 + ], + [ + 0.5868663836376016, + -0.1898968635451099, + 0.7871003931976236, + 0.0714807311257493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8032091837182066, + 0.12675273043167173, + -0.5820556266533709, + 0.03922751542574418 + ], + [ + 0.010971760381070193, + 0.9737864434294545, + 0.22719943456609706, + 0.0038489782300859024 + ], + [ + 0.5955960272406732, + -0.18887484724316736, + 0.780763513756885, + 0.07246552431391234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.7967758523498991, + 0.1287457789811442, + -0.5904005127933325, + 0.039942424159806464 + ], + [ + 0.011267331614988135, + 0.9737042892808828, + 0.22753681960133093, + 0.0035261892767218532 + ], + [ + 0.6041699167869661, + -0.18794808174213723, + 0.7743734436427178, + 0.07358684879890266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7926498428595022, + 0.12981525990054876, + -0.5956964200931207, + 0.04091424147354893 + ], + [ + 0.011281175898737186, + 0.9737784300922148, + 0.22721862634362458, + 0.003310774813035229 + ], + [ + 0.6095727698028748, + -0.1868249645633445, + 0.7704008508112883, + 0.07465031077783181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7891226337540393, + 0.1306109716276334, + -0.6001885062108187, + 0.041970681021681014 + ], + [ + 0.011193439219416443, + 0.9739105254467888, + 0.2266561169313569, + 0.003120890788388531 + ], + [ + 0.6141336791086526, + -0.18557764551379902, + 0.7670728529090475, + 0.0757137497143493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7872865892092717, + 0.12882660074602084, + -0.6029788830394122, + 0.04314465418592175 + ], + [ + 0.011005768028941536, + 0.9748376580901534, + 0.22264414081533454, + 0.003125978725603977 + ], + [ + 0.616489010057215, + -0.18192099194301556, + 0.7660587791867832, + 0.07652552076429081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7856590547750135, + 0.1266251702333584, + -0.6055624789511035, + 0.04425746826971097 + ], + [ + 0.010865647703863661, + 0.9758544033627734, + 0.2181516012718256, + 0.0032355734186809977 + ], + [ + 0.6185642952434357, + -0.17797260941183912, + 0.7653129836538337, + 0.07733191822131737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7844086478120421, + 0.12293913022742833, + -0.6079383550135715, + 0.04522434864953742 + ], + [ + 0.010863076724394904, + 0.9772859980078467, + 0.21164610003939896, + 0.0036600230059362195 + ], + [ + 0.6201492294615578, + -0.17262111214081197, + 0.7652560910188861, + 0.07811669153148271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7834631367824961, + 0.11928187370017905, + -0.6098830608481486, + 0.04587922430624858 + ], + [ + 0.01080092965256381, + 0.9786437547351925, + 0.20527966591078833, + 0.0040897958134081735 + ], + [ + 0.6213443918002096, + -0.16741635500864022, + 0.7654429507507721, + 0.07904740832090915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7825767467162846, + 0.1154441706614592, + -0.6117567154999153, + 0.04640739938026223 + ], + [ + 0.010709471625859474, + 0.9800144767186675, + 0.19863769188986172, + 0.00454169043136372 + ], + [ + 0.6224620010221116, + -0.162000829880975, + 0.765700194855287, + 0.08003842584009574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.78234451296536, + 0.11226237492556423, + -0.6126452662096277, + 0.04691690177801267 + ], + [ + 0.010583224762990513, + 0.981084461893649, + 0.19329064639672888, + 0.004848267635897335 + ], + [ + 0.6227560183463582, + -0.1577036391682871, + 0.7663579475718048, + 0.0813020803666149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7820608770530614, + 0.10928753192809294, + -0.6135446356607336, + 0.047369882862918274 + ], + [ + 0.01054342117099416, + 0.9820424161869274, + 0.188365413703664, + 0.005202118013790081 + ], + [ + 0.6231128476070825, + -0.1537820801485255, + 0.7668646888285997, + 0.08257194949403066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7815884204110802, + 0.1064878265967781, + -0.6146380104305355, + 0.04758699292843509 + ], + [ + 0.010747793602798289, + 0.982876218334432, + 0.18395332115859706, + 0.005741007573314282 + ], + [ + 0.623701872702002, + -0.15038178819026196, + 0.7670601617661519, + 0.08392898548713387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.781578774913484, + 0.1059603683797766, + -0.6147414244522323, + 0.04799031387011928 + ], + [ + 0.010768772019597986, + 0.9830293596304513, + 0.1831319514823526, + 0.005964178550945509 + ], + [ + 0.6237135978587668, + -0.14975205653802173, + 0.7671738195537605, + 0.08519664315823057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7817308050060502, + 0.10620280546486614, + -0.6145062348064375, + 0.04843072959945845 + ], + [ + 0.01072726965791776, + 0.982956121405911, + 0.18352707995370673, + 0.006087178898574115 + ], + [ + 0.6235237559149444, + -0.15006074603986128, + 0.7672678139396186, + 0.08645667463466382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7817592168865182, + 0.10671036003669153, + -0.6143821497031126, + 0.04874216595889787 + ], + [ + 0.010430750163418712, + 0.9828736921764136, + 0.183985066455224, + 0.006066429713348671 + ], + [ + 0.6234931645687918, + -0.15024048817926716, + 0.7672574987888025, + 0.08788249227317989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7818247777089035, + 0.10711332711780515, + -0.6142285829511501, + 0.049030551287648126 + ], + [ + 0.010254109811825049, + 0.982790716256887, + 0.18443768940008531, + 0.0060304901844297504 + ], + [ + 0.6234138835415769, + -0.15049632285550824, + 0.7672717814533386, + 0.08934719658311668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7820062030229997, + 0.10727505707871228, + -0.6139693482270188, + 0.04915480817233782 + ], + [ + 0.010394702903010075, + 0.9826948758262655, + 0.18493980419682282, + 0.0059462223439617256 + ], + [ + 0.6231839604684233, + -0.15100610303414902, + 0.7673583962278193, + 0.09102072736296828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7821085265001513, + 0.1075995658882985, + -0.6137821976861274, + 0.04963023237482786 + ], + [ + 0.010279922082441176, + 0.9826173572756832, + 0.18535763373147512, + 0.005811746065960178 + ], + [ + 0.6230574419567924, + -0.1512794189610816, + 0.767407298258921, + 0.09249962567853773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.782188202371802, + 0.10799726078696734, + -0.6136107949937656, + 0.05020352346210554 + ], + [ + 0.010070009104990195, + 0.9825422587867934, + 0.1857668017024886, + 0.005651793486048889 + ], + [ + 0.6229608422581588, + -0.15148366697653604, + 0.7674454297553329, + 0.09394532508614747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7822859876858276, + 0.1081536914004855, + -0.613458566251102, + 0.05078691582880341 + ], + [ + 0.01000519794693789, + 0.9825034290277785, + 0.18597555743349564, + 0.005769427035317401 + ], + [ + 0.6228390879548679, + -0.15162384701987147, + 0.7675165662905543, + 0.09523340429573099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7823879882653761, + 0.10827675307020222, + -0.6133067589409336, + 0.051264664033970085 + ], + [ + 0.009982920332495232, + 0.9824639850919972, + 0.18618501362566064, + 0.0059059279121034675 + ], + [ + 0.6227113112186842, + -0.15179151076963043, + 0.767587102639551, + 0.09653546967084493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7825166626743187, + 0.10832208847920491, + -0.6131345674356892, + 0.05136872238836229 + ], + [ + 0.010079033909654943, + 0.9824172199791833, + 0.18642644384266152, + 0.006114608282178138 + ], + [ + 0.6225480589580972, + -0.15206160276636674, + 0.7676660623289461, + 0.09795278824421477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7826389248541851, + 0.10834675994528052, + -0.6129741372296592, + 0.05148320838030096 + ], + [ + 0.01011095187223035, + 0.9823928245569055, + 0.1865532280914557, + 0.006396592849143471 + ], + [ + 0.6223938318744192, + -0.15220156986202543, + 0.7677633751203636, + 0.09922516847156815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7827650345687389, + 0.10836542722604602, + -0.6128097868333349, + 0.05155835709170227 + ], + [ + 0.010121992013441786, + 0.9823750465877301, + 0.1866462244982062, + 0.006717672318808184 + ], + [ + 0.6222350407476909, + -0.15230299413954898, + 0.767871963312796, + 0.10047128061652089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7828584481557012, + 0.10850174753167743, + -0.612666321037659, + 0.051885528088257894 + ], + [ + 0.010064266497803294, + 0.982340666284992, + 0.1868302060765861, + 0.006718267323089287 + ], + [ + 0.6221184458695216, + -0.15242764232687775, + 0.76794169906547, + 0.10120951035405826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7829896967429966, + 0.10855488964539284, + -0.6124891596823465, + 0.05216939732671253 + ], + [ + 0.010075834666588318, + 0.9823117979624115, + 0.18698130692565534, + 0.006764747732605139 + ], + [ + 0.6219530628191181, + -0.15257577631436497, + 0.7680462356733395, + 0.10185507419034949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7832477593015572, + 0.1083779698189941, + -0.6121904631787423, + 0.05223012002771846 + ], + [ + 0.010287084611460329, + 0.9822946003543122, + 0.1870601347293396, + 0.006947867265999106 + ], + [ + 0.6216245840049173, + -0.15281208647445146, + 0.7682651513559874, + 0.10221721789235355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7835320108701826, + 0.10804511461421326, + -0.6118854804207482, + 0.05255440176413871 + ], + [ + 0.01066434232935301, + 0.9822820937781307, + 0.1871046767067418, + 0.0073047740603107165 + ], + [ + 0.621259897099765, + -0.1531278598128163, + 0.7684972340904918, + 0.1024976153855798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7838393768398979, + 0.10764090947766598, + -0.6115629697112652, + 0.05293867953139787 + ], + [ + 0.011118555601973626, + 0.9822704070893931, + 0.1871395871475736, + 0.007740562358122781 + ], + [ + 0.6208640825789222, + -0.15348707425467265, + 0.7687454123441481, + 0.10272388644550423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7845453032899535, + 0.10678483445995446, + -0.6108073888019325, + 0.053993186187318465 + ], + [ + 0.011792990193369282, + 0.9823118203177935, + 0.18688074552035167, + 0.008036013554998906 + ], + [ + 0.6199593474317282, + -0.1538196567194956, + 0.7694088124909427, + 0.10265299850207461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7857769751530705, + 0.10560811234546968, + -0.6094271670397682, + 0.055250027918587075 + ], + [ + 0.012398930136324392, + 0.9824274765948118, + 0.18623243477714915, + 0.008216114257093848 + ], + [ + 0.6183856497775198, + -0.15389340414188393, + 0.7706594632591346, + 0.10236176195914845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7886789409494762, + 0.10334976898626526, + -0.6060563945321411, + 0.05712379633795858 + ], + [ + 0.012900568514263577, + 0.9827707195948225, + 0.1843781116051569, + 0.008087297309014032 + ], + [ + 0.6146699142099128, + -0.15323360583618892, + 0.7737572995504586, + 0.10128792822773525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7960273011412453, + 0.0996451903748547, + -0.597001986489948, + 0.05967987403349932 + ], + [ + 0.012455789101886161, + 0.9834492651055442, + 0.1807550726292748, + 0.007969589840202174 + ], + [ + 0.6051325385034542, + -0.15132210346979727, + 0.781611304834981, + 0.09984057437260546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8051462351547869, + 0.09527952111770045, + -0.5853728323655398, + 0.06255619945451521 + ], + [ + 0.011714314621927749, + 0.9842635125680343, + 0.1763182142042433, + 0.007852765304518061 + ], + [ + 0.5929606351597139, + -0.14881918788522067, + 0.7913599272569798, + 0.0981159602072573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_106/orbit_left/transforms.json b/spatialvid_eval/camera_controls/scene_106/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..827ba7366314173959d90bf0ce3da78a6b615ca2 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_106/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": [ + [ + 0.999999985025809, + 0.00016934445780937977, + -3.5648794809986274e-05, + 0.00015959458016825788 + ], + [ + -0.00016934681711025033, + 0.9999999834703245, + -6.618917302777639e-05, + 7.467887279583668e-05 + ], + [ + 3.563758545110402e-05, + 6.619520904658196e-05, + 0.9999999971740785, + -0.00010853633831516076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999434403137517, + 3.386818943133933e-05, + -0.010635554825407853, + -0.004115266476456072 + ], + [ + -2.2210800603492375e-05, + 0.9999993989332052, + 0.0010961933719587826, + 0.00066380359326882 + ], + [ + 0.01063558555881378, + -0.0010958951474180625, + 0.9999428400331926, + 0.005369993948100078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999801329852147, + -0.0002488192348435415, + -0.01993085334016838, + -0.008189158326064573 + ], + [ + 0.0002915914809323605, + 0.9999976609289121, + 0.0021431544772837615, + 0.0012825964311422933 + ], + [ + 0.019930273462428386, + -0.0021485403635085926, + 0.9997990637993316, + 0.010747517748883195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9996268683977602, + -0.0010260874810752087, + -0.02729599094681154, + -0.01178644085840255 + ], + [ + 0.0011086712425437872, + 0.9999948537695413, + 0.0030105286096505767, + 0.002071722477283672 + ], + [ + 0.027292761409633746, + -0.0030396675664863338, + 0.9996228616812052, + 0.016731965674392914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9994847586519149, + -0.0012656527461978656, + -0.03207203369993565, + -0.014883785246511107 + ], + [ + 0.0014113190808899246, + 0.9999887905513877, + 0.004519618349489121, + 0.001813150610427747 + ], + [ + 0.0320659539227462, + -0.004562553528361562, + 0.9994753412187444, + 0.021828823628251656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993384681087826, + -0.0013193153232436592, + -0.036343989393980536, + -0.017800232759328568 + ], + [ + 0.0015503379383302919, + 0.9999787691979123, + 0.0063291078127730195, + 0.0011763211452606314 + ], + [ + 0.03633486769301478, + -0.006381266371699679, + 0.9993192967361455, + 0.0268280456940077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9991037083760977, + -0.0015211968174456841, + -0.04230207878310132, + -0.02065188627745226 + ], + [ + 0.0021142690365878176, + 0.999900057521862, + 0.013978727918445868, + 0.001000359475935257 + ], + [ + 0.042276586612095865, + -0.014055636877054169, + 0.9990070716948956, + 0.030443173882099942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9988208340080997, + -0.0014013581428456128, + -0.048528112952388264, + -0.023571316801496815 + ], + [ + 0.002499527763122589, + 0.9997419988990633, + 0.02257627068996991, + 0.001018216253822754 + ], + [ + 0.04848395520505367, + -0.022670946884964804, + 0.9985666398668712, + 0.033800739438231614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.998381674111273, + -0.0004277502688196474, + -0.056866948471674596, + -0.026630579639097037 + ], + [ + 0.00242817375214993, + 0.9993804049647892, + 0.03511282023198953, + 0.0015954255933787423 + ], + [ + 0.05681669447444068, + -0.03519407907762565, + 0.997764120434723, + 0.03697270161457295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9979159157473286, + 0.0005674615382803383, + -0.06452521278983732, + -0.03002418760624233 + ], + [ + 0.002405724192492234, + 0.9989389638348887, + 0.0459908580436281, + 0.0024702289966810707 + ], + [ + 0.06448284724855805, + -0.046050239086046725, + 0.9968557257150293, + 0.03935408591213624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9973683176099062, + 0.001692548701448298, + -0.07248154459501205, + -0.033540404247938076 + ], + [ + 0.0024355321482649925, + 0.9983810520533014, + 0.05682730931601518, + 0.0034937661924256055 + ], + [ + 0.07246038373580603, + -0.05685428901882885, + 0.9957495079632345, + 0.04152363056827931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9968612597712441, + 0.00303810777160952, + -0.07911004151469225, + -0.03702858731572392 + ], + [ + 0.002337750306046915, + 0.9976980264432551, + 0.06777302527363148, + 0.004369153154315806 + ], + [ + 0.07913383404584175, + -0.067745242876543, + 0.9945594091741344, + 0.042713840160486176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9963489125610018, + 0.004653709191382075, + -0.08524780014329922, + -0.04053334133889706 + ], + [ + 0.0020997887938121154, + 0.9968754579778706, + 0.07896146001963919, + 0.005227445041051133 + ], + [ + 0.08534890348171567, + -0.07885216720023452, + 0.9932260067085918, + 0.043801049359395515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9957936732602397, + 0.007085605272441241, + -0.0913496277649885, + -0.04412390876346208 + ], + [ + 0.0013962652346588692, + 0.9957159737205735, + 0.09245404329224798, + 0.006155960078738246 + ], + [ + 0.09161337641563752, + -0.09219269968719615, + 0.9915177736107977, + 0.04486676459328524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9954446077091802, + 0.009015003530567353, + -0.09491450202187554, + -0.04775538083679403 + ], + [ + 0.000896781879892707, + 0.9945902992627385, + 0.10387171123417867, + 0.00688773444944447 + ], + [ + 0.09533744681381318, + -0.10348365244714047, + 0.9900514657891393, + 0.04558500667684879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9951344343894979, + 0.010897993173572436, + -0.09792186291672943, + -0.051418303391433356 + ], + [ + 0.0004498983360775175, + 0.9933509267946387, + 0.11512486190097929, + 0.007587962142654772 + ], + [ + 0.09852540324089612, + -0.11460876921519193, + 0.988512809697071, + 0.04619543060266626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.99496292292998, + 0.012952353702482995, + -0.09940331246088692, + -0.055238524834270636 + ], + [ + -0.0002218249938638723, + 0.9918994660806442, + 0.1270251942828883, + 0.0077828357942457335 + ], + [ + 0.10024336780207975, + -0.12636330845027444, + 0.9869060651800647, + 0.04668590543517703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.994811974621312, + 0.015083023415775028, + -0.10060634947499855, + -0.05894964281135623 + ], + [ + -0.0009941777666596313, + 0.9903419744020561, + 0.13864265342240734, + 0.007925501032587897 + ], + [ + 0.10172584116444863, + -0.1378233512220504, + 0.9852190503118121, + 0.047047755573422785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9946596230887222, + 0.01763236989860952, + -0.10169234842779369, + -0.06241711501331577 + ], + [ + -0.0020705622601728743, + 0.9885094792708923, + 0.1511447060386708, + 0.007926866954457991 + ], + [ + 0.10318888975528295, + -0.1501269760014771, + 0.9832669749908841, + 0.0471687834770182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9945996481089772, + 0.019697840355975715, + -0.10189963231930396, + -0.06576553154003094 + ], + [ + -0.003061226936709859, + 0.986964800114016, + 0.1609071540533309, + 0.00777238384308665 + ], + [ + 0.10374087367639047, + -0.1597262609003632, + 0.98169514244884, + 0.04731173824329332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9945511760994314, + 0.021711887071224137, + -0.10196348404720365, + -0.06907554748677135 + ], + [ + -0.00406393116693988, + 0.9854028809006772, + 0.17019003136528413, + 0.007556336522772193 + ], + [ + 0.10417025766843586, + -0.1688483232740332, + 0.9801218297460983, + 0.047460584085669735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9944657544307177, + 0.023451340741476177, + -0.10241043834478374, + -0.07212327984874428 + ], + [ + -0.004905356377493589, + 0.9840703214483075, + 0.17771195773901843, + 0.00744082327829554 + ], + [ + 0.10494665665638593, + -0.17622609642743625, + 0.978739271815837, + 0.04723529666387151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.994386582574932, + 0.025245615107031952, + -0.10275204773052554, + -0.07518142684591944 + ], + [ + -0.005856057638099497, + 0.98276117830088, + 0.18478683127757178, + 0.00734639126238884 + ], + [ + 0.10564578071976116, + -0.1831478237450124, + 0.9773923693551012, + 0.04695154106687262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9942696583360728, + 0.027401014618234895, + -0.10332971939457088, + -0.07824467246508154 + ], + [ + -0.007133216504653445, + 0.9814429831680195, + 0.19162147064605564, + 0.007287385436078756 + ], + [ + 0.10666285077086222, + -0.189786340889303, + 0.9760144369205214, + 0.0465303021589134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9940614453709582, + 0.02923996971352566, + -0.10481825698872492, + -0.08147310571830337 + ], + [ + -0.008129734531263538, + 0.98048700532381, + 0.19641573207764995, + 0.007583319846756872 + ], + [ + 0.1085161289553468, + -0.19439716191935544, + 0.9749020428711016, + 0.046041816922460024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9937885289237107, + 0.031073645900592903, + -0.10685873062175076, + -0.08475449484863219 + ], + [ + -0.009045844869716909, + 0.9796039626456056, + 0.20073427475052746, + 0.008015422095375072 + ], + [ + 0.11091678173405656, + -0.19852079210871543, + 0.9738002683457672, + 0.04548865814481877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9932865980764575, + 0.033220371214419106, + -0.1108067733402363, + -0.08797082013896651 + ], + [ + -0.009961522668362371, + 0.978883258319881, + 0.2041772138295092, + 0.008148311237030803 + ], + [ + 0.1152497381681451, + -0.2017026859450057, + 0.9726425470514565, + 0.04469172337597212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9926448246875614, + 0.03560892702907481, + -0.11570763301026825, + -0.0912237302946311 + ], + [ + -0.010908443913387932, + 0.97818419403099, + 0.20745285825780088, + 0.008291593684212744 + ], + [ + 0.12057055143105781, + -0.20466481589120486, + 0.9713779157793481, + 0.04375446321759042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9914524756533349, + 0.038993805009629734, + -0.12450490629587416, + -0.09458850240292434 + ], + [ + -0.011980389183011196, + 0.977470233266441, + 0.21073303811475144, + 0.00847477472557425 + ], + [ + 0.129917122797178, + -0.20744017510819998, + 0.9695824436091974, + 0.042387643800384435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.989978400468198, + 0.04235629403769761, + -0.13471715169873658, + -0.09808557374263525 + ], + [ + -0.012754444505092992, + 0.9768788887402892, + 0.21341265398027445, + 0.008637853108741336 + ], + [ + 0.14064171056907268, + -0.2095556753918394, + 0.9676292307280073, + 0.0405358882965391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9882078229573933, + 0.04589711804816661, + -0.146077901137312, + -0.10161832509771078 + ], + [ + -0.01341238039585229, + 0.9762978858711427, + 0.21601515246772507, + 0.008795835705766426 + ], + [ + 0.15253001900585536, + -0.2115086111684586, + 0.9654007979609628, + 0.03837232199566039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9855948030149357, + 0.050584550739031744, + -0.16138180658451118, + -0.10501978654992956 + ], + [ + -0.014248981608294542, + 0.9756662696183709, + 0.21879738767201726, + 0.008556406361090185 + ], + [ + 0.16852255277284622, + -0.2133460418088483, + 0.9623323831459797, + 0.03542573548790677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9825336656471461, + 0.055499515420165055, + -0.17761587670619364, + -0.10836506810304979 + ], + [ + -0.015013813656539742, + 0.975019678762515, + 0.22161049484473733, + 0.008248745740094252 + ], + [ + 0.1854782501251012, + -0.21507308017036791, + 0.9588229184351831, + 0.032186207311700674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9779840176736692, + 0.061711888054799324, + -0.19934619145491642, + -0.11163963468492663 + ], + [ + -0.015629405898735103, + 0.9742511525623155, + 0.22492312776202533, + 0.007697320012632732 + ], + [ + 0.20809368766524572, + -0.21685556161581768, + 0.9537665765532819, + 0.027915110123861168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9733790301544246, + 0.06774422769295982, + -0.21896114557134688, + -0.11454645754189036 + ], + [ + -0.01654237939579591, + 0.9735950906752585, + 0.22768168370986996, + 0.007246069831239587 + ], + [ + 0.22860361619965183, + -0.21799843813046033, + 0.9487976958409641, + 0.023708984993152982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9682178594392045, + 0.07402467690437436, + -0.2389027498212786, + -0.11724623215014356 + ], + [ + -0.01753844475439973, + 0.9729405408258712, + 0.2303890339687601, + 0.00680127277856582 + ], + [ + 0.2494926444177509, + -0.2188767946280843, + 0.9433166855063965, + 0.019257921721611098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9616611821471566, + 0.08063324979755508, + -0.26211838885972655, + -0.11994364244357714 + ], + [ + -0.018143911331278833, + 0.9724108780611953, + 0.232568017383857, + 0.006462967763817749 + ], + [ + 0.2736394877077072, + -0.21889578172121177, + 0.9365927970637632, + 0.013855139328593974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9544145240191436, + 0.08710369490806075, + -0.2854923163146, + -0.12249520669702116 + ], + [ + -0.01867256992329411, + 0.9720233209167145, + 0.23414098045088497, + 0.006142782925105445 + ], + [ + 0.29789973392699065, + -0.21813667717145935, + 0.9293396250019812, + 0.00826814985965442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9449631590952358, + 0.09405155330982161, + -0.3133670902835241, + -0.12476267280494044 + ], + [ + -0.01906851188685127, + 0.9719952277543724, + 0.2342256797986664, + 0.005837854212666297 + ], + [ + 0.3266206053009723, + -0.21535919423775754, + 0.9202931042065299, + 0.001759016133800466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9363759873090782, + 0.09909083122623508, + -0.33672097879081236, + -0.12686613510200614 + ], + [ + -0.019322700404278997, + 0.9724207357239122, + 0.2324318093188875, + 0.005734943351436395 + ], + [ + 0.3504663231182639, + -0.21113720633999825, + 0.9124661289378941, + -0.003634764986572059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9272953560270474, + 0.10361406824804617, + -0.35970466712535365, + -0.12876962104324202 + ], + [ + -0.019550237993949327, + 0.9730219350852304, + 0.22988280065584357, + 0.005699638845309323 + ], + [ + 0.3738196234617068, + -0.20613694162882015, + 0.9043044014107555, + -0.008935921274276268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9187933301031996, + 0.10759043239745306, + -0.3797935168146001, + -0.13065846727283642 + ], + [ + -0.019718247089049467, + 0.9734468594059034, + 0.22806227799554854, + 0.0058801888603483565 + ], + [ + 0.3942461252689848, + -0.20205323746308237, + 0.8965179763624818, + -0.013778220022777572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9104498203515405, + 0.11135905532422319, + -0.39834694101893636, + -0.13246523797861925 + ], + [ + -0.020006157632734792, + 0.9738046412130776, + 0.22650446884916653, + 0.0061028001113384404 + ], + [ + 0.4131354236550304, + -0.19825156127800223, + 0.8888281274645918, + -0.018479012540758996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9020619280254868, + 0.1152818220815908, + -0.41592593031030245, + -0.134142611690852 + ], + [ + -0.020497967445544534, + 0.9740244033893886, + 0.22551340299979417, + 0.006463552157080922 + ], + [ + 0.43111960212630496, + -0.19490141892632443, + 0.8809933743013976, + -0.023030704374757828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8959775389189447, + 0.11842409059794673, + -0.42801867309592967, + -0.13594602999705843 + ], + [ + -0.02113328378499024, + 0.9740680114877794, + 0.2252662720264769, + 0.00652814314561808 + ], + [ + 0.4435962511893152, + -0.19278807992791702, + 0.8752457495860766, + -0.02695421488869415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8902812306385883, + 0.12144306395343189, + -0.4389201665340103, + -0.13769857833830812 + ], + [ + -0.021809508890233954, + 0.9740523686911985, + 0.22526945724849673, + 0.006488508120871058 + ], + [ + 0.45488864098217213, + -0.19098053635035206, + 0.8698291550877817, + -0.030823571149232606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8864828008801773, + 0.12425331790027769, + -0.44576827694936855, + -0.1397342786310219 + ], + [ + -0.02297941338285944, + 0.9739097977772391, + 0.2257690243458505, + 0.006299020264785965 + ], + [ + 0.46219064281334826, + -0.1898968635451099, + 0.8662095536944361, + -0.03418071679021754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8828990392319197, + 0.12675273043167173, + -0.4521316532288679, + -0.14174587697442642 + ], + [ + -0.023965039865828236, + 0.9737864434294545, + 0.2261982304467546, + 0.006084272625309209 + ], + [ + 0.46895091788755733, + -0.18887484724316736, + 0.862792749558831, + -0.037460029808873384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8793252078120513, + 0.1287457789811442, + -0.45848849854803453, + -0.14366703191992217 + ], + [ + -0.024465988585546956, + 0.9737042892808828, + 0.22649806276995532, + 0.005752306844192968 + ], + [ + 0.47559288715121106, + -0.18794808174213723, + 0.8593526192783882, + -0.040654073632309905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8775933947883692, + 0.1298152599005488, + -0.46149521310711267, + -0.14572413887175603 + ], + [ + -0.025142598168314823, + 0.973778430092215, + 0.2261048846099717, + 0.005573586348758994 + ], + [ + 0.47874594847494323, + -0.18682496456334452, + 0.8578454111521101, + -0.04324096161485654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8763505756358835, + 0.1306109716276334, + -0.46362748265513937, + -0.14778129231103315 + ], + [ + -0.025877323296378027, + 0.9739105254467888, + 0.22545210702713434, + 0.005437578743913648 + ], + [ + 0.48097820399854985, + -0.18557764551379902, + 0.8568669119320014, + -0.04567717945071432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8765161119753611, + 0.12882660074602084, + -0.4638137690795972, + -0.15004298203541322 + ], + [ + -0.026133554181122662, + 0.9748376580901534, + 0.22137881044753968, + 0.0054447803969790735 + ], + [ + 0.48066260806667604, + -0.18192099194301556, + 0.8578276108269135, + -0.04785403020441932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8768627471473114, + 0.1266251702333584, + -0.46376479914784746, + -0.15239578912251814 + ], + [ + -0.026235160509120583, + 0.9758544033627734, + 0.21684072447431715, + 0.005533020663977666 + ], + [ + 0.48002441502316423, + -0.17797260941183912, + 0.8590124046140487, + -0.049986989212264896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8775540833533512, + 0.12293913022742833, + -0.4634488116812721, + -0.15496709174914244 + ], + [ + -0.025824481608905606, + 0.9772859980078467, + 0.21034536897074452, + 0.005855407000006571 + ], + [ + 0.47878171115811347, + -0.17262111214081197, + 0.8607961574634139, + -0.05202870751801618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8784771002598162, + 0.11928187370017905, + -0.4626551836148383, + -0.1579051359748618 + ], + [ + -0.025454679503229986, + 0.9786437547351925, + 0.20398152026395028, + 0.006195225932112473 + ], + [ + 0.4771059039778203, + -0.16741635500864022, + 0.8627524097127335, + -0.05383873824030161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8794497736619197, + 0.11544417066145923, + -0.46177996823843154, + -0.16097597569838926 + ], + [ + -0.02502302524866667, + 0.9800144767186677, + 0.19734607578880642, + 0.006553076756560758 + ], + [ + 0.4753335079850814, + -0.16200082988097503, + 0.8647622721329097, + -0.05557824997634275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8808898138069102, + 0.11226237492556423, + -0.4598155011603013, + -0.16419994283719117 + ], + [ + -0.02481841483276195, + 0.981084461893649, + 0.19198261618187779, + 0.006800397156818497 + ], + [ + 0.47267026796321343, + -0.1577036391682871, + 0.8670134831573628, + -0.05683851383658648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8822779113370869, + 0.10928753192809294, + -0.4578667082587826, + -0.16746622621001434 + ], + [ + -0.024572260165117963, + 0.9820424161869274, + 0.1870531925419056, + 0.007079709065363569 + ], + [ + 0.470087110222185, + -0.1537820801485255, + 0.8691197734651694, + -0.05811436490503126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8835138615634613, + 0.1064878265967781, + -0.45613988995911725, + -0.170922274505151 + ], + [ + -0.02415113939734389, + 0.982876218334432, + 0.18267748054540375, + 0.007489377250514971 + ], + [ + 0.46778197794595633, + -0.15038178819026196, + 0.8709565654438045, + -0.05937391217766867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8850122191156665, + 0.1059603683797766, + -0.4533495035276711, + -0.17428640101095286 + ], + [ + -0.02457062691925963, + 0.9830293596304513, + 0.18179538607274767, + 0.007716500258397128 + ], + [ + 0.4649189782196015, + -0.14975205653802173, + 0.8725965077020852, + -0.0605772407520695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8865942860170085, + 0.10620280546486614, + -0.4501905553356077, + -0.17764829027859724 + ], + [ + -0.025283208947446432, + 0.982956121405911, + 0.1820934450658994, + 0.007890467609417633 + ], + [ + 0.4618563968890232, + -0.15006074603986128, + 0.8741684283652948, + -0.06173446180620032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.888066022906873, + 0.10671036003669153, + -0.4471595218925895, + -0.18110938713646285 + ], + [ + -0.026260421211302665, + 0.9828736921764136, + 0.18239982320525921, + 0.007992800030568379 + ], + [ + 0.4589652810792713, + -0.15024048817926716, + 0.8756589898330749, + -0.06277039466770092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8895578626546014, + 0.10711332711780515, + -0.4440873158998482, + -0.18460323620909141 + ], + [ + -0.027121404492096574, + 0.982790716256887, + 0.18272065416271743, + 0.008049513966144336 + ], + [ + 0.45601670847432063, + -0.15049632285550824, + 0.8771542728615171, + -0.06375298580114516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8911308845663036, + 0.10727505707871228, + -0.4408829875384585, + -0.18829157541805033 + ], + [ + -0.027684382147301543, + 0.9826948758262655, + 0.18315118347945006, + 0.00797155708899426 + ], + [ + 0.45290100635481007, + -0.15100610303414902, + 0.8786795976288744, + -0.06448151926944817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8926300732243381, + 0.10759956588829853, + -0.43776007789217525, + -0.19160941232113882 + ], + [ + -0.02848273791441963, + 0.9826173572756834, + 0.1834444406937731, + 0.007913567174011118 + ], + [ + 0.44988919304247815, + -0.15127941896108163, + 0.8801785338114003, + -0.06543325974469769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8940995525432565, + 0.10799726078696734, + -0.4346522538817218, + -0.19482397409447946 + ], + [ + -0.02937446689670896, + 0.9825422587867934, + 0.1837058801254888, + 0.007858981602062066 + ], + [ + 0.4469039391597295, + -0.15148366697653604, + 0.8816629558980343, + -0.06642604326925752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8955800479806905, + 0.1081536914004855, + -0.43155434964248995, + -0.19803490317196 + ], + [ + -0.030083528213942577, + 0.9825034290277785, + 0.18379878475892533, + 0.008035626033507721 + ], + [ + 0.4438821453822003, + -0.15162384701987147, + 0.8831641127365795, + -0.06756717374328702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8970540481455597, + 0.10827675307020225, + -0.42845090669788405, + -0.20135350267499896 + ], + [ + -0.03075214810083681, + 0.9824639850919974, + 0.1838989488396728, + 0.008219135202428908 + ], + [ + 0.44084956628406546, + -0.15179151076963046, + 0.8846530377302874, + -0.0686913725803035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8985388439654214, + 0.10832208847920491, + -0.4253166714729009, + -0.20505412273274012 + ], + [ + -0.031313329654328474, + 0.9824172199791833, + 0.18405401727300702, + 0.008440019334647757 + ], + [ + 0.43777553754320675, + -0.15206160276636674, + 0.8861319583972131, + -0.06968804804887573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9000091158519629, + 0.10834675994528052, + -0.42219020712556576, + -0.20874368392829243 + ], + [ + -0.03191275402908603, + 0.9823928245569055, + 0.1840812711532173, + 0.008750049165483394 + ], + [ + 0.43470123937440924, + -0.15220156986202543, + 0.8876201409487551, + -0.07083038389657369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9014714036947256, + 0.10836542722604602, + -0.4190539851889937, + -0.212474633608723 + ], + [ + -0.03252535216220735, + 0.9823750465877301, + 0.18406892542870826, + 0.009104543140145728 + ], + [ + 0.43161488596593284, + -0.15230299413954898, + 0.8891076358848479, + -0.07199575230762675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9028957939005701, + 0.10850174753167743, + -0.41594056803734797, + -0.21594477168918794 + ], + [ + -0.033226079405199775, + 0.982340666284992, + 0.18412724678905562, + 0.009163182854778813 + ], + [ + 0.4285734627855754, + -0.15242764232687775, + 0.8905563434452932, + -0.07368209859838701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9043383838340316, + 0.10855488964539284, + -0.41278072079316924, + -0.21947011227344934 + ], + [ + -0.03385248067682171, + 0.9823117979624115, + 0.18416715542104667, + 0.009244996675890285 + ], + [ + 0.42547161723959576, + -0.15257577631436497, + 0.892017116094524, + -0.07544318273193569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.905864415171009, + 0.1083779698189941, + -0.40946779725003846, + -0.22325736872002588 + ], + [ + -0.03426838605515789, + 0.9822946003543122, + 0.184181963915951, + 0.009395847119785212 + ], + [ + 0.422179273584173, + -0.15281208647445146, + 0.8935396617852307, + -0.07742915682979894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.907402363696647, + 0.10804511461421329, + -0.40613692711416954, + -0.22679162082720533 + ], + [ + -0.034515367124849226, + 0.9822820937781309, + 0.18420254524595714, + 0.009662477075906482 + ], + [ + 0.41884321623965165, + -0.15312785981281632, + 0.895054310508123, + -0.0794813112924489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9089463734218544, + 0.10764090947766601, + -0.40277776111657504, + -0.230275382571629 + ], + [ + -0.03468586412784427, + 0.9822704070893933, + 0.18423283688350242, + 0.009978447323721846 + ], + [ + 0.41546766549632297, + -0.15348707425467267, + 0.896564742204252, + -0.08157313780111308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9107578081739195, + 0.10678483445995449, + -0.39889499116885224, + -0.23321323976700156 + ], + [ + -0.03457118030026565, + 0.9823118203177937, + 0.1840334783581234, + 0.010065458185699594 + ], + [ + 0.4114912494122872, + -0.15381965671949563, + 0.8983398381814156, + -0.08377144043840715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9129069637100063, + 0.10560811234546971, + -0.39426869291969424, + -0.23611553795918966 + ], + [ + -0.03442479850891341, + 0.982427476594812, + 0.1834425972318624, + 0.010041730416188992 + ], + [ + 0.4067134235028371, + -0.15389340414188396, + 0.9005004227118524, + -0.08593111582848761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9161491622419052, + 0.10334976898626526, + -0.3872848277094533, + -0.23892900162816227 + ], + [ + -0.03407134178093008, + 0.9827707195948225, + 0.181661378328807, + 0.009699520383579997 + ], + [ + 0.3993868503001851, + -0.15323360583618892, + 0.9038858367347821, + -0.08804744953145364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.92220097791551, + 0.09964519037485473, + -0.3736525021551927, + -0.24246758011266295 + ], + [ + -0.03416938797687844, + 0.9834492651055444, + 0.17793255994519563, + 0.009638173915162421 + ], + [ + 0.38519840245899634, + -0.1513221034697973, + 0.9103426891805709, + -0.08827849187515699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.929217179977227, + 0.09527952111770045, + -0.3570395570392047, + -0.24629169938729853 + ], + [ + -0.03431935280392828, + 0.9842635125680343, + 0.17334220446952445, + 0.009657343577044099 + ], + [ + 0.3679369707684855, + -0.14881918788522067, + 0.9178644970031764, + -0.08768467305491084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_106/orbit_right/transforms.json b/spatialvid_eval/camera_controls/scene_106/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..95ed17610fcf53f92b9270216e4862dd0f04b312 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_106/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": [ + [ + 0.999999985025809, + 0.00016934445780937977, + -3.5648794809986274e-05, + 0.00015959458016825788 + ], + [ + -0.00016934681711025033, + 0.9999999834703245, + -6.618917302777639e-05, + 7.467887279583668e-05 + ], + [ + 3.563758545110402e-05, + 6.619520904658196e-05, + 0.9999999971740785, + -0.00010853633831516076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9998524141427145, + 3.386818943133933e-05, + -0.017179894817236342, + 0.002354583835123458 + ], + [ + -1.5035807265412597e-05, + 0.9999993989332052, + 0.0010963152616331178, + 0.0006636830909800543 + ], + [ + 0.017179921621184986, + -0.0010958951474180625, + 0.9998518136738642, + 0.005459984217553942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9994547876370931, + -0.0002488192348435415, + -0.033016140875067566, + 0.004747257731537965 + ], + [ + 0.00031961952493735063, + 0.9999976609289121, + 0.002139154053482961, + 0.0012865513420722875 + ], + [ + 0.0330155313852922, + -0.0021485403635085926, + 0.9994525293687809, + 0.011090109652953449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.998898259712835, + -0.0010260874810752087, + -0.04691709589425765, + 0.0076116076514037906 + ], + [ + 0.001167565328475328, + 0.9999948537695413, + 0.002988180991391003, + 0.002093816043585822 + ], + [ + 0.04691378831296327, + -0.0030396675664863338, + 0.9988943171763526, + 0.017452227947314727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.998302712219522, + -0.0012656527461978656, + -0.05822450427674185, + 0.010971702132254124 + ], + [ + 0.0015291452729952759, + 0.9999887905513877, + 0.004481125562534368, + 0.0018512062795607727 + ], + [ + 0.0582181800632789, + -0.004562553528361562, + 0.998293457163484, + 0.022997286400600597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9976142677785521, + -0.0013193153232436592, + -0.06902196847193832, + 0.014507179491988684 + ], + [ + 0.0017565904706963152, + 0.9999787691979123, + 0.006274993493780658, + 0.0012298218102869082 + ], + [ + 0.06901222438511638, + -0.006381266371699679, + 0.9975954051241975, + 0.02853238845189142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9966726638059303, + -0.0015211968174456841, + -0.08149409292846528, + 0.018096452950212474 + ], + [ + 0.00266144129440758, + 0.999900057521862, + 0.013884945012978411, + 0.0010930807079018187 + ], + [ + 0.08146482647270024, + -0.014055636877054169, + 0.9965771024460441, + 0.03284563455732982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9955502201000292, + -0.0014013581428456128, + -0.09422205396900964, + 0.021606392239352783 + ], + [ + 0.0035308725792995033, + 0.9997419988990633, + 0.022438105448860112, + 0.0011548205589788064 + ], + [ + 0.09416630075357231, + -0.022670946884964804, + 0.995298315064246, + 0.03703214000686027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9940372405983497, + -0.0004277502688196474, + -0.10904027390522532, + 0.024954693440550933 + ], + [ + 0.004262509047640509, + 0.9993804049647892, + 0.034937618536949905, + 0.0017686525672688165 + ], + [ + 0.10895776851715447, + -0.03519407907762565, + 0.993423163348651, + 0.04126473120730533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9923864894138449, + 0.0005674615382803383, + -0.12316141285430307, + 0.027952875449602604 + ], + [ + 0.00510907050259053, + 0.9989389638348887, + 0.045769465051265924, + 0.00268913328215987 + ], + [ + 0.12305670655216266, + -0.046050239086046725, + 0.991330632257802, + 0.044817071088647104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9904923556545706, + 0.001692548701448298, + -0.1375573650109406, + 0.030806072818130588 + ], + [ + 0.006147001341977361, + 0.9983810520533014, + 0.056546346260788825, + 0.0037715803279061008 + ], + [ + 0.13743037424223822, + -0.05685428901882885, + 0.9888783959900238, + 0.048317733910760954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9885882868648583, + 0.00303810777160952, + -0.15061198151134125, + 0.03367463826762439 + ], + [ + 0.007206787864017702, + 0.9976980264432551, + 0.06742929808263438, + 0.004709040731147111 + ], + [ + 0.15047013418711222, + -0.067745242876543, + 0.9862906877717698, + 0.05089019557999855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9865890360661841, + 0.004653709191382075, + -0.16315764433443028, + 0.03650937175500065 + ], + [ + 0.008288560596221147, + 0.9968754579778706, + 0.07855330066047173, + 0.00563106161520041 + ], + [ + 0.16301341563577265, + -0.07885216720023452, + 0.9834678246137928, + 0.05345062357242159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9844282710057608, + 0.007085605272441241, + -0.17564388245120172, + 0.03923587677221161 + ], + [ + 0.009248160111251773, + 0.9957159737205735, + 0.092000930496637, + 0.006604049757046754 + ], + [ + 0.1755433017211567, + -0.09219269968719615, + 0.9801454256105169, + 0.056113041031334174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9825838149147953, + 0.009015003530567353, + -0.18560112170682444, + 0.04193022776175739 + ], + [ + 0.010397449526221693, + 0.9945902992627385, + 0.10335390488900927, + 0.007399825178639619 + ], + [ + 0.1855288109993628, + -0.10348365244714047, + 0.9771745974826416, + 0.058319738381743466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9807445691111627, + 0.010897993173572436, + -0.19499057388435106, + 0.04458391991421935 + ], + [ + 0.011731941696989153, + 0.9933509267946387, + 0.11452640647575915, + 0.008179842376746148 + ], + [ + 0.19494217528020522, + -0.11460876921519193, + 0.9740956720548555, + 0.06045416808418053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9791219364382301, + 0.012952353702482995, + -0.2028607160566495, + 0.047087861572594814 + ], + [ + 0.01305713854132788, + 0.9918994660806442, + 0.12635252400346417, + 0.008448152306592328 + ], + [ + 0.20285399852742209, + -0.12636330845027444, + 0.9710214053041971, + 0.06239691100758283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9774896599729956, + 0.015083023415775028, + -0.21044350085121824, + 0.04969314687329006 + ], + [ + 0.014406199570823995, + 0.9903419744020561, + 0.13789574014944433, + 0.008664292421571075 + ], + [ + 0.2104909168106859, + -0.1378233512220504, + 0.9678317507697919, + 0.06424598680628989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9758124431205074, + 0.01763236989860952, + -0.21789716699155393, + 0.052531282496537914 + ], + [ + 0.015708945318576306, + 0.9885094792708923, + 0.1503404085020639, + 0.008722468325354334 + ], + [ + 0.2180442727708401, + -0.1501269760014771, + 0.9643228640805357, + 0.06590806828730052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9742801972091744, + 0.019697840355975715, + -0.22447737616820737, + 0.055494896134178504 + ], + [ + 0.01692044271422263, + 0.986964800114016, + 0.1600443124708126, + 0.008625952656037135 + ], + [ + 0.22470379601690554, + -0.1597262609003632, + 0.9612469639142597, + 0.06754016468030011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9727337475988895, + 0.021711887071224137, + -0.2309061502906033, + 0.05849028209554181 + ], + [ + 0.018185093075482266, + 0.9854028809006772, + 0.16926448151482362, + 0.008472003446169817 + ], + [ + 0.2312106370218644, + -0.1688483232740332, + 0.9581398045460233, + 0.06920788745888831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.971055792489865, + 0.023451340741476177, + -0.2376987221028077, + 0.06173020731520528 + ], + [ + 0.019489635843215336, + 0.9840703214483075, + 0.17670811113054133, + 0.008434023616047583 + ], + [ + 0.2380562999934668, + -0.17622609642743625, + 0.9551301277686557, + 0.07059405450962455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9693518997363381, + 0.025245615107031952, + -0.24437584454160088, + 0.06495114045989633 + ], + [ + 0.02072009136661935, + 0.98276117830088, + 0.1837148449048837, + 0.008407090141419903 + ], + [ + 0.24480108719389304, + -0.1831478237450124, + 0.9521183237214556, + 0.07195946332708235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9675294795959979, + 0.027401014618234895, + -0.2512685625194474, + 0.0681482087151023 + ], + [ + 0.02168430300400691, + 0.9814429831680195, + 0.19052417640155236, + 0.008373212948057297 + ], + [ + 0.2518263233181325, + -0.189786340889303, + 0.948980846854098, + 0.07328139102018785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9654257114695652, + 0.02923996971352566, + -0.25903324073299294, + 0.07114313767421475 + ], + [ + 0.022696545964389817, + 0.98048700532381, + 0.19526929915487057, + 0.00871786774688983 + ], + [ + 0.2596883948788835, + -0.19439716191935544, + 0.9459237183848018, + 0.0747197243185556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9631080220540451, + 0.031073645900592903, + -0.26731510691614446, + 0.07405233119570447 + ], + [ + 0.023773682188226213, + 0.9796039626456056, + 0.19952666088580856, + 0.009210621247768275 + ], + [ + 0.2680629588181821, + -0.19852079210871543, + 0.9427256998778436, + 0.0762437686804964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9601745530271578, + 0.033220371214419106, + -0.2774188794142785, + 0.07694347068315716 + ], + [ + 0.02475967083605466, + 0.978883258319881, + 0.20291506913273752, + 0.009397594392304691 + ], + [ + 0.2783016105220881, + -0.2017026859450057, + 0.9390762695667391, + 0.07791595285945754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9568449666561536, + 0.03560892702907481, + -0.2884089355422658, + 0.0797338862865567 + ], + [ + 0.02573087873861278, + 0.97818419403099, + 0.2061397691550118, + 0.009591425127753584 + ], + [ + 0.2894574781623781, + -0.20466481589120486, + 0.9350543735377618, + 0.07971126329011548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9521612952773946, + 0.038993805009629734, + -0.30309792303238464, + 0.08221870773305846 + ], + [ + 0.026623269480676597, + 0.977470233266441, + 0.20938754643055774, + 0.009806812423859132 + ], + [ + 0.30443401468599673, + -0.20744017510819998, + 0.929671180823223, + 0.0818998215727284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9467828286628139, + 0.04235629403769761, + -0.3190740034923446, + 0.08444641726423303 + ], + [ + 0.027738528587570643, + 0.9768788887402892, + 0.2119863457049401, + 0.01005004303688036 + ], + [ + 0.32067561394817223, + -0.2095556753918394, + 0.923717256269489, + 0.08401319900658236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9407213019636146, + 0.04589711804816661, + -0.33606083762728883, + 0.08650388256967347 + ], + [ + 0.02898780038787075, + 0.9762978858711427, + 0.21448110749483396, + 0.010314855951969208 + ], + [ + 0.33793955000939935, + -0.2115086111684586, + 0.9170937618046668, + 0.08620622990070004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9328584173826087, + 0.050584550739031744, + -0.35667404775921857, + 0.08838079518327895 + ], + [ + 0.030132139900000045, + 0.9756662696183709, + 0.21718053428891676, + 0.010157598415562033 + ], + [ + 0.3589808174031891, + -0.2133460418088483, + 0.9086342714101397, + 0.08860371114745018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9241345304508838, + 0.055499515420165055, + -0.3780147793624639, + 0.09011504345194034 + ], + [ + 0.031389686880120886, + 0.975019678762515, + 0.21988932121276517, + 0.009953439378388752 + ], + [ + 0.3807755995148499, + -0.21507308017036791, + 0.8993072406025306, + 0.0911320309610304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9125397074833026, + 0.061711888054799324, + -0.40430548492322044, + 0.09138077270003836 + ], + [ + 0.032936814588222216, + 0.9742511525623155, + 0.2230467618589897, + 0.009555935758185466 + ], + [ + 0.4076597214725408, + -0.21685556161581768, + 0.8870102687597358, + 0.09403991263669645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9010535988081764, + 0.06774422769295982, + -0.42838432708155755, + 0.09292043871643937 + ], + [ + 0.03411428088951719, + 0.9735950906752585, + 0.22571844242867448, + 0.009190971882094893 + ], + [ + 0.432363999327217, + -0.21799843813046033, + 0.8749503146227531, + 0.09686653549766058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8886759405749668, + 0.07402467690437436, + -0.4525211816615899, + 0.09440281173290223 + ], + [ + 0.03523559327908809, + 0.9729405408258712, + 0.22835314095438297, + 0.008818396517509836 + ], + [ + 0.4571799707002367, + -0.2188767946280843, + 0.8620205468339294, + 0.09980457620821245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8739000844732836, + 0.08063324979755508, + -0.4793713814827426, + 0.0953337585422317 + ], + [ + 0.036649331822522925, + 0.9724108780611953, + 0.23037775653308618, + 0.00863331146192779 + ], + [ + 0.48472205317537465, + -0.21889578172121177, + 0.8468347937526595, + 0.10279692759670618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.858103529471533, + 0.08710369490806075, + -0.5060348595125258, + 0.09607033465429782 + ], + [ + 0.03802032557345645, + 0.9720233209167145, + 0.23178679521778278, + 0.008475864617432171 + ], + [ + 0.5120671709373553, + -0.21813667717145935, + 0.8307849315682178, + 0.1059393728841034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8387511611290407, + 0.09405155330982161, + -0.5363308633900313, + 0.0962320051429528 + ], + [ + 0.03917363127154932, + 0.9719952277543724, + 0.23171254570205535, + 0.008328793671495461 + ], + [ + 0.5431039645571437, + -0.21535919423775754, + 0.8115777850209905, + 0.10951422056305984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8210173444792266, + 0.09909083122623508, + -0.562237963171443, + 0.0966899603854677 + ], + [ + 0.0399904467102828, + 0.9724207357239122, + 0.22977962682987635, + 0.008364064893620808 + ], + [ + 0.569500908020515, + -0.21113720633999825, + 0.7944116035549518, + 0.11339326650170382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8026001145201374, + 0.10361406824804617, + -0.587449726388014, + 0.09702704766599633 + ], + [ + 0.040613967162785126, + 0.9730219350852304, + 0.22710970810226186, + 0.008449007207671892 + ], + [ + 0.5951332303304558, + -0.20613694162882015, + 0.7767393381645825, + 0.11753780517196707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.7852140879426912, + 0.10759043239745306, + -0.609805817414738, + 0.09741905665044984 + ], + [ + 0.041454834930615095, + 0.9734468594059034, + 0.22512820474933637, + 0.008789581789594268 + ], + [ + 0.6178351987036699, + -0.20205323746308237, + 0.7599040442539335, + 0.12168656724052987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.7681397242530663, + 0.11135905532422319, + -0.6305240081247657, + 0.09779299412154185 + ], + [ + 0.042227443745924756, + 0.9738046412130776, + 0.22343089255193346, + 0.009150974736196008 + ], + [ + 0.6388882586330005, + -0.19825156127800223, + 0.7433156203334668, + 0.12583090169035982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.7510563547749308, + 0.1152818220815908, + -0.6500957263740027, + 0.09812716176522647 + ], + [ + 0.04294116704489571, + 0.9740244033893886, + 0.22233424786741368, + 0.00961691204717912 + ], + [ + 0.6588401992327245, + -0.19490141892632443, + 0.7265968818922153, + 0.1301130354119849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.7375170753350627, + 0.11842409059794673, + -0.6648641202195115, + 0.09901421664088551 + ], + [ + 0.043716068344148824, + 0.9740680114877794, + 0.22199192409809265, + 0.009776428498682835 + ], + [ + 0.6739120632231963, + -0.19278807992791702, + 0.7132147553717336, + 0.1337870736855743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.7245342208605747, + 0.12144306395343189, + -0.678455411224321, + 0.09996786065612182 + ], + [ + 0.04452187293309271, + 0.9740523686911985, + 0.22190039629886882, + 0.00983128433607262 + ], + [ + 0.6877993643734265, + -0.19098053635035206, + 0.7003274013651346, + 0.13735576405739114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.7144199283381258, + 0.12425331790027769, + -0.688596601054725, + 0.10123874217980064 + ], + [ + 0.04500410396765938, + 0.9739097977772391, + 0.2224282725274952, + 0.009614247433668628 + ], + [ + 0.6982684273396698, + -0.1898968635451099, + 0.6901886586987028, + 0.1404953097780142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7045555298137077, + 0.12675273043167173, + -0.6982372453092441, + 0.10251997791391121 + ], + [ + 0.04564951696154109, + 0.9737864434294545, + 0.22283645167295188, + 0.00942092076559286 + ], + [ + 0.7081790924689203, + -0.18887484724316736, + 0.6803004226580832, + 0.1436680943599376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.6946072310554454, + 0.1287457789811442, + -0.7077749069866954, + 0.1037978863992154 + ], + [ + 0.04672321271703249, + 0.9737042892808828, + 0.22297286478271222, + 0.009251746855526575 + ], + [ + 0.7178702779464309, + -0.18794808174213723, + 0.6703266238264485, + 0.14699074349865648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.687368675057229, + 0.1298152599005488, + -0.7146133939739888, + 0.1055881335294543 + ], + [ + 0.04741550031271015, + 0.973778430092215, + 0.2225024481151552, + 0.00915032073659629 + ], + [ + 0.7247593220374373, + -0.18682496456334452, + 0.6631895337953849, + 0.1500261150812199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.6808145939454787, + 0.1306109716276334, + -0.7207164926386371, + 0.1075186658602252 + ], + [ + 0.047965187634247244, + 0.9739105254467888, + 0.22180538586601356, + 0.009058922806641733 + ], + [ + 0.7308835950040639, + -0.18557764551379902, + 0.6567877191600725, + 0.15300968603953488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.6761783339732259, + 0.12882660074602084, + -0.7253871846162008, + 0.10975709109707121 + ], + [ + 0.04783923941208709, + 0.9748376580901534, + 0.2177221797194268, + 0.009076620921113962 + ], + [ + 0.7351831525801349, + -0.18192099194301556, + 0.6530011369460268, + 0.15558381834206925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.6717593364274019, + 0.1266251702333584, + -0.7298667413891319, + 0.11195079511040532 + ], + [ + 0.04765257036938723, + 0.9758544033627734, + 0.21316054037902193, + 0.009188928196052371 + ], + [ + 0.739235163165151, + -0.17797260941183912, + 0.6495052916176539, + 0.15813809708598076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.6677255997729715, + 0.12293913022742833, + -0.7341855989235616, + 0.11403427203671329 + ], + [ + 0.04722466862274412, + 0.9772859980078467, + 0.20659600376405968, + 0.009580738766711956 + ], + [ + 0.7429080387782176, + -0.17262111214081197, + 0.6467531194837578, + 0.1606423140741372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.664046753675652, + 0.11928187370017905, + -0.7381149934389647, + 0.11584135828748435 + ], + [ + 0.04672012372333746, + 0.9786437547351925, + 0.2001839937584435, + 0.009969132435622162 + ], + [ + 0.7462299504657425, + -0.16741635500864022, + 0.6442923444396317, + 0.16326254068317303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.6604202395145261, + 0.11544417066145923, + -0.7419688340488868, + 0.11752445297036153 + ], + [ + 0.04609596701804909, + 0.9800144767186677, + 0.19351172379602138, + 0.010364322683727306 + ], + [ + 0.7494799991088804, + -0.16200082988097503, + 0.6418998847590086, + 0.16594115350973465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.657598349750934, + 0.11226237492556423, + -0.7449574280325824, + 0.1192799808644565 + ], + [ + 0.04563043020488754, + 0.981084461893649, + 0.1881253371297076, + 0.010635193334986076 + ], + [ + 0.7519855545448763, + -0.1577036391682871, + 0.6400369426438709, + 0.1688150513637668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.6547114596077996, + 0.10928753192809294, + -0.7479365882367905, + 0.12097122920053699 + ], + [ + 0.04529331494320249, + 0.9820424161869274, + 0.1831425904348776, + 0.010968303499779904 + ], + [ + 0.7545206559662101, + -0.1537820801485255, + 0.6380044290955291, + 0.17170033299247683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.6515900859456364, + 0.1064878265967781, + -0.7510597197853529, + 0.12239818001412485 + ], + [ + 0.04526069009666331, + 0.982876218334432, + 0.1786219733531687, + 0.011522891082506061 + ], + [ + 0.7572198028507523, + -0.15038178819026196, + 0.6356126870597906, + 0.17469367634834118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.6490994548260477, + 0.1059603683797766, + -0.7532876595812188, + 0.12408762047741836 + ], + [ + 0.045707970203832424, + 0.9830293596304513, + 0.17766276921288374, + 0.011827566112679794 + ], + [ + 0.7593290980888152, + -0.14975205653802173, + 0.6332405880534349, + 0.1775304720254444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.6468258475583956, + 0.10620280546486614, + -0.7552067842927228, + 0.1258419404397389 + ], + [ + 0.046325505306250306, + 0.982956121405911, + 0.17790787208206535, + 0.01205510014354691 + ], + [ + 0.7612294466772052, + -0.15006074603986128, + 0.6308815277129903, + 0.18033527285076437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.6444034336580134, + 0.10671036003669153, + -0.7572034823946614, + 0.1274502282358983 + ], + [ + 0.046707645483451875, + 0.9828736921764136, + 0.17826301097226263, + 0.012109807145991844 + ], + [ + 0.7632578925521535, + -0.15024048817926716, + 0.6283829924246048, + 0.1833217611918055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.6420172054762442, + 0.10711332711780515, + -0.7591710235686212, + 0.12904103451727744 + ], + [ + 0.047208947611015906, + 0.982790716256887, + 0.17858813875712926, + 0.012163150276447406 + ], + [ + 0.7652354037405315, + -0.15049632285550824, + 0.6259118417708969, + 0.18634166256377657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.639760041863724, + 0.10727505707871228, + -0.761051345812676, + 0.1304854300827404 + ], + [ + 0.04803352553726257, + 0.9826948758262655, + 0.1788953924763356, + 0.012208853739177572 + ], + [ + 0.7670722712098172, + -0.15100610303414902, + 0.6235361157041771, + 0.1895531879058917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.6374050841948121, + 0.10759956588829853, + -0.7629790901874408, + 0.13226991887135509 + ], + [ + 0.048593300155760244, + 0.9826173572756834, + 0.17916980873050278, + 0.012170590561380305 + ], + [ + 0.7689950908962797, + -0.15127941896108163, + 0.621096681343751, + 0.19258135172934432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.6350188975925513, + 0.10799726078696734, + -0.7649101851608808, + 0.13414948180155198 + ], + [ + 0.04906056887163589, + 0.9825422587867934, + 0.179454089616642, + 0.01209423558074385 + ], + [ + 0.7709371312126124, + -0.15148366697653604, + 0.6186344949620977, + 0.1955794185162104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.6326404764331425, + 0.1081536914004855, + -0.7668564445937028, + 0.1360414421724216 + ], + [ + 0.04962900019480372, + 0.9825034290277785, + 0.17951037376241244, + 0.012308360068343197 + ], + [ + 0.7728537959524494, + -0.15162384701987147, + 0.6162038778657467, + 0.19841714595176935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.6302601389140291, + 0.10827675307020225, + -0.7687966584478915, + 0.13782882496273352 + ], + [ + 0.05023999310969191, + 0.9824639850919974, + 0.17955628947349772, + 0.012546949797978758 + ], + [ + 0.7747568008016499, + -0.15179151076963046, + 0.613768064393926, + 0.20126761855116188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.6279043912532729, + 0.10832208847920491, + -0.7707155121005157, + 0.13924724346456338 + ], + [ + 0.050974346298182156, + 0.9824172199791833, + 0.17960518341029585, + 0.012874717419137548 + ], + [ + 0.7766193993613152, + -0.15206160276636674, + 0.6113424388178805, + 0.20422835200606054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.6255339499077716, + 0.10834675994528052, + -0.7726372092529208, + 0.14067552317587842 + ], + [ + 0.051621322089108364, + 0.9823928245569055, + 0.17955382859988753, + 0.013264213582901545 + ], + [ + 0.7784873259203097, + -0.15220156986202543, + 0.6089270609136868, + 0.20704534184835344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.6231622910047165, + 0.10836542722604602, + -0.7745487029566761, + 0.14206573926804159 + ], + [ + 0.05224050217484732, + 0.9823750465877301, + 0.179471997186956, + 0.01368913067819083 + ], + [ + 0.7803458778018069, + -0.15230299413954898, + 0.6065180203207947, + 0.20983523607475277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.6207481922083563, + 0.10850174753167743, + -0.7764657446743095, + 0.1437033782145393 + ], + [ + 0.05281373175806257, + 0.982340666284992, + 0.17949240959033852, + 0.013786745178977076 + ], + [ + 0.7822291170800569, + -0.15242764232687775, + 0.6040558105397419, + 0.21212148263020258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6183728743543454, + 0.10855488964539284, + -0.7783513500963569, + 0.14530464987159306 + ], + [ + 0.05344735778220297, + 0.9823117979624115, + 0.17946284164125936, + 0.01393906890852136 + ], + [ + 0.7840652831294382, + -0.15257577631436497, + 0.6016329979923164, + 0.21430875333944238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6161438321183049, + 0.1083779698189941, + -0.7801416498306465, + 0.1467056040625146 + ], + [ + 0.054258264651385724, + 0.9822946003543122, + 0.1793135768194428, + 0.014254897604034485 + ], + [ + 0.785762571556822, + -0.15281208647445146, + 0.5993543587626059, + 0.21619195644123906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.6139366235716966, + 0.10804511461421329, + -0.781925875927755, + 0.14837544186505003 + ], + [ + 0.05522170653937109, + 0.9822820937781309, + 0.17908783143958046, + 0.014768726637816126 + ], + [ + 0.7874213518595142, + -0.15312785981281632, + 0.5970925164368434, + 0.21798739136407635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.6117510126166192, + 0.10764090947766601, + -0.7836926267162163, + 0.15011066560485342 + ], + [ + 0.05625655697643566, + 0.9822704070893933, + 0.17882965960263844, + 0.015374123468388276 + ], + [ + 0.7890474626787027, + -0.15348707425467267, + 0.5948494092432491, + 0.21972332905800424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6100533078538471, + 0.10678483445995449, + -0.7851318110393565, + 0.15259176608362776 + ], + [ + 0.05743144152682994, + 0.9823118203177937, + 0.17822771161661047, + 0.01586473406112693 + ], + [ + 0.7902762751726323, + -0.15381965671949563, + 0.5931297683525647, + 0.2210974035404503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6090176059946467, + 0.10560811234546971, + -0.7860944486481102, + 0.15537950130819023 + ], + [ + 0.058439546979810776, + 0.982427476594812, + 0.17725990121949484, + 0.016219207988178455 + ], + [ + 0.7910008691128878, + -0.15389340414188396, + 0.5921439396162719, + 0.22216510217901236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.610100892610823, + 0.10334976898626526, + -0.7855544068274092, + 0.15911500263040873 + ], + [ + 0.059036498551595644, + 0.9827707195948225, + 0.17514680855169, + 0.01621040039065562 + ], + [ + 0.7901212518811557, + -0.15323360583618892, + 0.5934878847695166, + 0.22217469695420938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6169458862794488, + 0.09964519037485473, + -0.7806718961497363, + 0.16443579615224185 + ], + [ + 0.05825309554539576, + 0.9834492651055444, + 0.171563748568117, + 0.01600516991182583 + ], + [ + 0.7848467049445037, + -0.1513221034697973, + 0.600930337675867, + 0.22104566403230155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.626205904973613, + 0.09527952111770045, + -0.7738139165405078, + 0.17048266011400456 + ], + [ + 0.05694967086511963, + 0.9842635125680343, + 0.16727842902056878, + 0.01572111902599977 + ], + [ + 0.777575012178589, + -0.14881918788522067, + 0.6109254862523338, + 0.21925433769593183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_106/pan_right/transforms.json b/spatialvid_eval/camera_controls/scene_106/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..683e7e33932eeca60a44b68be5cc24a0b1b5b294 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_106/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": [ + [ + 0.999999985025809, + 0.00016934445780937977, + -3.5648794809986274e-05, + 0.00015959458016825788 + ], + [ + -0.00016934681711025033, + 0.9999999834703245, + -6.618917302777639e-05, + 7.467887279583668e-05 + ], + [ + 3.563758545110402e-05, + 6.619520904658196e-05, + 0.9999999971740785, + -0.00010853633831516076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999434403137517, + 3.386818943133933e-05, + -0.010635554825407853, + -0.0008744176110536514 + ], + [ + -2.2210800603492375e-05, + 0.9999993989332052, + 0.0010961933719587826, + 0.0006632764151239573 + ], + [ + 0.01063558555881378, + -0.0010958951474180625, + 0.9999428400331926, + 0.004989103362276261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999801329852147, + -0.0002488192348435415, + -0.01993085334016838, + -0.0016983982507564766 + ], + [ + 0.0002915914809323605, + 0.9999976609289121, + 0.0021431544772837615, + 0.0012827498959809322 + ], + [ + 0.019930273462428386, + -0.0021485403635085926, + 0.9997990637993316, + 0.010067259886084364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9996268683977602, + -0.0010260874810752087, + -0.02729599094681154, + -0.0020400002632194646 + ], + [ + 0.0011086712425437872, + 0.9999948537695413, + 0.0030105286096505767, + 0.002078936555614201 + ], + [ + 0.027292761409633746, + -0.0030396675664863338, + 0.9996228616812052, + 0.01581520112248414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9994847586519149, + -0.0012656527461978656, + -0.03207203369993565, + -0.0018791154686710455 + ], + [ + 0.0014113190808899246, + 0.9999887905513877, + 0.004519618349489121, + 0.0018245104652701869 + ], + [ + 0.0320659539227462, + -0.004562553528361562, + 0.9994753412187444, + 0.020711101177153076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993384681087826, + -0.0013193153232436592, + -0.036343989393980536, + -0.0015343160519412128 + ], + [ + 0.0015503379383302919, + 0.9999787691979123, + 0.0063291078127730195, + 0.0011896486079169231 + ], + [ + 0.03633486769301478, + -0.006381266371699679, + 0.9993192967361455, + 0.025553581820949668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9991037083760977, + -0.0015211968174456841, + -0.04230207878310132, + -0.0011195017064442076 + ], + [ + 0.0021142690365878176, + 0.999900057521862, + 0.013978727918445868, + 0.001011109541457625 + ], + [ + 0.042276586612095865, + -0.014055636877054169, + 0.9990070716948956, + 0.029093992035824356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9988208340080997, + -0.0014013581428456128, + -0.048528112952388264, + -0.0007696023224239667 + ], + [ + 0.002499527763122589, + 0.9997419988990633, + 0.02257627068996991, + 0.0010193958351973785 + ], + [ + 0.04848395520505367, + -0.022670946884964804, + 0.9985666398668712, + 0.03244331527015828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.998381674111273, + -0.0004277502688196474, + -0.056866948471674596, + -0.0005551886306201603 + ], + [ + 0.00242817375214993, + 0.9993804049647892, + 0.03511282023198953, + 0.0015626526286115295 + ], + [ + 0.05681669447444068, + -0.03519407907762565, + 0.997764120434723, + 0.03572515045070913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9979159157473286, + 0.0005674615382803383, + -0.06452521278983732, + -0.0006757662461047145 + ], + [ + 0.002405724192492234, + 0.9989389638348887, + 0.0459908580436281, + 0.0024037303641891916 + ], + [ + 0.06448284724855805, + -0.046050239086046725, + 0.9968557257150293, + 0.03827322345203594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9973683176099062, + 0.001692548701448298, + -0.07248154459501205, + -0.0009196196999144224 + ], + [ + 0.0024355321482649925, + 0.9983810520533014, + 0.05682730931601518, + 0.0033910993163029654 + ], + [ + 0.07246038373580603, + -0.05685428901882885, + 0.9957495079632345, + 0.040691883340700674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9968612597712441, + 0.00303810777160952, + -0.07911004151469225, + -0.001138478983608005 + ], + [ + 0.002337750306046915, + 0.9976980264432551, + 0.06777302527363148, + 0.004222166736277275 + ], + [ + 0.07913383404584175, + -0.067745242876543, + 0.9945594091741344, + 0.04215867140551047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9963489125610018, + 0.004653709191382075, + -0.08524780014329922, + -0.0013766792244389358 + ], + [ + 0.0020997887938121154, + 0.9968754579778706, + 0.07896146001963919, + 0.005026403846966609 + ], + [ + 0.08534890348171567, + -0.07885216720023452, + 0.9932260067085918, + 0.043570373213319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9957936732602397, + 0.007085605272441241, + -0.0913496277649885, + -0.0017041679486381371 + ], + [ + 0.0013962652346588692, + 0.9957159737205735, + 0.09245404329224798, + 0.005868873946940204 + ], + [ + 0.09161337641563752, + -0.09219269968719615, + 0.9915177736107977, + 0.0450263574022394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9954446077091802, + 0.009015003530567353, + -0.09491450202187554, + -0.002075343430200151 + ], + [ + 0.000896781879892707, + 0.9945902992627385, + 0.10387171123417867, + 0.0065252896772126775 + ], + [ + 0.09533744681381318, + -0.10348365244714047, + 0.9900514657891393, + 0.04608094630405585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9951344343894979, + 0.010897993173572436, + -0.09792186291672943, + -0.0024803680509172497 + ], + [ + 0.0004498983360775175, + 0.9933509267946387, + 0.11512486190097929, + 0.007149407164603381 + ], + [ + 0.09852540324089612, + -0.11460876921519193, + 0.988512809697071, + 0.04704777630047674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.99496292292998, + 0.012952353702482995, + -0.09940331246088692, + -0.003043978495783305 + ], + [ + -0.0002218249938638723, + 0.9918994660806442, + 0.1270251942828883, + 0.007250945578047792 + ], + [ + 0.10024336780207975, + -0.12636330845027444, + 0.9869060651800647, + 0.0478607765736206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.994811974621312, + 0.015083023415775028, + -0.10060634947499855, + -0.0035003841173215193 + ], + [ + -0.0009941777666596313, + 0.9903419744020561, + 0.13864265342240734, + 0.007292171095181666 + ], + [ + 0.10172584116444863, + -0.1378233512220504, + 0.9852190503118121, + 0.04856512722892506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9946596230887222, + 0.01763236989860952, + -0.10169234842779369, + -0.0037156910467142186 + ], + [ + -0.0020705622601728743, + 0.9885094792708923, + 0.1511447060386708, + 0.0071669634110188415 + ], + [ + 0.10318888975528295, + -0.1501269760014771, + 0.9832669749908841, + 0.04905967192687473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9945996481089772, + 0.019697840355975715, + -0.10189963231930396, + -0.003812138864352452 + ], + [ + -0.003061226936709859, + 0.986964800114016, + 0.1609071540533309, + 0.0068979853302074045 + ], + [ + 0.10374087367639047, + -0.1597262609003632, + 0.98169514244884, + 0.04954898766576396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9945511760994314, + 0.021711887071224137, + -0.10196348404720365, + -0.0038718083837585345 + ], + [ + -0.00406393116693988, + 0.9854028809006772, + 0.17019003136528413, + 0.00656523870652838 + ], + [ + 0.10417025766843586, + -0.1688483232740332, + 0.9801218297460983, + 0.05006093905592649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9944657544307177, + 0.023451340741476177, + -0.10241043834478374, + -0.0036718892194412462 + ], + [ + -0.004905356377493589, + 0.9840703214483075, + 0.17771195773901843, + 0.006348623219607211 + ], + [ + 0.10494665665638593, + -0.17622609642743625, + 0.978739271815837, + 0.050245493415604144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.994386582574932, + 0.025245615107031952, + -0.10275204773052554, + -0.0034845559286644403 + ], + [ + -0.005856057638099497, + 0.98276117830088, + 0.18478683127757178, + 0.006145752920598017 + ], + [ + 0.10564578071976116, + -0.1831478237450124, + 0.9773923693551012, + 0.05039188146065886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9942696583360728, + 0.027401014618234895, + -0.10332971939457088, + -0.0033064203778923264 + ], + [ + -0.007133216504653445, + 0.9814429831680195, + 0.19162147064605564, + 0.005953173115764581 + ], + [ + 0.10666285077086222, + -0.189786340889303, + 0.9760144369205214, + 0.05045013547037014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9940614453709582, + 0.02923996971352566, + -0.10481825698872492, + -0.003299542618002369 + ], + [ + -0.008129734531263538, + 0.98048700532381, + 0.19641573207764995, + 0.006142451796090311 + ], + [ + 0.1085161289553468, + -0.19439716191935544, + 0.9749020428711016, + 0.05053283010787141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9937885289237107, + 0.031073645900592903, + -0.10685873062175076, + -0.0033522611969266673 + ], + [ + -0.009045844869716909, + 0.9796039626456056, + 0.20073427475052746, + 0.006474844880238035 + ], + [ + 0.11091678173405656, + -0.19852079210871543, + 0.9738002683457672, + 0.05062821369697425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9932865980764575, + 0.033220371214419106, + -0.1108067733402363, + -0.0033562440571975327 + ], + [ + -0.009961522668362371, + 0.978883258319881, + 0.2041772138295092, + 0.006510677329162169 + ], + [ + 0.1152497381681451, + -0.2017026859450057, + 0.9726425470514565, + 0.05068011766164282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9926448246875614, + 0.03560892702907481, + -0.11570763301026825, + -0.0034121448540641516 + ], + [ + -0.010908443913387932, + 0.97818419403099, + 0.20745285825780088, + 0.006554031371905711 + ], + [ + 0.12057055143105781, + -0.20466481589120486, + 0.9713779157793481, + 0.05072791560120147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9914524756533349, + 0.038993805009629734, + -0.12450490629587416, + -0.0036243684407567256 + ], + [ + -0.011980389183011196, + 0.977470233266441, + 0.21073303811475144, + 0.006625069117382348 + ], + [ + 0.129917122797178, + -0.20744017510819998, + 0.9695824436091974, + 0.05077081031752588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.989978400468198, + 0.04235629403769761, + -0.13471715169873658, + -0.004004321271208499 + ], + [ + -0.012754444505092992, + 0.9768788887402892, + 0.21341265398027445, + 0.006704832073433114 + ], + [ + 0.14064171056907268, + -0.2095556753918394, + 0.9676292307280073, + 0.05054089411807441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9882078229573933, + 0.04589711804816661, + -0.146077901137312, + -0.004461976978498581 + ], + [ + -0.01341238039585229, + 0.9762978858711427, + 0.21601515246772507, + 0.006791637000987364 + ], + [ + 0.15253001900585536, + -0.2115086111684586, + 0.9654007979609628, + 0.050203998288128805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9855948030149357, + 0.050584550739031744, + -0.16138180658451118, + -0.00488168264004188 + ], + [ + -0.014248981608294542, + 0.9756662696183709, + 0.21879738767201726, + 0.006463857616128545 + ], + [ + 0.16852255277284622, + -0.2133460418088483, + 0.9623323831459797, + 0.0495990088447102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9825336656471461, + 0.055499515420165055, + -0.17761587670619364, + -0.005317623954886111 + ], + [ + -0.015013813656539742, + 0.975019678762515, + 0.22161049484473733, + 0.006075771247413169 + ], + [ + 0.1854782501251012, + -0.21507308017036791, + 0.9588229184351831, + 0.0489265186553823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9779840176736692, + 0.061711888054799324, + -0.19934619145491642, + -0.005862230181282181 + ], + [ + -0.015629405898735103, + 0.9742511525623155, + 0.22492312776202533, + 0.005459938300719723 + ], + [ + 0.20809368766524572, + -0.21685556161581768, + 0.9537665765532819, + 0.04796509916498102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9733790301544246, + 0.06774422769295982, + -0.21896114557134688, + -0.006096570691625745 + ], + [ + -0.01654237939579591, + 0.9735950906752585, + 0.22768168370986996, + 0.004915131860513822 + ], + [ + 0.22860361619965183, + -0.21799843813046033, + 0.9487976958409641, + 0.04700027141995899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9682178594392045, + 0.07402467690437436, + -0.2389027498212786, + -0.006234035226868112 + ], + [ + -0.01753844475439973, + 0.9729405408258712, + 0.2303890339687601, + 0.004367944375568267 + ], + [ + 0.2494926444177509, + -0.2188767946280843, + 0.9433166855063965, + 0.04598600939856858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9616611821471566, + 0.08063324979755508, + -0.26211838885972655, + -0.00658049114460723 + ], + [ + -0.018143911331278833, + 0.9724108780611953, + 0.232568017383857, + 0.00397410472438138 + ], + [ + 0.2736394877077072, + -0.21889578172121177, + 0.9365927970637632, + 0.04455761221377266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9544145240191436, + 0.08710369490806075, + -0.2854923163146, + -0.006929476104962289 + ], + [ + -0.01867256992329411, + 0.9720233209167145, + 0.23414098045088497, + 0.003610896695275751 + ], + [ + 0.29789973392699065, + -0.21813667717145935, + 0.9293396250019812, + 0.04313229914729436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9449631590952358, + 0.09405155330982161, + -0.3133670902835241, + -0.007335541895699333 + ], + [ + -0.01906851188685127, + 0.9719952277543724, + 0.2342256797986664, + 0.0032833207251014786 + ], + [ + 0.3266206053009723, + -0.21535919423775754, + 0.9202931042065299, + 0.0415121816950838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9363759873090782, + 0.09909083122623508, + -0.33672097879081236, + -0.007560487849346473 + ], + [ + -0.019322700404278997, + 0.9724207357239122, + 0.2324318093188875, + 0.00317909089522684 + ], + [ + 0.3504663231182639, + -0.21113720633999825, + 0.9124661289378941, + 0.04058639334089892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9272953560270474, + 0.10361406824804617, + -0.35970466712535365, + -0.007733289157694504 + ], + [ + -0.019550237993949327, + 0.9730219350852304, + 0.22988280065584357, + 0.003147820722963341 + ], + [ + 0.3738196234617068, + -0.20613694162882015, + 0.9043044014107555, + 0.039857330753313776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9187933301031996, + 0.10759043239745306, + -0.3797935168146001, + -0.00790064845283219 + ], + [ + -0.019718247089049467, + 0.9734468594059034, + 0.22806227799554854, + 0.0033419626844180383 + ], + [ + 0.3942461252689848, + -0.20205323746308237, + 0.8965179763624818, + 0.03935994614767526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9104498203515405, + 0.11135905532422319, + -0.39834694101893636, + -0.008045802130448525 + ], + [ + -0.020006157632734792, + 0.9738046412130776, + 0.22650446884916653, + 0.003564139418913537 + ], + [ + 0.4131354236550304, + -0.19825156127800223, + 0.8888281274645918, + 0.038938297072830204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9020619280254868, + 0.1152818220815908, + -0.41592593031030245, + -0.008148247426234764 + ], + [ + -0.020497967445544534, + 0.9740244033893886, + 0.22551340299979417, + 0.0038981550384535406 + ], + [ + 0.43111960212630496, + -0.19490141892632443, + 0.8809933743013976, + 0.03867279964670286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8959775389189447, + 0.11842409059794673, + -0.42801867309592967, + -0.008118074475458903 + ], + [ + -0.02113328378499024, + 0.9740680114877794, + 0.2252662720264769, + 0.003917474190880586 + ], + [ + 0.4435962511893152, + -0.19278807992791702, + 0.8752457495860766, + 0.03837627791436396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8902812306385883, + 0.12144306395343189, + -0.4389201665340103, + -0.008039976490847513 + ], + [ + -0.021809508890233954, + 0.9740523686911985, + 0.22526945724849673, + 0.0038276155374394483 + ], + [ + 0.45488864098217213, + -0.19098053635035206, + 0.8698291550877817, + 0.03805407158823407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8864828008801773, + 0.12425331790027769, + -0.44576827694936855, + -0.008008051772253208 + ], + [ + -0.02297941338285944, + 0.9739097977772391, + 0.2257690243458505, + 0.003515725434572125 + ], + [ + 0.46219064281334826, + -0.1898968635451099, + 0.8662095536944361, + 0.03773591406658721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8828990392319197, + 0.12675273043167173, + -0.4521316532288679, + -0.007961024117700461 + ], + [ + -0.023965039865828236, + 0.9737864434294545, + 0.2261982304467546, + 0.0032043873076980285 + ], + [ + 0.46895091788755733, + -0.18887484724316736, + 0.862792749558831, + 0.037474257713522786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8793252078120513, + 0.1287457789811442, + -0.45848849854803453, + -0.00786412698118749 + ], + [ + -0.024465988585546956, + 0.9737042892808828, + 0.22649806276995532, + 0.002850149379822565 + ], + [ + 0.47559288715121106, + -0.18794808174213723, + 0.8593526192783882, + 0.037336653791684694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8775933947883692, + 0.1298152599005488, + -0.46149521310711267, + -0.00763556140159558 + ], + [ + -0.025142598168314823, + 0.973778430092215, + 0.2261048846099717, + 0.002619802789237576 + ], + [ + 0.47874594847494323, + -0.18682496456334452, + 0.8578454111521101, + 0.03731397862740573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8763505756358835, + 0.1306109716276334, + -0.46362748265513937, + -0.007349483587946445 + ], + [ + -0.025877323296378027, + 0.9739105254467888, + 0.22545210702713434, + 0.0024213008371750033 + ], + [ + 0.48097820399854985, + -0.18557764551379902, + 0.8568669119320014, + 0.03733039477005851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8765161119753611, + 0.12882660074602084, + -0.4638137690795972, + -0.007044865876169336 + ], + [ + -0.026133554181122662, + 0.9748376580901534, + 0.22137881044753968, + 0.0024243610137589535 + ], + [ + 0.48066260806667604, + -0.18192099194301556, + 0.8578276108269135, + 0.03722434637314334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8768627471473114, + 0.1266251702333584, + -0.46376479914784746, + -0.006810370290664912 + ], + [ + -0.026235160509120583, + 0.9758544033627734, + 0.21684072447431715, + 0.00252930631792986 + ], + [ + 0.48002441502316423, + -0.17797260941183912, + 0.8590124046140487, + 0.03712523903049404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8775540833533512, + 0.12293913022742833, + -0.4634488116812721, + -0.0067427242680103815 + ], + [ + -0.025824481608905606, + 0.9772859980078467, + 0.21034536897074452, + 0.002940344172945057 + ], + [ + 0.47878171115811347, + -0.17262111214081197, + 0.8607961574634139, + 0.03703180507965449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8784771002598162, + 0.11928187370017905, + -0.4626551836148383, + -0.007004537426569913 + ], + [ + -0.025454679503229986, + 0.9786437547351925, + 0.20398152026395028, + 0.0033607330618601163 + ], + [ + 0.4771059039778203, + -0.16741635500864022, + 0.8627524097127335, + 0.037106661874395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8794497736619197, + 0.11544417066145923, + -0.46177996823843154, + -0.007394751956482343 + ], + [ + -0.02502302524866667, + 0.9800144767186677, + 0.19734607578880642, + 0.003805414257085881 + ], + [ + 0.4753335079850814, + -0.16200082988097503, + 0.8647622721329097, + 0.03724416326982556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8808898138069102, + 0.11226237492556423, + -0.4598155011603013, + -0.007847214129562534 + ], + [ + -0.02481841483276195, + 0.981084461893649, + 0.19198261618187779, + 0.004107441902487998 + ], + [ + 0.47267026796321343, + -0.1577036391682871, + 0.8670134831573628, + 0.03770915908236982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8822779113370869, + 0.10928753192809294, + -0.4578667082587826, + -0.008351954627112355 + ], + [ + -0.024572260165117963, + 0.9820424161869274, + 0.1870531925419056, + 0.004450899255356747 + ], + [ + 0.470087110222185, + -0.1537820801485255, + 0.8691197734651694, + 0.03817515910202603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8835138615634613, + 0.1064878265967781, + -0.45613988995911725, + -0.009078167551368236 + ], + [ + -0.02415113939734389, + 0.982876218334432, + 0.18267748054540375, + 0.004961792537111405 + ], + [ + 0.46778197794595633, + -0.15038178819026196, + 0.8709565654438045, + 0.03871059971623872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8850122191156665, + 0.1059603683797766, + -0.4533495035276711, + -0.009651120779750173 + ], + [ + -0.02457062691925963, + 0.9830293596304513, + 0.18179538607274767, + 0.005169981614500158 + ], + [ + 0.4649189782196015, + -0.14975205653802173, + 0.8725965077020852, + 0.039197765316146514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8865942860170085, + 0.10620280546486614, + -0.4501905553356077, + -0.010199080775995326 + ], + [ + -0.025283208947446432, + 0.982956121405911, + 0.1820934450658994, + 0.005282633674230283 + ], + [ + 0.4618563968890232, + -0.15006074603986128, + 0.8741684283652948, + 0.03969239294104299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.888066022906873, + 0.10671036003669153, + -0.4471595218925895, + -0.01086697432869915 + ], + [ + -0.026260421211302665, + 0.9828736921764136, + 0.18239982320525921, + 0.005271085013387994 + ], + [ + 0.4589652810792713, + -0.15024048817926716, + 0.8756589898330749, + 0.04034113847480951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8895578626546014, + 0.10711332711780515, + -0.4440873158998482, + -0.011560868984791903 + ], + [ + -0.027121404492096574, + 0.982790716256887, + 0.18272065416271743, + 0.005235796674013309 + ], + [ + 0.45601670847432063, + -0.15049632285550824, + 0.8771542728615171, + 0.04103262060864447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8911308845663036, + 0.10727505707871228, + -0.4408829875384585, + -0.012428180315723427 + ], + [ + -0.027684382147301543, + 0.9826948758262655, + 0.18315118347945006, + 0.005127639490349682 + ], + [ + 0.45290100635481007, + -0.15100610303414902, + 0.8786795976288744, + 0.041944990476079934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8926300732243381, + 0.10759956588829853, + -0.43776007789217525, + -0.012938449745184249 + ], + [ + -0.02848273791441963, + 0.9826173572756834, + 0.1834444406937731, + 0.004989352299364883 + ], + [ + 0.44988919304247815, + -0.15127941896108163, + 0.8801785338114003, + 0.042655030321994324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8940995525432565, + 0.10799726078696734, + -0.4346522538817218, + -0.013349267980603369 + ], + [ + -0.02937446689670896, + 0.9825422587867934, + 0.1837058801254888, + 0.004833605246268436 + ], + [ + 0.4469039391597295, + -0.15148366697653604, + 0.8816629558980343, + 0.043329756652672066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8955800479806905, + 0.1081536914004855, + -0.43155434964248995, + -0.013751678155277385 + ], + [ + -0.030083528213942577, + 0.9825034290277785, + 0.18379878475892533, + 0.004943998204695025 + ], + [ + 0.4438821453822003, + -0.15162384701987147, + 0.8831641127365795, + 0.04384917953945438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8970540481455597, + 0.10827675307020225, + -0.42845090669788405, + -0.014260329983255167 + ], + [ + -0.03075214810083681, + 0.9824639850919974, + 0.1838989488396728, + 0.005069858334256992 + ], + [ + 0.44084956628406546, + -0.15179151076963046, + 0.8846530377302874, + 0.04438339735628013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8985388439654214, + 0.10832208847920491, + -0.4253166714729009, + -0.01514519393895482 + ], + [ + -0.031313329654328474, + 0.9824172199791833, + 0.18405401727300702, + 0.005257890399857468 + ], + [ + 0.43777553754320675, + -0.15206160276636674, + 0.8861319583972131, + 0.0450362032327765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9000091158519629, + 0.10834675994528052, + -0.42219020712556576, + -0.016019398888372508 + ], + [ + -0.03191275402908603, + 0.9823928245569055, + 0.1840812711532173, + 0.005524523250163603 + ], + [ + 0.43470123937440924, + -0.15220156986202543, + 0.8876201409487551, + 0.04554370047239949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9014714036947256, + 0.10836542722604602, + -0.4190539851889937, + -0.016933583433062394 + ], + [ + -0.03252535216220735, + 0.9823750465877301, + 0.18406892542870826, + 0.0058319980176320275 + ], + [ + 0.43161488596593284, + -0.15230299413954898, + 0.8891076358848479, + 0.04602571455109793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9028957939005701, + 0.10850174753167743, + -0.41594056803734797, + -0.017593159185560585 + ], + [ + -0.033226079405199775, + 0.982340666284992, + 0.18412724678905562, + 0.005825063671409244 + ], + [ + 0.4285734627855754, + -0.15242764232687775, + 0.8905563434452932, + 0.04599649828313822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9043383838340316, + 0.10855488964539284, + -0.41278072079316924, + -0.018299675380157164 + ], + [ + -0.03385248067682171, + 0.9823117979624115, + 0.18416715542104667, + 0.00585792261261219 + ], + [ + 0.42547161723959576, + -0.15257577631436497, + 0.892017116094524, + 0.04587929853662885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.905864415171009, + 0.1083779698189941, + -0.40946779725003846, + -0.019241238008548642 + ], + [ + -0.03426838605515789, + 0.9822946003543122, + 0.184181963915951, + 0.006009170795203351 + ], + [ + 0.422179273584173, + -0.15281208647445146, + 0.8935396617852307, + 0.04549397460190485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.907402363696647, + 0.10804511461421329, + -0.40613692711416954, + -0.019922309241353197 + ], + [ + -0.034515367124849226, + 0.9822820937781309, + 0.18420254524595714, + 0.006318322394845563 + ], + [ + 0.41884321623965165, + -0.15312785981281632, + 0.895054310508123, + 0.04503107490385153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9089463734218544, + 0.10764090947766601, + -0.40277776111657504, + -0.020546262047342553 + ], + [ + -0.03468586412784427, + 0.9822704070893933, + 0.18423283688350242, + 0.006698197770437753 + ], + [ + 0.41546766549632297, + -0.15348707425467267, + 0.896564742204252, + 0.04451787870373028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9107578081739195, + 0.10678483445995449, + -0.39889499116885224, + -0.020538617625227126 + ], + [ + -0.03457118030026565, + 0.9823118203177937, + 0.1840334783581234, + 0.006915679486628825 + ], + [ + 0.4114912494122872, + -0.15381965671949563, + 0.8983398381814156, + 0.043756860496060423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9129069637100063, + 0.10560811234546971, + -0.39426869291969424, + -0.020381005939895957 + ], + [ + -0.03442479850891341, + 0.982427476594812, + 0.1834425972318624, + 0.007022717231472625 + ], + [ + 0.4067134235028371, + -0.15389340414188396, + 0.9005004227118524, + 0.04284214316806217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9161491622419052, + 0.10334976898626526, + -0.3872848277094533, + -0.01977240040461536 + ], + [ + -0.03407134178093008, + 0.9827707195948225, + 0.181661378328807, + 0.006829491878873333 + ], + [ + 0.3993868503001851, + -0.15323360583618892, + 0.9038858367347821, + 0.041357611592268737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.92220097791551, + 0.09964519037485473, + -0.3736525021551927, + -0.01892782195419866 + ], + [ + -0.03416938797687844, + 0.9834492651055444, + 0.17793255994519563, + 0.006739580666390917 + ], + [ + 0.38519840245899634, + -0.1513221034697973, + 0.9103426891805709, + 0.04008373619538935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.929217179977227, + 0.09527952111770045, + -0.3570395570392047, + -0.017958424060963485 + ], + [ + -0.03431935280392828, + 0.9842635125680343, + 0.17334220446952445, + 0.006681333842325286 + ], + [ + 0.3679369707684855, + -0.14881918788522067, + 0.9178644970031764, + 0.03881989669128592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_106/pull_out/transforms.json b/spatialvid_eval/camera_controls/scene_106/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..32739a554889d3ca6fa89e8f8dee1f1cfacbbc4a --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_106/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": [ + [ + 0.999999985025809, + 0.00016934445780937977, + -3.5648794809986274e-05, + 0.00015959458016825788 + ], + [ + -0.00016934681711025033, + 0.9999999834703245, + -6.618917302777639e-05, + 7.467887279583668e-05 + ], + [ + 3.563758545110402e-05, + 6.619520904658196e-05, + 0.9999999971740785, + -0.00010853633831516076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999903281308647, + 3.386818943133933e-05, + -0.013907799292000594, + -0.0008570328619386506 + ], + [ + -1.862340365529811e-05, + 0.9999993989332052, + 0.001096260186828887, + 0.0006619060898904213 + ], + [ + 0.013907828060831925, + -0.0010958951474180625, + 0.9999026809307275, + 0.0037392250111128516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9996494695727124, + -0.0002488192348435415, + -0.026474064138015545, + -0.0016322130904114376 + ], + [ + 0.0003056120486363594, + 0.9999976609289121, + 0.0021412001263268333, + 0.001277396895665115 + ], + [ + 0.026473469441520455, + -0.0021485403635085926, + 0.9996472073636958, + 0.007568141867675124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993107218789395, + -0.0010260874810752087, + -0.037108331709657286, + -0.0019008440193082497 + ], + [ + 0.0011381731352574107, + 0.9999948537695413, + 0.002999499349515938, + 0.002067688433053516 + ], + [ + 0.03710506299289834, + -0.0030396675664863338, + 0.9993067470608703, + 0.012067800821005874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9989793204176154, + -0.0012656527461978656, + -0.04515213728147842, + -0.0016533547822636535 + ], + [ + 0.0014703581460920544, + 0.9999887905513877, + 0.004500757546829587, + 0.0018020066775360389 + ], + [ + 0.045145934754766706, + -0.004562553528361562, + 0.9989699833730838, + 0.015716251260287657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9986100439716861, + -0.0013193153232436592, + -0.05269003213080572, + -0.001205003351123677 + ], + [ + 0.0016536855703206744, + 0.9999787691979123, + 0.006302894371893272, + 0.0011502555180925903 + ], + [ + 0.052680597974035924, + -0.006381266371699679, + 0.9985910244121923, + 0.019312387918373468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9980805756216313, + -0.0015211968174456841, + -0.06191001960131701, + -0.00065517655943433 + ], + [ + 0.0023883155360491046, + 0.999900057521862, + 0.013934522477547569, + 0.0009066006228760184 + ], + [ + 0.061882635009291004, + -0.014055636877054169, + 0.9979844580735149, + 0.021609108600272993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9974472213743943, + -0.0014013581428456128, + -0.07139381463303146, + -0.00014490644438494137 + ], + [ + 0.003015991459028665, + 0.9997419988990633, + 0.022513094696742186, + 0.0008224062566008843 + ], + [ + 0.07134384604168212, + -0.022670946884964804, + 0.9971941053773433, + 0.023717866848106523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.996550950476124, + -0.0004277502688196473, + -0.08298204706345572, + 0.000274631840014397 + ], + [ + 0.0033464881578064926, + 0.999380404964789, + 0.03503722576666571, + 0.0012122803709448723 + ], + [ + 0.08291564461634315, + -0.035194079077625645, + 0.9959349239160831, + 0.025765801211548294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9955829784538744, + 0.0005674615382803383, + -0.09388402952747224, + 0.00038042908607934835 + ], + [ + 0.0037590276058547087, + 0.9989389638348887, + 0.045900068016702496, + 0.0018873545990012884 + ], + [ + 0.09381046170002111, + -0.046050239086046725, + 0.9945244958047778, + 0.027084822874232188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9944627844613273, + 0.001692548701448298, + -0.10507571365599756, + 0.00039382672078554725 + ], + [ + 0.004293565573900488, + 0.9983810520533014, + 0.056717194884848755, + 0.002682134380242356 + ], + [ + 0.10500159815967842, + -0.05685428901882885, + 0.9928455339095187, + 0.02828131416683169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.993368314078518, + 0.00303810777160952, + -0.11493547096510638, + 0.0004418837421622079 + ], + [ + 0.00477536274176243, + 0.9976980264432551, + 0.06764498460283881, + 0.003292048197988241 + ], + [ + 0.11487640530364497, + -0.067745242876543, + 0.991067098420743, + 0.028531498802225247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9922339507303302, + 0.004653709191382074, + -0.1242985519177239, + 0.0004877990543269231 + ], + [ + 0.005198182305188046, + 0.9968754579778704, + 0.0788181462744064, + 0.003844131652850513 + ], + [ + 0.12427697260073198, + -0.07885216720023451, + 0.9891094832267172, + 0.028733730964918235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9910076273578479, + 0.007085605272441241, + -0.1336176512160435, + 0.0004671188836225695 + ], + [ + 0.005327032526421519, + 0.9957159737205735, + 0.09231100910591775, + 0.004368820048969041 + ], + [ + 0.13369930905966396, + -0.09219269968719615, + 0.986724379389379, + 0.028992086237161988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9900530924776427, + 0.009015003530567353, + -0.14040514159673934, + 0.0003817465477427874 + ], + [ + 0.005653047551231957, + 0.9945902992627385, + 0.10372164511730525, + 0.004710160887659836 + ], + [ + 0.1405806427956569, + -0.10348365244714047, + 0.9846462392897054, + 0.028849637116486002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9891309533024026, + 0.010897993173572436, + -0.14663284408299834, + 0.0002689977756389697 + ], + [ + 0.006098265644574718, + 0.9933509267946387, + 0.11496411349791098, + 0.004993830036517551 + ], + [ + 0.14691074969248621, + -0.11460876921519193, + 0.9824876903268409, + 0.02862613210684847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9883969934122601, + 0.012952353702482992, + -0.15133941967369394, + -1.719010230942595e-05 + ], + [ + 0.006426464019321464, + 0.9918994660806439, + 0.12686272009200253, + 0.004713691176207741 + ], + [ + 0.15175666039358224, + -0.1263633084502744, + 0.9803072122063, + 0.0282546323294946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9876788366728605, + 0.015083023415775028, + -0.15576590767297022, + -0.0001903585792709015 + ], + [ + 0.006716401721024225, + 0.9903419744020561, + 0.13848344191765058, + 0.004349397954431591 + ], + [ + 0.1563502655465187, + -0.1378233512220504, + 0.9780385055412986, + 0.02778180898617246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9869477852916418, + 0.01763236989860952, + -0.16007238562501006, + -0.00011406237015149177 + ], + [ + 0.0068310392140423564, + 0.9885094792708923, + 0.15100445786414943, + 0.003769363109075479 + ], + [ + 0.16089563701722784, + -0.1501269760014771, + 0.9754867938959872, + 0.027111219064215014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.98634592671475, + 0.019697840355975715, + -0.16350445846683093, + 7.109202423478305e-05 + ], + [ + 0.006943024513210752, + 0.986964800114016, + 0.16078643520679645, + 0.0030793074940459885 + ], + [ + 0.16454029070057613, + -0.1597262609003632, + 0.9733519478148482, + 0.026431878905161313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9857530347643705, + 0.021711887071224137, + -0.16679193149742103, + 0.0002979899036769911 + ], + [ + 0.007075730636707347, + 0.9854028809006772, + 0.17009143525940035, + 0.0023129528250433714 + ], + [ + 0.1680502558426816, + -0.1688483232740332, + 0.9712102528488654, + 0.025780682734704855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9850860204991329, + 0.023451340741476177, + -0.17045693542537194, + 0.0008026053354747678 + ], + [ + 0.007309393195533129, + 0.9840703214483075, + 0.17762931969620888, + 0.0016858535775817274 + ], + [ + 0.17190725693901154, + -0.17622609642743625, + 0.9692225017763737, + 0.024803402743974332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.984419388108208, + 0.025245615107031952, + -0.17401473280883287, + 0.001300849223578464 + ], + [ + 0.007451319572159764, + 0.98276117830088, + 0.1847293811533511, + 0.001065694938880861 + ], + [ + 0.17567853071247905, + -0.1831478237450124, + 0.9672610446534952, + 0.02379220273268774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9836846241169145, + 0.027401014618234888, + -0.17780254405900997, + 0.0018054027638042115 + ], + [ + 0.007296200603236706, + 0.9814429831680193, + 0.19161533406023837, + 0.00044423226153272703 + ], + [ + 0.17975351382580046, + -0.18978634088930293, + 0.9652304486904292, + 0.022699760070520294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9827731400270107, + 0.029239969713525653, + -0.18248829938547334, + 0.002175106363561832 + ], + [ + 0.007305927452669697, + 0.9804870053238097, + 0.19644809954592155, + 0.00024900880971266345 + ], + [ + 0.18467154265209995, + -0.19439716191935538, + 0.9633826678803153, + 0.02163135007146194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9817319338702094, + 0.031073645900592903, + -0.1877147797854599, + 0.0025138256713689543 + ], + [ + 0.007388631864674554, + 0.9796039626456056, + 0.2008021027982415, + 0.0001997791677929876 + ], + [ + 0.1901257955634307, + -0.19852079210871543, + 0.9614789009447379, + 0.02058199804245119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9802767546414494, + 0.033220371214419106, + -0.1948175845400101, + 0.0029753274403527957 + ], + [ + 0.007425937624781187, + 0.978883258319881, + 0.20428514882743257, + -0.00012859000772938965 + ], + [ + 0.1974901004101741, + -0.2017026859450057, + 0.9593298112341501, + 0.019501898796532944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9785622344094433, + 0.03560892702907481, + -0.20284959379657622, + 0.0034340289365702957 + ], + [ + 0.007440241547488593, + 0.97818419403099, + 0.2076061785055006, + -0.0004526771526549341 + ], + [ + 0.20581689967860503, + -0.20466481589120486, + 0.9569491715566227, + 0.01843088106116545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9759008602540806, + 0.038993805009629734, + -0.21470210554677074, + 0.0038902052533802516 + ], + [ + 0.007352283510651505, + 0.977470233266441, + 0.21094522275991154, + -0.0007580136792145571 + ], + [ + 0.2180904740756109, + -0.20744017510819998, + 0.9536273480078866, + 0.017393853137249844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9727578716551615, + 0.04235629403769761, + -0.2279211870105816, + 0.004257821757925085 + ], + [ + 0.007525907438426401, + 0.9768788887402892, + 0.21366094039567946, + -0.0010403770159102673 + ], + [ + 0.23170128150303496, + -0.2095556753918394, + 0.9499478591275005, + 0.01610528422470251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9691311940503565, + 0.04589711804816661, + -0.24223580097376843, + 0.004621865558017736 + ], + [ + 0.007825391394470645, + 0.9762978858711427, + 0.2162896236370596, + -0.0013192238854023725 + ], + [ + 0.24642137076165663, + -0.2115086111684586, + 0.945801572970534, + 0.014736439301733774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9641838282087016, + 0.050584550739031744, + -0.260366565916869, + 0.005207521789236796 + ], + [ + 0.007982620687810124, + 0.9756662696183709, + 0.21911551313388805, + -0.0020268685178096183 + ], + [ + 0.2651147358932874, + -0.2133460418088483, + 0.940317841613531, + 0.013161692482185863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9585853287785016, + 0.055499515420165055, + -0.27934561252817186, + 0.005856200546240766 + ], + [ + 0.008233038055696664, + 0.975019678762515, + 0.22196586023579412, + -0.0028028631620185974 + ], + [ + 0.28468646707384265, + -0.21507308017036791, + 0.9341826297095472, + 0.011559213467000402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9508007503363178, + 0.061711888054799324, + -0.3035944268800186, + 0.006661039927518589 + ], + [ + 0.008704411877706167, + 0.9742511525623155, + 0.22529741442116694, + -0.003833580044153415 + ], + [ + 0.3096807491171485, + -0.21685556161581768, + 0.9257815611808922, + 0.009776609766269206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9430476856280261, + 0.0677442276929598, + -0.3256866319729876, + 0.00774511116722623 + ], + [ + 0.008840617037758652, + 0.9735950906752583, + 0.22811059358001634, + -0.004779568366636874 + ], + [ + 0.3325400819781212, + -0.21799843813046027, + 0.9175476962265583, + 0.00800449433033025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9345704118675304, + 0.07402467690437436, + -0.3479920867935905, + 0.008990618570351475 + ], + [ + 0.008906934465219625, + 0.9729405408258712, + 0.23088388972791907, + -0.005733225800028194 + ], + [ + 0.3556667144676138, + -0.2188767946280843, + 0.9086221090162558, + 0.006233792129107386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9241866730159133, + 0.08063324979755508, + -0.3733326565502443, + 0.010219478400153765 + ], + [ + 0.009317293466347618, + 0.9724108780611953, + 0.2330885502780376, + -0.006514880038130312 + ], + [ + 0.38182742366446065, + -0.21889578172121177, + 0.8979378905483498, + 0.004150407139096916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9129431400133635, + 0.08710369490806075, + -0.39868254217598226, + 0.011509591470676893 + ], + [ + 0.009745227509018774, + 0.9720233209167145, + 0.2346821129418249, + -0.007243151028283653 + ], + [ + 0.4079704078034801, + -0.21813667717145935, + 0.8865531774401674, + 0.0021292146906866163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8987977553781276, + 0.09405155330982158, + -0.4281552291485526, + 0.013001831488856917 + ], + [ + 0.010130790547392021, + 0.9719952277543722, + 0.2347821209240841, + -0.007868830018792518 + ], + [ + 0.4382464626327572, + -0.21535919423775748, + 0.8726743123566428, + 6.0151858143259185e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8859019743823427, + 0.09909083122623508, + -0.4531652005089984, + 0.014531315675467203 + ], + [ + 0.010418610863790229, + 0.9724207357239122, + 0.23300078386527825, + -0.008179697318205477 + ], + [ + 0.46375547903300923, + -0.21113720633999825, + 0.8604370608974286, + -0.0013599133778507341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8724113351851603, + 0.10361406824804614, + -0.47766367571915636, + 0.016149894628263314 + ], + [ + 0.010622743628752346, + 0.9730219350852302, + 0.23046793955080205, + -0.008375576254576762 + ], + [ + 0.48865695488578076, + -0.2061369416288201, + 0.8477746998688229, + -0.0025314042401273704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8597306175748878, + 0.10759043239745306, + -0.4992870557713581, + 0.01768781315544992 + ], + [ + 0.010966859587049481, + 0.9734468594059034, + 0.22865025673193898, + -0.008376362973093836 + ], + [ + 0.5106299963722266, + -0.20205323746308237, + 0.8357221404483594, + -0.0034708135503031673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8472852308617456, + 0.11135905532422319, + -0.5193331285031361, + 0.01921918711596612 + ], + [ + 0.01121642130738635, + 0.9738046412130776, + 0.22710947282076124, + -0.00835910790417643 + ], + [ + 0.5310197072205639, + -0.19825156127800223, + 0.8238412401635529, + -0.0043133680357563264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8348106896652552, + 0.1152818220815908, + -0.53833188083019, + 0.02078709116838795 + ], + [ + 0.01133362514392524, + 0.9740244033893886, + 0.22615925924675992, + -0.008257905146059804 + ], + [ + 0.5504204405377024, + -0.19490141892632443, + 0.8118194229869026, + -0.004962494338843153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8252878922866884, + 0.11842409059794673, + -0.5521554397187852, + 0.02225047470907429 + ], + [ + 0.011409464413388186, + 0.9740680114877794, + 0.22596754881629189, + -0.00851074099401547 + ], + [ + 0.564596952672254, + -0.19278807992791702, + 0.8025353806972699, + -0.005763168023985889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8162423163266673, + 0.12144306395343189, + -0.5648009058555762, + 0.02373007446352865 + ], + [ + 0.01148044045428627, + 0.9740523686911985, + 0.2260313751098309, + -0.00888664931248854 + ], + [ + 0.5775956029305039, + -0.19098053635035206, + 0.7936685417796774, + -0.006589783886872785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.809607179965449, + 0.12425331790027769, + -0.5736700507601613, + 0.024977976146456075 + ], + [ + 0.01113830797370071, + 0.9739097977772391, + 0.2266619595101493, + -0.009517337237261461 + ], + [ + 0.5868663836376016, + -0.1898968635451099, + 0.7871003931976236, + -0.007522358542276154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8032091837182066, + 0.12675273043167173, + -0.5820556266533709, + 0.02623474394818508 + ], + [ + 0.010971760381070193, + 0.9737864434294545, + 0.22719943456609706, + -0.010143579473060176 + ], + [ + 0.5955960272406732, + -0.18887484724316736, + 0.780763513756885, + -0.008395598719694211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.7967758523498991, + 0.1287457789811442, + -0.5904005127933325, + 0.027559903786412467 + ], + [ + 0.011267331614988135, + 0.9737042892808828, + 0.22753681960133093, + -0.010802059796257294 + ], + [ + 0.6041699167869661, + -0.18794808174213723, + 0.7743734436427178, + -0.009125752826878379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7926498428595022, + 0.12981525990054876, + -0.5956964200931207, + 0.02885084432910807 + ], + [ + 0.011281175898737186, + 0.9737784300922148, + 0.22721862634362458, + -0.01129733807430943 + ], + [ + 0.6095727698028748, + -0.1868249645633445, + 0.7704008508112883, + -0.00987307348478568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7891226337540393, + 0.1306109716276334, + -0.6001885062108187, + 0.03016229805022972 + ], + [ + 0.011193439219416443, + 0.9739105254467888, + 0.2266561169313569, + -0.011744706471034802 + ], + [ + 0.6141336791086526, + -0.18557764551379902, + 0.7670728529090475, + -0.010611658536756954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7872865892092717, + 0.12882660074602084, + -0.6029788830394122, + 0.031395037917593197 + ], + [ + 0.011005768028941536, + 0.9748376580901534, + 0.22264414081533454, + -0.011769202963218626 + ], + [ + 0.616489010057215, + -0.18192099194301556, + 0.7660587791867832, + -0.011611900800014098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7856590547750135, + 0.1266251702333584, + -0.6055624789511035, + 0.03255119084115682 + ], + [ + 0.010865647703863661, + 0.9758544033627734, + 0.2181516012718256, + -0.011650547764738804 + ], + [ + 0.6185642952434357, + -0.17797260941183912, + 0.7653129836538337, + -0.012620104907005152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7844086478120421, + 0.12293913022742833, + -0.6079383550135715, + 0.03353319175163874 + ], + [ + 0.010863076724394904, + 0.9772859980078467, + 0.21164610003939896, + -0.011081209954665128 + ], + [ + 0.6201492294615578, + -0.17262111214081197, + 0.7652560910188861, + -0.013666410950346729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7834631367824961, + 0.11928187370017905, + -0.6098830608481486, + 0.034162569180680114 + ], + [ + 0.01080092965256381, + 0.9786437547351925, + 0.20527966591078833, + -0.010495644387118096 + ], + [ + 0.6213443918002096, + -0.16741635500864022, + 0.7654429507507721, + -0.014560737301282115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7825767467162846, + 0.1154441706614592, + -0.6117567154999153, + 0.03466352223413684 + ], + [ + 0.010709471625859474, + 0.9800144767186675, + 0.19863769188986172, + -0.009850927060342114 + ], + [ + 0.6224620010221116, + -0.162000829880975, + 0.765700194855287, + -0.015397725126475421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.78234451296536, + 0.11226237492556423, + -0.6126452662096277, + 0.03503795450511141 + ], + [ + 0.010583224762990513, + 0.981084461893649, + 0.19329064639672888, + -0.009422903345283024 + ], + [ + 0.6227560183463582, + -0.1577036391682871, + 0.7663579475718048, + -0.015935897247656518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7820608770530614, + 0.10928753192809294, + -0.6135446356607336, + 0.03536310066371492 + ], + [ + 0.01054342117099416, + 0.9820424161869274, + 0.188365413703664, + -0.008970136471029315 + ], + [ + 0.6231128476070825, + -0.1537820801485255, + 0.7668646888285997, + -0.016463949977011706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7815884204110802, + 0.1064878265967781, + -0.6146380104305355, + 0.035483088204845595 + ], + [ + 0.010747793602798289, + 0.982876218334432, + 0.18395332115859706, + -0.008374823246886882 + ], + [ + 0.623701872702002, + -0.15038178819026196, + 0.7670601617661519, + -0.0169012620118073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.781578774913484, + 0.1059603683797766, + -0.6147414244522323, + 0.03568605927360197 + ], + [ + 0.010768772019597986, + 0.9830293596304513, + 0.1831319514823526, + -0.008335999807323347 + ], + [ + 0.6237135978587668, + -0.14975205653802173, + 0.7671738195537605, + -0.017381303875943332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7817308050060502, + 0.10620280546486614, + -0.6145062348064375, + 0.03588888683448749 + ], + [ + 0.01072726965791776, + 0.982956121405911, + 0.18352707995370673, + -0.008481897322297724 + ], + [ + 0.6235237559149444, + -0.15006074603986128, + 0.7672678139396186, + -0.01785269310442842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7817592168865182, + 0.10671036003669153, + -0.6143821497031126, + 0.035979664586163196 + ], + [ + 0.010430750163418712, + 0.9828736921764136, + 0.183985066455224, + -0.008757776303822839 + ], + [ + 0.6234931645687918, + -0.15024048817926716, + 0.7672574987888025, + -0.018162245807836687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7818247777089035, + 0.10711332711780515, + -0.6142285829511501, + 0.03604184619392224 + ], + [ + 0.010254109811825049, + 0.982790716256887, + 0.18443768940008531, + -0.009058124254493306 + ], + [ + 0.6234138835415769, + -0.15049632285550824, + 0.7672717814533386, + -0.01843094245398929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7820062030229997, + 0.10727505707871228, + -0.6139693482270188, + 0.03592190585715431 + ], + [ + 0.010394702903010075, + 0.9826948758262655, + 0.18493980419682282, + -0.00943637009015012 + ], + [ + 0.6231839604684233, + -0.15100610303414902, + 0.7673583962278193, + -0.018484483226860846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7821085265001513, + 0.1075995658882985, + -0.6137821976861274, + 0.036164126069705954 + ], + [ + 0.010279922082441176, + 0.9826173572756832, + 0.18535763373147512, + -0.00983925839915313 + ], + [ + 0.6230574419567924, + -0.1512794189610816, + 0.767407298258921, + -0.018737553538719365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.782188202371802, + 0.10799726078696734, + -0.6136107949937656, + 0.03650660911264009 + ], + [ + 0.010070009104990195, + 0.9825422587867934, + 0.1857668017024886, + -0.010259947392058764 + ], + [ + 0.6229608422581588, + -0.15148366697653604, + 0.7674454297553329, + -0.019025184514948737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7822859876858276, + 0.1081536914004855, + -0.613458566251102, + 0.03685865356043854 + ], + [ + 0.01000519794693789, + 0.9825034290277785, + 0.18597555743349564, + -0.01039898528356837 + ], + [ + 0.6228390879548679, + -0.15162384701987147, + 0.7675165662905543, + -0.01947093717951636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7823879882653761, + 0.10827675307020222, + -0.6133067589409336, + 0.03710411107804802 + ], + [ + 0.009982920332495232, + 0.9824639850919972, + 0.18618501362566064, + -0.010523136556892089 + ], + [ + 0.6227113112186842, + -0.15179151076963043, + 0.767587102639551, + -0.01990202248978227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7825166626743187, + 0.10832208847920491, + -0.6131345674356892, + 0.03697124429307878 + ], + [ + 0.010079033909654943, + 0.9824172199791833, + 0.18642644384266152, + -0.010588357326768764 + ], + [ + 0.6225480589580972, + -0.15206160276636674, + 0.7676660623289461, + -0.02021541206518393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7826389248541851, + 0.10834675994528052, + -0.6129741372296592, + 0.036849620447685597 + ], + [ + 0.01011095187223035, + 0.9823928245569055, + 0.1865532280914557, + -0.010565692672724452 + ], + [ + 0.6223938318744192, + -0.15220156986202543, + 0.7677633751203636, + -0.020675890631731877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7827650345687389, + 0.10836542722604602, + -0.6128097868333349, + 0.036687272914854414 + ], + [ + 0.010121992013441786, + 0.9823750465877301, + 0.1866462244982062, + -0.010499546625961016 + ], + [ + 0.6222350407476909, + -0.15230299413954898, + 0.767871963312796, + -0.021163082238771717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7828584481557012, + 0.10850174753167743, + -0.612666321037659, + 0.036780976806531654 + ], + [ + 0.010064266497803294, + 0.982340666284992, + 0.1868302060765861, + -0.010756117117887773 + ], + [ + 0.6221184458695216, + -0.15242764232687775, + 0.76794169906547, + -0.022158327508922257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7829896967429966, + 0.10855488964539284, + -0.6124891596823465, + 0.03682434899125403 + ], + [ + 0.010075834666588318, + 0.9823117979624115, + 0.18698130692565534, + -0.010970395010696793 + ], + [ + 0.6219530628191181, + -0.15257577631436497, + 0.7680462356733395, + -0.023244862673971717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7832477593015572, + 0.1083779698189941, + -0.6121904631787423, + 0.0366211417565116 + ], + [ + 0.010287084611460329, + 0.9822946003543122, + 0.1870601347293396, + -0.01106006649884889 + ], + [ + 0.6216245840049173, + -0.15281208647445146, + 0.7682651513559874, + -0.024610220459329007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7835320108701826, + 0.10804511461421326, + -0.6118854804207482, + 0.036677097697566025 + ], + [ + 0.01066434232935301, + 0.9822820937781307, + 0.1871046767067418, + -0.010988860200528056 + ], + [ + 0.621259897099765, + -0.1531278598128163, + 0.7684972340904918, + -0.026054919249518964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7838393768398979, + 0.10764090947766598, + -0.6115629697112652, + 0.03678776636308856 + ], + [ + 0.011118555601973626, + 0.9822704070893931, + 0.1871395871475736, + -0.01084613852464727 + ], + [ + 0.6208640825789222, + -0.15348707425467265, + 0.7687454123441481, + -0.027552003703533598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7845453032899535, + 0.10678483445995446, + -0.6108073888019325, + 0.037488084310956474 + ], + [ + 0.011792990193369282, + 0.9823118203177935, + 0.18688074552035167, + -0.010837991337804585 + ], + [ + 0.6199593474317282, + -0.1538196567194956, + 0.7694088124909427, + -0.02933697669057915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7857769751530705, + 0.10560811234546968, + -0.6094271670397682, + 0.03827635888768173 + ], + [ + 0.012398930136324392, + 0.9824274765948118, + 0.18623243477714915, + -0.010902154615827981 + ], + [ + 0.6183856497775198, + -0.15389340414188393, + 0.7706594632591346, + -0.03133383017062954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7886789409494762, + 0.10334976898626526, + -0.6060563945321411, + 0.03931809806226841 + ], + [ + 0.012900568514263577, + 0.9827707195948225, + 0.1843781116051569, + -0.011147374002629471 + ], + [ + 0.6146699142099128, + -0.15323360583618892, + 0.7737572995504586, + -0.03408372511390098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7960273011412453, + 0.0996451903748547, + -0.597001986489948, + 0.04002612421168371 + ], + [ + 0.012455789101886161, + 0.9834492651055442, + 0.1807550726292748, + -0.01110998275574997 + ], + [ + 0.6051325385034542, + -0.15132210346979727, + 0.781611304834981, + -0.03710038015706503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8051462351547869, + 0.09527952111770045, + -0.5853728323655398, + 0.0405788591755905 + ], + [ + 0.011714314621927749, + 0.9842635125680343, + 0.1763182142042433, + -0.010950487578099043 + ], + [ + 0.5929606351597139, + -0.14881918788522067, + 0.7913599272569798, + -0.04031609603441207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_106/push_in/transforms.json b/spatialvid_eval/camera_controls/scene_106/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..4aa7dd56a2ebea3637a13cbe4b521ee168afe5d9 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_106/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": [ + [ + 0.999999985025809, + 0.00016934445780937977, + -3.5648794809986274e-05, + 0.00015959458016825788 + ], + [ + -0.00016934681711025033, + 0.9999999834703245, + -6.618917302777639e-05, + 7.467887279583668e-05 + ], + [ + 3.563758545110402e-05, + 6.619520904658196e-05, + 0.9999999971740785, + -0.00010853633831516076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999903281308647, + 3.386818943133933e-05, + -0.013907799292000594, + -0.0008918023601686522 + ], + [ + -1.862340365529811e-05, + 0.9999993989332052, + 0.001096260186828887, + 0.0006646467403574934 + ], + [ + 0.013907828060831925, + -0.0010958951474180625, + 0.9999026809307275, + 0.00623898171343967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9996494695727124, + -0.0002488192348435415, + -0.026474064138015545, + -0.0017645834111015156 + ], + [ + 0.0003056120486363594, + 0.9999976609289121, + 0.0021412001263268333, + 0.0012881028962967492 + ], + [ + 0.026473469441520455, + -0.0021485403635085926, + 0.9996472073636958, + 0.012566377904493605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993107218789395, + -0.0010260874810752087, + -0.037108331709657286, + -0.0021791565071306793 + ], + [ + 0.0011381731352574107, + 0.9999948537695413, + 0.002999499349515938, + 0.0020901846781748857 + ], + [ + 0.03710506299289834, + -0.0030396675664863338, + 0.9993067470608703, + 0.019562601423962402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9989793204176154, + -0.0012656527461978656, + -0.04515213728147842, + -0.002104876155078438 + ], + [ + 0.0014703581460920544, + 0.9999887905513877, + 0.004500757546829587, + 0.0018470142530043348 + ], + [ + 0.045145934754766706, + -0.004562553528361562, + 0.9989699833730838, + 0.025705951094018496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9986100439716861, + -0.0013193153232436592, + -0.05269003213080572, + -0.0018636287527587485 + ], + [ + 0.0016536855703206744, + 0.9999787691979123, + 0.006302894371893272, + 0.001229041697741256 + ], + [ + 0.052680597974035924, + -0.006381266371699679, + 0.9985910244121923, + 0.03179477572352587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9980805756216313, + -0.0015211968174456841, + -0.06191001960131701, + -0.0015838268534540852 + ], + [ + 0.0023883155360491046, + 0.999900057521862, + 0.013934522477547569, + 0.0011156184600392318 + ], + [ + 0.061882635009291004, + -0.014055636877054169, + 0.9979844580735149, + 0.03657887547137572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9974472213743943, + -0.0014013581428456128, + -0.07139381463303146, + -0.001394298200462992 + ], + [ + 0.003015991459028665, + 0.9997419988990633, + 0.022513094696742186, + 0.0012163854137938726 + ], + [ + 0.07134384604168212, + -0.022670946884964804, + 0.9971941053773433, + 0.041168763692210036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.996550950476124, + -0.0004277502688196473, + -0.08298204706345572, + -0.0013850091012547177 + ], + [ + 0.0033464881578064926, + 0.999380404964789, + 0.03503722576666571, + 0.0019130248862781866 + ], + [ + 0.08291564461634315, + -0.035194079077625645, + 0.9959349239160831, + 0.045684499689869956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9955829784538744, + 0.0005674615382803383, + -0.09388402952747224, + -0.0017319615782887773 + ], + [ + 0.0037590276058547087, + 0.9989389638348887, + 0.045900068016702496, + 0.0029201061293770945 + ], + [ + 0.09381046170002111, + -0.046050239086046725, + 0.9945244958047778, + 0.04946162402983969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9944627844613273, + 0.001692548701448298, + -0.10507571365599756, + -0.0022330661206143923 + ], + [ + 0.004293565573900488, + 0.9983810520533014, + 0.056717194884848755, + 0.004100064252363575 + ], + [ + 0.10500159815967842, + -0.05685428901882885, + 0.9928455339095187, + 0.05310245251456966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.993368314078518, + 0.00303810777160952, + -0.11493547096510638, + -0.002718841709378218 + ], + [ + 0.00477536274176243, + 0.9976980264432551, + 0.06764498460283881, + 0.005152285274566308 + ], + [ + 0.11487640530364497, + -0.067745242876543, + 0.991067098420743, + 0.05578584400879569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9922339507303302, + 0.004653709191382074, + -0.1242985519177239, + -0.0032411575032047944 + ], + [ + 0.005198182305188046, + 0.9968754579778704, + 0.0788181462744064, + 0.006208676041082706 + ], + [ + 0.12427697260073198, + -0.07885216720023451, + 0.9891094832267172, + 0.05840701546171976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9910076273578479, + 0.007085605272441241, + -0.1336176512160435, + -0.003875454780898844 + ], + [ + 0.005327032526421519, + 0.9957159737205735, + 0.09231100910591775, + 0.007368927844911367 + ], + [ + 0.13369930905966396, + -0.09219269968719615, + 0.986724379389379, + 0.06106062856731681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9900530924776427, + 0.009015003530567353, + -0.14040514159673934, + -0.004532433408143089 + ], + [ + 0.005653047551231957, + 0.9945902992627385, + 0.10372164511730525, + 0.008340418466765519 + ], + [ + 0.1405806427956569, + -0.10348365244714047, + 0.9846462392897054, + 0.0633122554916257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9891309533024026, + 0.010897993173572436, + -0.14663284408299834, + -0.005229733877473469 + ], + [ + 0.006098265644574718, + 0.9933509267946387, + 0.11496411349791098, + 0.009304984292689212 + ], + [ + 0.14691074969248621, + -0.11460876921519193, + 0.9824876903268409, + 0.06546942049410501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9883969934122601, + 0.012952353702482992, + -0.15133941967369394, + -0.006070766889257184 + ], + [ + 0.006426464019321464, + 0.9918994660806439, + 0.12686272009200253, + 0.009788199979887842 + ], + [ + 0.15175666039358224, + -0.1263633084502744, + 0.9803072122063, + 0.0674669208177466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9876788366728605, + 0.015083023415775028, + -0.15576590767297022, + -0.006810409655372137 + ], + [ + 0.006716401721024225, + 0.9903419744020561, + 0.13848344191765058, + 0.01023494423593174 + ], + [ + 0.1563502655465187, + -0.1378233512220504, + 0.9780385055412986, + 0.06934844547167765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9869477852916418, + 0.01763236989860952, + -0.16007238562501006, + -0.007317319723276945 + ], + [ + 0.0068310392140423564, + 0.9885094792708923, + 0.15100445786414943, + 0.010564563712962204 + ], + [ + 0.16089563701722784, + -0.1501269760014771, + 0.9754867938959872, + 0.07100812478953444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.98634592671475, + 0.019697840355975715, + -0.16350445846683093, + -0.007695369752939687 + ], + [ + 0.006943024513210752, + 0.986964800114016, + 0.16078643520679645, + 0.010716663166368821 + ], + [ + 0.16454029070057613, + -0.1597262609003632, + 0.9733519478148482, + 0.07266609642636661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9857530347643705, + 0.021711887071224137, + -0.16679193149742103, + -0.00804160667119406 + ], + [ + 0.007075730636707347, + 0.9854028809006772, + 0.17009143525940035, + 0.01081752458801339 + ], + [ + 0.1680502558426816, + -0.1688483232740332, + 0.9712102528488654, + 0.07434119537714813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9850860204991329, + 0.023451340741476177, + -0.17045693542537194, + -0.00814638377435726 + ], + [ + 0.007309393195533129, + 0.9840703214483075, + 0.17762931969620888, + 0.011011392861632694 + ], + [ + 0.17190725693901154, + -0.17622609642743625, + 0.9692225017763737, + 0.07568758408723396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.984419388108208, + 0.025245615107031952, + -0.17401473280883287, + -0.008269961080907344 + ], + [ + 0.007451319572159764, + 0.98276117830088, + 0.1847293811533511, + 0.011225810902315173 + ], + [ + 0.17567853071247905, + -0.1831478237450124, + 0.9672610446534952, + 0.07699156018862997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9836846241169145, + 0.027401014618234888, + -0.17780254405900997, + -0.008418243519588864 + ], + [ + 0.007296200603236706, + 0.9814429831680193, + 0.19161533406023837, + 0.011462113969996435 + ], + [ + 0.17975351382580046, + -0.18978634088930293, + 0.9652304486904292, + 0.07820051087021998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9827731400270107, + 0.029239969713525653, + -0.18248829938547334, + -0.00877419159956657 + ], + [ + 0.007305927452669697, + 0.9804870053238097, + 0.19644809954592155, + 0.012035894782467959 + ], + [ + 0.18467154265209995, + -0.19439716191935538, + 0.9633826678803153, + 0.07943431014428087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9817319338702094, + 0.031073645900592903, + -0.1877147797854599, + -0.009218348065222289 + ], + [ + 0.007388631864674554, + 0.9796039626456056, + 0.2008021027982415, + 0.012749910592683083 + ], + [ + 0.1901257955634307, + -0.19852079210871543, + 0.9614789009447379, + 0.08067442935149731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9802767546414494, + 0.033220371214419106, + -0.1948175845400101, + -0.009687815554747861 + ], + [ + 0.007425937624781187, + 0.978883258319881, + 0.20428514882743257, + 0.013149944666053728 + ], + [ + 0.1974901004101741, + -0.2017026859450057, + 0.9593298112341501, + 0.0818583365267527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9785622344094433, + 0.03560892702907481, + -0.20284959379657622, + -0.010258318644698599 + ], + [ + 0.007440241547488593, + 0.97818419403099, + 0.2076061785055006, + 0.013560739896466356 + ], + [ + 0.20581689967860503, + -0.20466481589120486, + 0.9569491715566227, + 0.08302495014123748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9759008602540806, + 0.038993805009629734, + -0.21470210554677074, + -0.011138942134893703 + ], + [ + 0.007352283510651505, + 0.977470233266441, + 0.21094522275991154, + 0.014008151913979253 + ], + [ + 0.2180904740756109, + -0.20744017510819998, + 0.9536273480078866, + 0.08414776749780192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9727578716551615, + 0.04235629403769761, + -0.2279211870105816, + -0.012266464300342082 + ], + [ + 0.007525907438426401, + 0.9768788887402892, + 0.21366094039567946, + 0.014450041162776494 + ], + [ + 0.23170128150303496, + -0.2095556753918394, + 0.9499478591275005, + 0.0849765040114463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9691311940503565, + 0.04589711804816661, + -0.24223580097376843, + -0.0135458195150149 + ], + [ + 0.007825391394470645, + 0.9762978858711427, + 0.2162896236370596, + 0.014902497887377101 + ], + [ + 0.24642137076165663, + -0.2115086111684586, + 0.945801572970534, + 0.08567155727452383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9641838282087016, + 0.050584550739031744, + -0.260366565916869, + -0.014970887069320555 + ], + [ + 0.007982620687810124, + 0.9756662696183709, + 0.21911551313388805, + 0.014954583750066707 + ], + [ + 0.2651147358932874, + -0.2133460418088483, + 0.940317841613531, + 0.08603632520723453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9585853287785016, + 0.055499515420165055, + -0.27934561252817186, + -0.016491448456012987 + ], + [ + 0.008233038055696664, + 0.975019678762515, + 0.22196586023579412, + 0.014954405656844935 + ], + [ + 0.28468646707384265, + -0.21507308017036791, + 0.9341826297095472, + 0.08629382384376419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9508007503363178, + 0.061711888054799324, + -0.3035944268800186, + -0.01838550029008295 + ], + [ + 0.008704411877706167, + 0.9742511525623155, + 0.22529741442116694, + 0.01475345664559286 + ], + [ + 0.3096807491171485, + -0.21685556161581768, + 0.9257815611808922, + 0.08615358856369283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9430476856280261, + 0.0677442276929598, + -0.3256866319729876, + -0.019938252550477722 + ], + [ + 0.008840617037758652, + 0.9735950906752583, + 0.22811059358001634, + 0.014609832087664518 + ], + [ + 0.3325400819781212, + -0.21799843813046027, + 0.9175476962265583, + 0.08599604850958772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9345704118675304, + 0.07402467690437436, + -0.3479920867935905, + -0.0214586890240877 + ], + [ + 0.008906934465219625, + 0.9729405408258712, + 0.23088388972791907, + 0.014469114551164727 + ], + [ + 0.3556667144676138, + -0.2188767946280843, + 0.9086221090162558, + 0.08573822666802977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9241866730159133, + 0.08063324979755508, + -0.3733326565502443, + -0.023380460689368224 + ], + [ + 0.009317293466347618, + 0.9724108780611953, + 0.2330885502780376, + 0.014463089486893073 + ], + [ + 0.38182742366446065, + -0.21889578172121177, + 0.8979378905483498, + 0.0849648172884484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9129431400133635, + 0.08710369490806075, + -0.39868254217598226, + -0.02536854368060147 + ], + [ + 0.009745227509018774, + 0.9720233209167145, + 0.2346821129418249, + 0.014464944418835154 + ], + [ + 0.4079704078034801, + -0.21813667717145935, + 0.8865531774401674, + 0.0841353836039021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8987977553781276, + 0.09405155330982158, + -0.4281552291485526, + -0.027672915280255582 + ], + [ + 0.010130790547392021, + 0.9719952277543722, + 0.2347821209240841, + 0.014435471468995474 + ], + [ + 0.4382464626327572, + -0.21535919423775748, + 0.8726743123566428, + 0.08296421153202434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8859019743823427, + 0.09909083122623508, + -0.4531652005089984, + -0.029652291374160148 + ], + [ + 0.010418610863790229, + 0.9724207357239122, + 0.23300078386527825, + 0.014537879108659156 + ], + [ + 0.46375547903300923, + -0.21113720633999825, + 0.8604370608974286, + 0.08253270005964858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8724113351851603, + 0.10361406824804614, + -0.47766367571915636, + -0.03161647294365232 + ], + [ + 0.010622743628752346, + 0.9730219350852302, + 0.23046793955080205, + 0.014671217700503444 + ], + [ + 0.48865695488578076, + -0.2061369416288201, + 0.8477746998688229, + 0.08224606574675491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8597306175748878, + 0.10759043239745306, + -0.4992870557713581, + -0.0334891100611143 + ], + [ + 0.010966859587049481, + 0.9734468594059034, + 0.22865025673193898, + 0.015060288341929913 + ], + [ + 0.5106299963722266, + -0.20205323746308237, + 0.8357221404483594, + 0.08219070584565369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8472852308617456, + 0.11135905532422319, + -0.5193331285031361, + -0.035310791376863174 + ], + [ + 0.01121642130738635, + 0.9738046412130776, + 0.22710947282076124, + 0.015487386742003503 + ], + [ + 0.5310197072205639, + -0.19825156127800223, + 0.8238412401635529, + 0.08218996218141673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8348106896652552, + 0.1152818220815908, + -0.53833188083019, + -0.03708358602085748 + ], + [ + 0.01133362514392524, + 0.9740244033893886, + 0.22615925924675992, + 0.016054215222966885 + ], + [ + 0.5504204405377024, + -0.19490141892632443, + 0.8118194229869026, + 0.08230809363224886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8252878922866884, + 0.11842409059794673, + -0.5521554397187852, + -0.03848662365999209 + ], + [ + 0.011409464413388186, + 0.9740680114877794, + 0.22596754881629189, + 0.016345689375776642 + ], + [ + 0.564596952672254, + -0.19278807992791702, + 0.8025353806972699, + 0.0825157238527138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8162423163266673, + 0.12144306395343189, + -0.5648009058555762, + -0.039810027445223675 + ], + [ + 0.01148044045428627, + 0.9740523686911985, + 0.2260313751098309, + 0.01654188038736744 + ], + [ + 0.5775956029305039, + -0.19098053635035206, + 0.7936685417796774, + 0.08269792706334092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.809607179965449, + 0.12425331790027769, + -0.5736700507601613, + -0.04099407969096249 + ], + [ + 0.01113830797370071, + 0.9739097977772391, + 0.2266619595101493, + 0.016548788106405712 + ], + [ + 0.5868663836376016, + -0.1898968635451099, + 0.7871003931976236, + 0.08299418667545058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8032091837182066, + 0.12675273043167173, + -0.5820556266533709, + -0.042156792183586006 + ], + [ + 0.010971760381070193, + 0.9737864434294545, + 0.22719943456609706, + 0.016552354088456234 + ], + [ + 0.5955960272406732, + -0.18887484724316736, + 0.780763513756885, + 0.08334411414673978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.7967758523498991, + 0.1287457789811442, + -0.5904005127933325, + -0.04328815774878745 + ], + [ + 0.011267331614988135, + 0.9737042892808828, + 0.22753681960133093, + 0.016502358555902423 + ], + [ + 0.6041699167869661, + -0.18794808174213723, + 0.7743734436427178, + 0.08379906041024776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7926498428595022, + 0.12981525990054876, + -0.5956964200931207, + -0.04412196713229923 + ], + [ + 0.011281175898737186, + 0.9737784300922148, + 0.22721862634362458, + 0.01653694365278458 + ], + [ + 0.6095727698028748, + -0.1868249645633445, + 0.7704008508112883, + 0.08450103073959714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7891226337540393, + 0.1306109716276334, + -0.6001885062108187, + -0.04486126522612261 + ], + [ + 0.011193439219416443, + 0.9739105254467888, + 0.2266561169313569, + 0.01658730814538481 + ], + [ + 0.6141336791086526, + -0.18557764551379902, + 0.7670728529090475, + 0.08527244807687398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7872865892092717, + 0.12882660074602084, + -0.6029788830394122, + -0.04548476966993187 + ], + [ + 0.011005768028941536, + 0.9748376580901534, + 0.22264414081533454, + 0.016617924990736534 + ], + [ + 0.616489010057215, + -0.18192099194301556, + 0.7660587791867832, + 0.08606059354630077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7856590547750135, + 0.1266251702333584, + -0.6055624789511035, + -0.04617193142248664 + ], + [ + 0.010865647703863661, + 0.9758544033627734, + 0.2181516012718256, + 0.016709160400598524 + ], + [ + 0.6185642952434357, + -0.17797260941183912, + 0.7653129836538337, + 0.08687058296799324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7844086478120421, + 0.12293913022742833, + -0.6079383550135715, + -0.04701864028765951 + ], + [ + 0.010863076724394904, + 0.9772859980078467, + 0.21164610003939896, + 0.016961898300555243 + ], + [ + 0.6201492294615578, + -0.17262111214081197, + 0.7652560910188861, + 0.08773002110965572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7834631367824961, + 0.11928187370017905, + -0.6098830608481486, + -0.048171644033819946 + ], + [ + 0.01080092965256381, + 0.9786437547351925, + 0.20527966591078833, + 0.01721711051083833 + ], + [ + 0.6213443918002096, + -0.16741635500864022, + 0.7654429507507721, + 0.08877406105007211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7825767467162846, + 0.1154441706614592, + -0.6117567154999153, + -0.04945302614710152 + ], + [ + 0.010709471625859474, + 0.9800144767186675, + 0.19863769188986172, + 0.017461755574513876 + ], + [ + 0.6224620010221116, + -0.162000829880975, + 0.765700194855287, + 0.08988605166612654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.78234451296536, + 0.11226237492556423, + -0.6126452662096277, + -0.05073238276423647 + ], + [ + 0.010583224762990513, + 0.981084461893649, + 0.19329064639672888, + 0.017637787150259022 + ], + [ + 0.6227560183463582, + -0.1577036391682871, + 0.7663579475718048, + 0.09135421541239616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7820608770530614, + 0.10928753192809294, + -0.6135446356607336, + -0.05206700991793963 + ], + [ + 0.01054342117099416, + 0.9820424161869274, + 0.188365413703664, + 0.01787193498174281 + ], + [ + 0.6231128476070825, + -0.1537820801485255, + 0.7668646888285997, + 0.09281426818106375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7815884204110802, + 0.1064878265967781, + -0.6146380104305355, + -0.05363942330758206 + ], + [ + 0.010747793602798289, + 0.982876218334432, + 0.18395332115859706, + 0.018298408321109693 + ], + [ + 0.623701872702002, + -0.15038178819026196, + 0.7670601617661519, + 0.09432246144428474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.781578774913484, + 0.1059603683797766, + -0.6147414244522323, + -0.05498830083310231 + ], + [ + 0.010768772019597986, + 0.9830293596304513, + 0.1831319514823526, + 0.018675963036323663 + ], + [ + 0.6237135978587668, + -0.14975205653802173, + 0.7671738195537605, + 0.09577683450823636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7817308050060502, + 0.10620280546486614, + -0.6145062348064375, + -0.05628704838647815 + ], + [ + 0.01072726965791776, + 0.982956121405911, + 0.18352707995370673, + 0.019047164670758288 + ], + [ + 0.6235237559149444, + -0.15006074603986128, + 0.7672678139396186, + 0.09723747898651439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7817592168865182, + 0.10671036003669153, + -0.6143821497031126, + -0.05771361324356149 + ], + [ + 0.010430750163418712, + 0.9828736921764136, + 0.183985066455224, + 0.019299946330598824 + ], + [ + 0.6234931645687918, + -0.15024048817926716, + 0.7672574987888025, + 0.0988445227574557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7818247777089035, + 0.10711332711780515, + -0.6142285829511501, + -0.05916358416350605 + ], + [ + 0.010254109811825049, + 0.982790716256887, + 0.18443768940008531, + 0.01952971760251992 + ], + [ + 0.6234138835415769, + -0.15049632285550824, + 0.7672717814533386, + 0.10049618367127822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7820062030229997, + 0.10727505707871228, + -0.6139693482270188, + -0.06077826648860116 + ], + [ + 0.010394702903010075, + 0.9826948758262655, + 0.18493980419682282, + 0.01969164907084948 + ], + [ + 0.6231839604684233, + -0.15100610303414902, + 0.7673583962278193, + 0.10237446417902071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7821085265001513, + 0.1075995658882985, + -0.6137821976861274, + -0.062041025560074445 + ], + [ + 0.010279922082441176, + 0.9826173572756832, + 0.18535763373147512, + 0.019817962997882896 + ], + [ + 0.6230574419567924, + -0.1512794189610816, + 0.767407298258921, + 0.10404761418270801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.782188202371802, + 0.10799726078696734, + -0.6136107949937656, + -0.06320514507384682 + ], + [ + 0.010070009104990195, + 0.9825422587867934, + 0.1857668017024886, + 0.019927157884595634 + ], + [ + 0.6229608422581588, + -0.15148366697653604, + 0.7674454297553329, + 0.10568469782029287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7822859876858276, + 0.1081536914004855, + -0.613458566251102, + -0.0643620098709933 + ], + [ + 0.01000519794693789, + 0.9825034290277785, + 0.18597555743349564, + 0.02028698169295842 + ], + [ + 0.6228390879548679, + -0.15162384701987147, + 0.7675165662905543, + 0.10716929625842511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7823879882653761, + 0.10827675307020222, + -0.6133067589409336, + -0.06562477104455836 + ], + [ + 0.009982920332495232, + 0.9824639850919972, + 0.18618501362566064, + 0.02066285322540607 + ], + [ + 0.6227113112186842, + -0.15179151076963043, + 0.767587102639551, + 0.10866881720234253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7825166626743187, + 0.10832208847920491, + -0.6131345674356892, + -0.06726163217098842 + ], + [ + 0.010079033909654943, + 0.9824172199791833, + 0.18642644384266152, + 0.0211041381264837 + ], + [ + 0.6225480589580972, + -0.15206160276636674, + 0.7676660623289461, + 0.11028781853073694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7826389248541851, + 0.10834675994528052, + -0.6129741372296592, + -0.06888841822443062 + ], + [ + 0.01011095187223035, + 0.9823928245569055, + 0.1865532280914557, + 0.021614739173051657 + ], + [ + 0.6223938318744192, + -0.15220156986202543, + 0.7677633751203636, + 0.11176329157653085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7827650345687389, + 0.10836542722604602, + -0.6128097868333349, + -0.0705544397809792 + ], + [ + 0.010121992013441786, + 0.9823750465877301, + 0.1866462244982062, + 0.02216354266122507 + ], + [ + 0.6222350407476909, + -0.15230299413954898, + 0.767871963312796, + 0.11321451134096758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7828584481557012, + 0.10850174753167743, + -0.612666321037659, + -0.07196729517765282 + ], + [ + 0.010064266497803294, + 0.982340666284992, + 0.1868302060765861, + 0.022406244460706264 + ], + [ + 0.6221184458695216, + -0.15242764232687775, + 0.76794169906547, + 0.11415132407519869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7829896967429966, + 0.10855488964539284, + -0.6124891596823465, + -0.07342369975156836 + ], + [ + 0.010075834666588318, + 0.9823117979624115, + 0.18698130692565534, + 0.022686240235921175 + ], + [ + 0.6219530628191181, + -0.15257577631436497, + 0.7680462356733395, + 0.11500345974722942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7832477593015572, + 0.1083779698189941, + -0.6121904631787423, + -0.07510361777360888 + ], + [ + 0.010287084611460329, + 0.9822946003543122, + 0.1870601347293396, + 0.023078408089255594 + ], + [ + 0.6216245840049173, + -0.15281208647445146, + 0.7682651513559874, + 0.11559816966313871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7835320108701826, + 0.10804511461421326, + -0.6118854804207482, + -0.07652171618027241 + ], + [ + 0.01066434232935301, + 0.9822820937781307, + 0.1871046767067418, + 0.023625504990219183 + ], + [ + 0.621259897099765, + -0.1531278598128163, + 0.7684972340904918, + 0.11611706905722202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7838393768398979, + 0.10764090947766598, + -0.6115629697112652, + -0.07788029045777367 + ], + [ + 0.011118555601973626, + 0.9822704070893931, + 0.1871395871475736, + 0.024242534065522778 + ], + [ + 0.6208640825789222, + -0.15348707425467265, + 0.7687454123441481, + 0.11658776111099416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7845453032899535, + 0.10678483445995446, + -0.6108073888019325, + -0.07856531956141072 + ], + [ + 0.011792990193369282, + 0.9823118203177935, + 0.18688074552035167, + 0.024669350311062235 + ], + [ + 0.6199593474317282, + -0.1538196567194956, + 0.7694088124909427, + 0.1168506976827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7857769751530705, + 0.10560811234546968, + -0.6094271670397682, + -0.07903837076747365 + ], + [ + 0.012398930136324392, + 0.9824274765948118, + 0.18623243477714915, + 0.02494758907877323 + ], + [ + 0.6183856497775198, + -0.15389340414188393, + 0.7706594632591346, + 0.11701811650675387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7886789409494762, + 0.10334976898626526, + -0.6060563945321411, + -0.07886289887149912 + ], + [ + 0.012900568514263577, + 0.9827707195948225, + 0.1843781116051569, + 0.024806357760376135 + ], + [ + 0.6146699142099128, + -0.15323360583618892, + 0.7737572995504586, + 0.11679894829843845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7960273011412453, + 0.0996451903748547, + -0.597001986489948, + -0.07788176812008102 + ], + [ + 0.012455789101886161, + 0.9834492651055442, + 0.1807550726292748, + 0.024589144088531804 + ], + [ + 0.6051325385034542, + -0.15132210346979727, + 0.781611304834981, + 0.11726785254784373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8051462351547869, + 0.09527952111770045, + -0.5853728323655398, + -0.07649570729751748 + ], + [ + 0.011714314621927749, + 0.9842635125680343, + 0.1763182142042433, + 0.024313155262749617 + ], + [ + 0.5929606351597139, + -0.14881918788522067, + 0.7913599272569798, + 0.1179558894169839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_106/tilt_down/transforms.json b/spatialvid_eval/camera_controls/scene_106/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..54508cf4f1531af4431449c7b343f51b30afeac5 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_106/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": [ + [ + 0.999999985025809, + 0.00016934445780937977, + -3.5648794809986274e-05, + 0.00015959458016825788 + ], + [ + -0.00016934681711025033, + 0.9999999834703245, + -6.618917302777639e-05, + 7.467887279583668e-05 + ], + [ + 3.563758545110402e-05, + 6.619520904658196e-05, + 0.9999999971740785, + -0.00010853633831516076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999903281308647, + 7.938109359934215e-05, + -0.013907613988129184, + -0.0008744176110536514 + ], + [ + -1.862340365529811e-05, + 0.9999904568414509, + 0.0043687388563395995, + 0.0006632764151239573 + ], + [ + 0.013907828060831925, + -0.004368057310525368, + 0.999893740551446, + 0.004989103362276261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9996494695727124, + -7.55427980225923e-05, + -0.02647512561407511, + -0.0016983982507564766 + ], + [ + 0.0003056120486363594, + 0.9999622286211378, + 0.008686076923660047, + 0.0012827498959809322 + ], + [ + 0.026473469441520455, + -0.008691123306781364, + 0.9996117345206568, + 0.010067259886084364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993107218789395, + -0.0006617336903890944, + -0.037116616849004164, + -0.0020400002632194646 + ], + [ + 0.0011381731352574107, + 0.9999172159339057, + 0.012816623615482612, + 0.002078936555614201 + ], + [ + 0.03710506299289834, + -0.01285003453340777, + 0.9992287480415999, + 0.01581520112248414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9989793204176154, + -0.0006745210984602582, + -0.04516483587092024, + -0.0018791154686710455 + ], + [ + 0.0014703581460920544, + 0.9998442059896828, + 0.01758982080020727, + 0.0018245104652701869 + ], + [ + 0.045145934754766706, + -0.01763827571359841, + 0.9988246772106554, + 0.020711101177153076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9986100439716861, + -0.000457038551821334, + -0.05270456521620905, + -0.0015343160519412128 + ], + [ + 0.0016536855703206744, + 0.9997417836832905, + 0.022663434907077645, + 0.0011896486079169231 + ], + [ + 0.052680597974035924, + -0.022719090508094317, + 0.9983529423623606, + 0.025553581820949668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9980805756216313, + -0.00030538130719674067, + -0.061927952566269116, + -0.0011195017064442076 + ], + [ + 0.0023883155360491046, + 0.9994337311398808, + 0.033563566686460926, + 0.001011109541457625 + ], + [ + 0.061882635009291004, + -0.03364704744956767, + 0.9975161230186875, + 0.029093992035824356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9974472213743943, + 0.00023431647722635312, + -0.07140718218980971, + -0.0007696023224239667 + ], + [ + 0.003015991459028665, + 0.9989640301034561, + 0.04540672147359202, + 0.0010193958351973785 + ], + [ + 0.07134384604168212, + -0.04550617161715317, + 0.996413189383165, + 0.03244331527015828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9965509504761242, + 0.0017446130669757534, + -0.08296480838512553, + -0.0005551886306201603 + ], + [ + 0.0033464881578064935, + 0.9981207746123449, + 0.06118594858513434, + 0.0015626526286115295 + ], + [ + 0.08291564461634317, + -0.06125255596707438, + 0.9946723683029287, + 0.03572515045070913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9955829784538744, + 0.003331928601777648, + -0.09382660211637936, + -0.0006757662461047145 + ], + [ + 0.0037590276058547087, + 0.9971540593442247, + 0.07529708921859762, + 0.0024037303641891916 + ], + [ + 0.09381046170002111, + -0.07531719714067754, + 0.9927370835676996, + 0.03827322345203594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9944627844613273, + 0.0051296234673445, + -0.10496407616183376, + -0.0009196196999144224 + ], + [ + 0.004293565573900488, + 0.9959907717378167, + 0.08935294011822596, + 0.0033910993163029654 + ], + [ + 0.10500159815967842, + -0.08930884377368194, + 0.9904537317854488, + 0.040691883340700674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.993368314078518, + 0.0071726260261413015, + -0.11475167110195758, + -0.001138478983608005 + ], + [ + 0.00477536274176243, + 0.9946171619558816, + 0.10350795647442944, + 0.004222166736277275 + ], + [ + 0.11487640530364497, + -0.10336950507145187, + 0.9879869214345885, + 0.04215867140551047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9922339507303304, + 0.00953005959765817, + -0.1240200184734148, + -0.0013766792244389358 + ], + [ + 0.005198182305188047, + 0.9930125172260524, + 0.1178945271550038, + 0.005026403846966609 + ], + [ + 0.124276972600732, + -0.11762363111401118, + 0.9852511941047079, + 0.043570373213319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9910076273578479, + 0.012761895404635548, + -0.13319540736921162, + -0.0017041679486381371 + ], + [ + 0.005327032526421519, + 0.9908891109859124, + 0.13457485817941897, + 0.005868873946940204 + ], + [ + 0.13369930905966396, + -0.13407424717383062, + 0.9819106838209568, + 0.0450263574022394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9900530924776427, + 0.01543594031650521, + -0.13984493491722128, + -0.002075343430200151 + ], + [ + 0.005653047551231957, + 0.9887963232982607, + 0.1491639168338825, + 0.0065252896772126775 + ], + [ + 0.1405806427956569, + -0.14847074721434925, + 0.9788735976073587, + 0.04608094630405585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9891309533024026, + 0.018079798702686764, + -0.14592147922067697, + -0.0024803680509172497 + ], + [ + 0.006098265644574718, + 0.9865133704192262, + 0.16356705395716742, + 0.007149407164603381 + ], + [ + 0.14691074969248621, + -0.1626791039530555, + 0.975680655113046, + 0.04704777630047674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9883969934122603, + 0.020855096197762234, + -0.15045414044215194, + -0.003043978495783305 + ], + [ + 0.006426464019321466, + 0.983900620567828, + 0.17860086619737217, + 0.007250945578047792 + ], + [ + 0.15175666039358227, + -0.17749544729041744, + 0.9723503906603637, + 0.0478607765736206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9876788366728605, + 0.02372084607772539, + -0.1546862535906212, + -0.0035003841173215193 + ], + [ + 0.006716401721024225, + 0.9811096462672511, + 0.19333585272595377, + 0.007292171095181666 + ], + [ + 0.1563502655465187, + -0.19199266512736032, + 0.9688619153423396, + 0.04856512722892506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9869477852916418, + 0.02702537847994543, + -0.15875672592346765, + -0.0037156910467142186 + ], + [ + 0.0068310392140423564, + 0.9779052647083585, + 0.2089369047318632, + 0.0071669634110188415 + ], + [ + 0.16089563701722784, + -0.2072942888110793, + 0.9649568238087802, + 0.04905967192687473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.98634592671475, + 0.029819501915116647, + -0.16196453364473193, + -0.003812138864352452 + ], + [ + 0.006943024513210752, + 0.9750667653287034, + 0.2218030603080764, + 0.0068979853302074045 + ], + [ + 0.16454029070057613, + -0.21989906879510332, + 0.9615460947241252, + 0.04954898766576396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9857530347643705, + 0.03257411450464087, + -0.16501479181295392, + -0.0038718083837585345 + ], + [ + 0.007075730636707347, + 0.9721685455705565, + 0.23417568840335615, + 0.00656523870652838 + ], + [ + 0.1680502558426816, + -0.2320069957295847, + 0.9580876084386762, + 0.05006093905592649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9850860204991329, + 0.03510096597699089, + -0.16844421748657437, + -0.0036718892194412462 + ], + [ + 0.007309393195533129, + 0.9695499758067009, + 0.24478443002842115, + 0.006348623219607211 + ], + [ + 0.17190725693901154, + -0.24236494507396905, + 0.9548335605805846, + 0.050245493415604144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.984419388108208, + 0.03769755754170028, + -0.17174796206084106, + -0.0034845559286644403 + ], + [ + 0.007451319572159764, + 0.9669272524528179, + 0.2549434570658338, + 0.006145752920598017 + ], + [ + 0.17567853071247905, + -0.2522510309581218, + 0.9515810376564204, + 0.05039188146065886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9836846241169147, + 0.040693524919706264, + -0.1752386866692802, + -0.0033064203778923264 + ], + [ + 0.007296200603236708, + 0.9642555149043229, + 0.26487368203231704, + 0.005953173115764581 + ], + [ + 0.1797535138258005, + -0.2618307449598097, + 0.9482264156102536, + 0.05045013547037014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9827731400270109, + 0.0434676995959419, + -0.17963160727802613, + -0.003299542618002369 + ], + [ + 0.007305927452669699, + 0.9620513508595652, + 0.2727706394268691, + 0.006142451796090311 + ], + [ + 0.18467154265209998, + -0.26938403330769933, + 0.9451606550916997, + 0.05053283010787141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9817319338702094, + 0.04630996542609692, + -0.1845475470487019, + -0.0033522611969266673 + ], + [ + 0.007388631864674554, + 0.9599176582898057, + 0.2801847558711647, + 0.006474844880238035 + ], + [ + 0.1901257955634307, + -0.2764298761090226, + 0.9420396517428146, + 0.05062821369697425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9802767546414494, + 0.049656218099696725, + -0.19128968689833528, + -0.0033562440571975327 + ], + [ + 0.007425937624781187, + 0.9579815234906771, + 0.2867337721665771, + 0.006510677329162169 + ], + [ + 0.1974901004101741, + -0.2824989569087239, + 0.9387182748756214, + 0.05068011766164282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9785622344094433, + 0.05336994680449522, + -0.1989160681435346, + -0.0034121448540641516 + ], + [ + 0.007440241547488593, + 0.9560486686903497, + 0.293113605793258, + 0.006554031371905711 + ], + [ + 0.20581689967860503, + -0.28830988861552387, + 0.9351560361422, + 0.05072791560120147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9759008602540806, + 0.058475813361445, + -0.2102334183879032, + -0.0036243684407567256 + ], + [ + 0.007352283510651505, + 0.9540678455124321, + 0.29950040081182744, + 0.006625069117382348 + ], + [ + 0.2180904740756109, + -0.2938283944941056, + 0.9306457004179902, + 0.05077081031752588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9727578716551615, + 0.06376348329371063, + -0.2228818999631264, + -0.004004321271208499 + ], + [ + 0.007525907438426401, + 0.9522366011770018, + 0.3052684328523011, + 0.006704832073433114 + ], + [ + 0.23170128150303496, + -0.2986296595737341, + 0.9258157713998649, + 0.05054089411807441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9691311940503565, + 0.06941937137669563, + -0.23657066512185088, + -0.004461976978498581 + ], + [ + 0.007825391394470645, + 0.9503966543094553, + 0.31094205686416465, + 0.006791637000987364 + ], + [ + 0.24642137076165663, + -0.30319490489627043, + 0.9205158106610055, + 0.050203998288128805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9641838282087016, + 0.07669267007272092, + -0.25390506055990647, + -0.00488168264004188 + ], + [ + 0.007982620687810124, + 0.9484594554673808, + 0.3167979468075425, + 0.006463857616128545 + ], + [ + 0.2651147358932874, + -0.30747828491071816, + 0.9138770601785537, + 0.0495990088447102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9585853287785016, + 0.08439505086581445, + -0.27201404897535947, + -0.005317623954886111 + ], + [ + 0.008233038055696664, + 0.9464766686759313, + 0.32266721670551807, + 0.006075771247413169 + ], + [ + 0.28468646707384265, + -0.3115435620286013, + 0.9065838209584074, + 0.0489265186553823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9508007503363178, + 0.09407454067678989, + -0.29517437889550313, + -0.005862230181282181 + ], + [ + 0.008704411877706167, + 0.944292544292492, + 0.328992133655921, + 0.005459938300719723 + ], + [ + 0.3096807491171485, + -0.3153752869044484, + 0.8970151961010352, + 0.04796509916498102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9430476856280263, + 0.1034880443636832, + -0.3161507351017932, + -0.006096570691625745 + ], + [ + 0.008840617037758654, + 0.9422464983476874, + 0.3348034943693295, + 0.004915131860513822 + ], + [ + 0.33254008197812124, + -0.3185306280804128, + 0.8876684813896923, + 0.04700027141995899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9345704118675304, + 0.11331061029540153, + -0.3372519100853819, + -0.006234035226868112 + ], + [ + 0.008906934465219625, + 0.940178600384695, + 0.34056550896576243, + 0.004367944375568267 + ], + [ + 0.3556667144676138, + -0.32128632864340834, + 0.8776538516104474, + 0.04598600939856858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9241866730159133, + 0.12395488579265561, + -0.3612674628414623, + -0.00658049114460723 + ], + [ + 0.009317293466347618, + 0.9382739486255154, + 0.3457675308254752, + 0.00397410472438138 + ], + [ + 0.38182742366446065, + -0.32291977892165985, + 0.8659853549102012, + 0.04455761221377266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9129431400133635, + 0.13462146247306894, + -0.3852426312652229, + -0.006929476104962289 + ], + [ + 0.009745227509018774, + 0.9365602043514025, + 0.35037125191153584, + 0.003610896695275751 + ], + [ + 0.4079704078034801, + -0.32362330797838335, + 0.8537142969927298, + 0.04313229914729436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8987977553781278, + 0.14643127793169042, + -0.41318334401392787, + -0.007335541895699333 + ], + [ + 0.010130790547392023, + 0.9353683235938721, + 0.35353000763736403, + 0.0032833207251014786 + ], + [ + 0.4382464626327573, + -0.32193785123915114, + 0.8392234850916614, + 0.0415121816950838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8859019743823427, + 0.15596421696432264, + -0.4368670905574974, + -0.007560487849346473 + ], + [ + 0.010418610863790229, + 0.9348551704454097, + 0.3548764050189203, + 0.00317909089522684 + ], + [ + 0.46375547903300923, + -0.31893725608368423, + 0.826565110773903, + 0.04058639334089892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8724113351851606, + 0.16507525628401568, + -0.46005284696783777, + -0.007733289157694504 + ], + [ + 0.010622743628752348, + 0.9346154949658858, + 0.35550110251231404, + 0.003147820722963341 + ], + [ + 0.48865695488578087, + -0.3150302149515814, + 0.8136155997209721, + 0.039857330753313776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8597306175748878, + 0.17341307450172982, + -0.4804072967765578, + -0.00790064845283219 + ], + [ + 0.010966859587049481, + 0.9341113745885072, + 0.3568132114358545, + 0.0033419626844180383 + ], + [ + 0.5106299963722266, + -0.31203180199496866, + 0.8011823521200855, + 0.03935994614767526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8472852308617456, + 0.1814639140341727, + -0.4991779096343874, + -0.008045802130448525 + ], + [ + 0.01121642130738635, + 0.933504220478003, + 0.3583909349339225, + 0.003564139418913537 + ], + [ + 0.5310197072205639, + -0.3092583357860451, + 0.7889089632462241, + 0.038938297072830204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8348106896652552, + 0.18964512459296723, + -0.5168421801079508, + -0.008148247426234764 + ], + [ + 0.01133362514392524, + 0.9326772529383002, + 0.36053389687041043, + 0.0038981550384535406 + ], + [ + 0.5504204405377024, + -0.30683524662200184, + 0.7764595740080081, + 0.03867279964670286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8252878922866884, + 0.19642879728505727, + -0.5294484133909002, + -0.008118074475458903 + ], + [ + 0.011409464413388186, + 0.9315630823609897, + 0.3634006710284004, + 0.003917474190880586 + ], + [ + 0.564596952672254, + -0.30595089667990505, + 0.7665665854014032, + 0.03837627791436396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8162423163266673, + 0.20300213104989223, + -0.5408683904859657, + -0.008039976490847513 + ], + [ + 0.01148044045428627, + 0.9303440316732244, + 0.3665080929761113, + 0.0038276155374394483 + ], + [ + 0.5775956029305039, + -0.3053688221138704, + 0.7570556135160316, + 0.03805407158823407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.809607179965449, + 0.2088795783474541, + -0.5485485720497167, + -0.008008051772253208 + ], + [ + 0.01113830797370071, + 0.9289041319840637, + 0.37015274101162143, + 0.003515725434572125 + ], + [ + 0.5868663836376016, + -0.30578821974092346, + 0.7497208896808202, + 0.03773591406658721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8032091837182066, + 0.21442816682537907, + -0.5557657496307592, + -0.007961024117700461 + ], + [ + 0.010971760381070193, + 0.9274835981303224, + 0.37370281732062316, + 0.0032043873076980285 + ], + [ + 0.5955960272406732, + -0.3062592634862463, + 0.7426106893009212, + 0.037474257713522786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.7967758523498991, + 0.21951969317881762, + -0.5629914257062619, + -0.00786412698118749 + ], + [ + 0.011267331614988135, + 0.9261217730589134, + 0.37705637337736686, + 0.002850149379822565 + ], + [ + 0.6041699167869661, + -0.30677282437154074, + 0.7354380639297495, + 0.037336653791684694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.7926498428595025, + 0.2232622356660985, + -0.5673272430794968, + -0.00763556140159558 + ], + [ + 0.011281175898737188, + 0.9250068964114231, + 0.3797828019561303, + 0.002619802789237576 + ], + [ + 0.6095727698028749, + -0.3074348967125935, + 0.7306879105323757, + 0.03731397862740573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.7891226337540393, + 0.22663443509873418, + -0.5708960515930778, + -0.007349483587946445 + ], + [ + 0.011193439219416443, + 0.9239810705140424, + 0.38227436253320124, + 0.0024213008371750033 + ], + [ + 0.6141336791086526, + -0.30805164203295815, + 0.7265975571286135, + 0.03733039477005851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.7872865892092717, + 0.22720544100793294, + -0.5731993667369342, + -0.007044865876169336 + ], + [ + 0.011005768028941536, + 0.9243058684116408, + 0.38149381998912624, + 0.0024243610137589535 + ], + [ + 0.616489010057215, + -0.3066534676082979, + 0.7251930441492678, + 0.03722434637314334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.7856590547750135, + 0.22734790911270167, + -0.5753718605146722, + -0.006810370290664912 + ], + [ + 0.010865647703863661, + 0.9248153545534328, + 0.3802610914650411, + 0.00252930631792986 + ], + [ + 0.6185642952434357, + -0.30500735762320813, + 0.7241192750132401, + 0.03712523903049404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.7844086478120421, + 0.22600886557561467, + -0.5776011304688622, + -0.0067427242680103815 + ], + [ + 0.010863076724394904, + 0.9260987982608686, + 0.377124660323155, + 0.002940344172945057 + ], + [ + 0.6201492294615578, + -0.30209437025704217, + 0.7239847544370237, + 0.03703180507965449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.7834631367824961, + 0.22463941885408129, + -0.5794157788668105, + -0.007004537426569913 + ], + [ + 0.01080092965256381, + 0.9273155112432875, + 0.3741246884746326, + 0.0033607330618601163 + ], + [ + 0.6213443918002096, + -0.29937113104723573, + 0.7240912046654944, + 0.037106661874395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.7825767467162849, + 0.22309405328653734, + -0.5812079480591609, + -0.007394751956482343 + ], + [ + 0.010709471625859475, + 0.9286238325370182, + 0.3708680154202514, + 0.003805414257085881 + ], + [ + 0.6224620010221117, + -0.29645711499716876, + 0.7243301983564573, + 0.03724416326982556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.78234451296536, + 0.22202826310833373, + -0.5819282717088852, + -0.007847214129562534 + ], + [ + 0.010583224762990513, + 0.9294316893728473, + 0.3688424191211625, + 0.004107441902487998 + ], + [ + 0.6227560183463582, + -0.2947205204437448, + 0.7247860073447601, + 0.03770915908236982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7820608770530614, + 0.22117497750374404, + -0.5826340308540298, + -0.008351954627112355 + ], + [ + 0.01054342117099416, + 0.9300744131537796, + 0.36721985549077174, + 0.004450899255356747 + ], + [ + 0.6231128476070825, + -0.2933312382322595, + 0.7250428703353492, + 0.03817515910202603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7815884204110802, + 0.2205373131231722, + -0.5835090698521527, + -0.009078167551368236 + ], + [ + 0.010747793602798289, + 0.9305189550664659, + 0.3660859997250435, + 0.004961792537111405 + ], + [ + 0.623701872702002, + -0.2924000133078396, + 0.7249125507298043, + 0.03871059971623872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.781578774913484, + 0.22194784360982528, + -0.5829869409529568, + -0.009651120779750173 + ], + [ + 0.010768772019597986, + 0.9296238608547635, + 0.3683524275455144, + 0.005169981614500158 + ], + [ + 0.6237135978587668, + -0.29417449251495625, + 0.7241841725691337, + 0.039197765316146514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7817308050060502, + 0.2240463675667749, + -0.5819795302970083, + -0.010199080775995326 + ], + [ + 0.01072726965791776, + 0.92826453803032, + 0.3717658848267861, + 0.005282633674230283 + ], + [ + 0.6235237559149444, + -0.2968638957763143, + 0.7232495787722456, + 0.03969239294104299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7817592168865182, + 0.2264225574601646, + -0.5810209568390599, + -0.01086697432869915 + ], + [ + 0.010430750163418712, + 0.9268713581760455, + 0.3752341733423564, + 0.005271085013387994 + ], + [ + 0.6234931645687918, + -0.2994032579416792, + 0.7222284699940192, + 0.04034113847480951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7818247777089035, + 0.22868648496818206, + -0.5800452642279921, + -0.011560868984791903 + ], + [ + 0.010254109811825049, + 0.9254659665814937, + 0.37869195651789145, + 0.005235796674013309 + ], + [ + 0.6234138835415769, + -0.30201860255997304, + 0.7212072472703877, + 0.04103262060864447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7820062030229997, + 0.23068868787220367, + -0.579006932360358, + -0.012428180315723427 + ], + [ + 0.010394702903010075, + 0.9240251482506181, + 0.38219036559283076, + 0.005127639490349682 + ], + [ + 0.6231839604684233, + -0.3048938416698908, + 0.7201954573077135, + 0.041944990476079934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7821085265001515, + 0.2328607517284012, + -0.577998376364715, + -0.012938449745184249 + ], + [ + 0.010279922082441178, + 0.9226067914235125, + 0.38560476089020357, + 0.004989352299364883 + ], + [ + 0.6230574419567925, + -0.307526549624087, + 0.719184847795449, + 0.042655030321994324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.782188202371802, + 0.23510354329267766, + -0.5769817501460487, + -0.013349267980603369 + ], + [ + 0.010070009104990195, + 0.9211801788550847, + 0.3890060063818294, + 0.004833605246268436 + ], + [ + 0.6229608422581588, + -0.31008612032102073, + 0.718168773337621, + 0.043329756652672066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7822859876858276, + 0.23711062147267484, + -0.5760270711131995, + -0.013751678155277385 + ], + [ + 0.01000519794693789, + 0.9198195635507241, + 0.39221405701912027, + 0.004943998204695025 + ], + [ + 0.6228390879548679, + -0.3125868258487504, + 0.7171896170618696, + 0.04384917953945438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7823879882653764, + 0.2390814893818943, + -0.5750731060073956, + -0.014260329983255167 + ], + [ + 0.009982920332495234, + 0.9184470658000624, + 0.3954179164186818, + 0.005069858334256992 + ], + [ + 0.6227113112186843, + -0.31511113715353145, + 0.7161952206780746, + 0.04438339735628013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7825166626743187, + 0.24096834349571036, + -0.5741096847031757, + -0.01514519393895482 + ], + [ + 0.010079033909654943, + 0.9170492530657633, + 0.398646560912011, + 0.005257890399857468 + ], + [ + 0.6225480589580972, + -0.317734047411446, + 0.7151775929117513, + 0.0450362032327765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7826389248541851, + 0.2428339461755054, + -0.573156163613301, + -0.016019398888372508 + ], + [ + 0.01011095187223035, + 0.9156876155246922, + 0.40176356159679427, + 0.005524523250163603 + ], + [ + 0.6223938318744192, + -0.32023095627926945, + 0.7141974885738132, + 0.04554370047239949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7827650345687389, + 0.24468915127000393, + -0.572194127816221, + -0.016933583433062394 + ], + [ + 0.010121992013441786, + 0.9143295157197612, + 0.40484451578519215, + 0.0058319980176320275 + ], + [ + 0.6222350407476909, + -0.3226898757854544, + 0.7132284333446665, + 0.04602571455109793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7828584481557012, + 0.24665996108900537, + -0.5712193219305681, + -0.017593159185560585 + ], + [ + 0.010064266497803294, + 0.9129239512046474, + 0.40800560027621696, + 0.005825063671409244 + ], + [ + 0.6221184458695216, + -0.32515953455567825, + 0.7122077761415038, + 0.04599649828313822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7829896967429966, + 0.24853826414311234, + -0.5702243997331568, + -0.018299675380157164 + ], + [ + 0.010075834666588318, + 0.9115205255608962, + 0.41113113362643683, + 0.00585792261261219 + ], + [ + 0.6219530628191181, + -0.327656928414334, + 0.7112069494261161, + 0.04587929853662885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7832477593015572, + 0.25016041012233353, + -0.5691596584057198, + -0.019241238008548642 + ], + [ + 0.010287084611460329, + 0.9101348617160464, + 0.4141843905548705, + 0.006009170795203351 + ], + [ + 0.6216245840049173, + -0.33026398940323287, + 0.7102876697959599, + 0.04549397460190485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7835320108701829, + 0.2516253587968716, + -0.5681217006523109, + -0.019922309241353197 + ], + [ + 0.010664342329353012, + 0.9087517524657079, + 0.4172008199814422, + 0.006318322394845563 + ], + [ + 0.6212598970997651, + -0.3329488417172389, + 0.7093526690263023, + 0.04503107490385153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7838393768398981, + 0.2530127267182384, + -0.5670805863665614, + -0.020546262047342553 + ], + [ + 0.011118555601973628, + 0.907361783412699, + 0.4202034884713034, + 0.006698197770437753 + ], + [ + 0.6208640825789223, + -0.335677157579614, + 0.7084127588085246, + 0.04451787870373028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7845453032899538, + 0.253851412406543, + -0.5657279624562307, + -0.020538617625227126 + ], + [ + 0.011792990193369286, + 0.9060856683087652, + 0.4229298843398963, + 0.006915679486628825 + ], + [ + 0.6199593474317283, + -0.33847927869319, + 0.707871588232897, + 0.043756860496060423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7857769751530708, + 0.25421770671484606, + -0.5638509580659906, + -0.020381005939895957 + ], + [ + 0.012398930136324395, + 0.9049704273962972, + 0.4252937714917044, + 0.007022717231472625 + ], + [ + 0.6183856497775199, + -0.34117720195055246, + 0.7079528974574698, + 0.04284214316806217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7886789409494762, + 0.25302527748229386, + -0.5603246711129368, + -0.01977240040461536 + ], + [ + 0.012900568514263577, + 0.9043741361119267, + 0.42654542227506687, + 0.006829491878873333 + ], + [ + 0.6146699142099128, + -0.34363589871667144, + 0.7099966659628509, + 0.041357611592268737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7960273011412455, + 0.2489612909532078, + -0.551687240603494, + -0.01892782195419866 + ], + [ + 0.012455789101886165, + 0.9045556793682754, + 0.42617352831968275, + 0.006739580666390917 + ], + [ + 0.6051325385034543, + -0.34611746348531774, + 0.7169500068448675, + 0.04008373619538935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8051462351547869, + 0.2435385876658485, + -0.5407665821163475, + -0.017958424060963485 + ], + [ + 0.011714314621927749, + 0.9050910348289353, + 0.4250564591971582, + 0.006681333842325286 + ], + [ + 0.5929606351597139, + -0.3485673177307516, + 0.7258777515263697, + 0.03881989669128592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.1082153320312, + "fy": 518.1084823608398, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/source/scene_044/rgb_video/00000.png b/spatialvid_eval/source/scene_044/rgb_video/00000.png new file mode 100644 index 0000000000000000000000000000000000000000..44b7e2f6a9ba78d265317391ef4bb3c867794acd --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38b2f5dfe2c7695739d3679139f2e3375667fd2c12b8d1dc12facf463894380d +size 435213 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00001.png b/spatialvid_eval/source/scene_044/rgb_video/00001.png new file mode 100644 index 0000000000000000000000000000000000000000..3ad21052225e375c5f24303d73f4c4fd3f1409ad --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00001.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a036cd42f9f8cbdcb204b27d37e89b14b99ceb9effb70366b21acf3580b8466 +size 466097 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00002.png b/spatialvid_eval/source/scene_044/rgb_video/00002.png new file mode 100644 index 0000000000000000000000000000000000000000..30d64bc1c0011e5b08332bd81ded4aeabaa55174 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00002.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07591fb405bf1de3f9d68d150984441ae1720f649b281f0578450b6fd714bcc3 +size 465930 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00003.png b/spatialvid_eval/source/scene_044/rgb_video/00003.png new file mode 100644 index 0000000000000000000000000000000000000000..86f8992dbd30a4d425fba5292b2d5430ed78c91d --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00003.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0110d63e30c6425632ff36a6ad46e8f56445b6dbaf9189f0315697498a9eddd6 +size 473829 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00004.png b/spatialvid_eval/source/scene_044/rgb_video/00004.png new file mode 100644 index 0000000000000000000000000000000000000000..2e8bb67e81f5091eac406b6ba30e303aa355c129 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00004.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cfa3dfb92510dd94e5d92d9463b77176fdc23bf5810455a6be9f57e6d514002b +size 484069 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00006.png b/spatialvid_eval/source/scene_044/rgb_video/00006.png new file mode 100644 index 0000000000000000000000000000000000000000..5e9a68d17e69e1c59c5fd1d846b712a423c8c534 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00006.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0684f28924b4431abc8432c186c25abd06dc22b7ba1b0e59d80cf45b34f22f3d +size 494577 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00007.png b/spatialvid_eval/source/scene_044/rgb_video/00007.png new file mode 100644 index 0000000000000000000000000000000000000000..45307807ad53ada56e76ed10c07a00008dd3ae54 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00007.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d5339d76f7e9bad40d39190a82689f3b7119d97efd7f918b75af7d79b6ab77e +size 493678 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00008.png b/spatialvid_eval/source/scene_044/rgb_video/00008.png new file mode 100644 index 0000000000000000000000000000000000000000..cf5363be5c215ffc1edece451b5a726415b5d50d --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00008.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74ce247c554e18664961ff9a88eba24e16e818e62c98b51175672c092aa31704 +size 498033 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00009.png b/spatialvid_eval/source/scene_044/rgb_video/00009.png new file mode 100644 index 0000000000000000000000000000000000000000..838fbda5604407fcffe7ec1def1dd4eae0cbceca --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00009.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de47d579ab21bbbfe48b1aee285d5aea83c944fb957784db890d27d82bc255d6 +size 502724 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00011.png b/spatialvid_eval/source/scene_044/rgb_video/00011.png new file mode 100644 index 0000000000000000000000000000000000000000..f52237dbea408c9a6383640b409565f70a88d588 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00011.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76b023f7800baf07b8f8dc12a1ebc07e647d1c00fc1eb2c37e79d6fd748b79b5 +size 514522 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00012.png b/spatialvid_eval/source/scene_044/rgb_video/00012.png new file mode 100644 index 0000000000000000000000000000000000000000..ac515ea2807ae0f0614600e746455682aa440fc4 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00012.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5968ae5a39bc451f59d3453e48b08cbf04f139829208a2bd0388728b2eccc6b +size 527005 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00013.png b/spatialvid_eval/source/scene_044/rgb_video/00013.png new file mode 100644 index 0000000000000000000000000000000000000000..6396ce8e32ef13654ce6e36406c89980ff536a88 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00013.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca744ec10c469f1bb8ef781350879faadf0d88c87ac70920e37516086bfcb694 +size 517319 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00014.png b/spatialvid_eval/source/scene_044/rgb_video/00014.png new file mode 100644 index 0000000000000000000000000000000000000000..37ba11d710e1b47cb471ea7e78c4429e9f869cdd --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00014.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7873af9efc4aeb423b112d7ae418b166afffd814dd84fbbfed275dab113e7d95 +size 517392 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00015.png b/spatialvid_eval/source/scene_044/rgb_video/00015.png new file mode 100644 index 0000000000000000000000000000000000000000..3e023011a097dff8f24759b9c3cbff0f78b05a26 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00015.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2eb154456997c53918938511995ddf1e5bc0dfd4ef0864bd59cf19b6ae9bc3be +size 531688 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00016.png b/spatialvid_eval/source/scene_044/rgb_video/00016.png new file mode 100644 index 0000000000000000000000000000000000000000..79b94be276e8193753f416ed5a6496c900980a3b --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00016.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ff907e0395d038f58e7f9526cd8e721f9adfb5eeec56e7ae695769c70f608fc +size 568122 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00017.png b/spatialvid_eval/source/scene_044/rgb_video/00017.png new file mode 100644 index 0000000000000000000000000000000000000000..e9a740c6199edab4a8bce3d607e45c55bff1e6b5 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00017.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:221587751568f07a942f6475940941faeb66e19ce1da7a3a5a6474fe9e64da64 +size 601447 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00018.png b/spatialvid_eval/source/scene_044/rgb_video/00018.png new file mode 100644 index 0000000000000000000000000000000000000000..cb9b1a5c26635d821d1570d0e550772931d9d365 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00018.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:772adb708ee00f1ef6f290a136180748a82c09296b94bf1c76c27d16740e2208 +size 634833 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00019.png b/spatialvid_eval/source/scene_044/rgb_video/00019.png new file mode 100644 index 0000000000000000000000000000000000000000..a53bc1b4a15ed92f4e41cd4ab9700e53358c5a95 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00019.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba82d3a34a4017951a2926adaa57f792d9f35a7d05c5f1ce84144f38cc69cf1c +size 673141 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00021.png b/spatialvid_eval/source/scene_044/rgb_video/00021.png new file mode 100644 index 0000000000000000000000000000000000000000..de834f2e2daadc537f2dbc4c296e2e887ef30832 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00021.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9993bba24fc50735a0c385f2f60d5c94b598196e1b345aef8ab288f0e51a936a +size 700378 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00022.png b/spatialvid_eval/source/scene_044/rgb_video/00022.png new file mode 100644 index 0000000000000000000000000000000000000000..98985394230dd6b6c573ec3c40f1aae22f1041d9 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00022.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dae339d3cd509735fc573e586a0d40f473bc90c8ed246494b5f6eee3298884f3 +size 728399 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00023.png b/spatialvid_eval/source/scene_044/rgb_video/00023.png new file mode 100644 index 0000000000000000000000000000000000000000..70387990cabe95605f49905c1a6877d44f319a4d --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00023.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:caa4ff0b567fb1728e9fa51cf2b74bc4f2a7c1544be5b33c0d503784042d7c29 +size 633840 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00025.png b/spatialvid_eval/source/scene_044/rgb_video/00025.png new file mode 100644 index 0000000000000000000000000000000000000000..911c911e5b2233655d2cfa7955747db9f4c33ef7 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00025.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:070451d265a7567c2f9870e9b935e0e1f94fad893a17d9f8757db8fa6a027402 +size 662974 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00026.png b/spatialvid_eval/source/scene_044/rgb_video/00026.png new file mode 100644 index 0000000000000000000000000000000000000000..a481cccb03c3890ee06e3e0c5bcf726415a72a98 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00026.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c30b1c2695e81bdda84d5ddecaa785605d9067373f4bec175f75b4c87fd105b +size 707786 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00027.png b/spatialvid_eval/source/scene_044/rgb_video/00027.png new file mode 100644 index 0000000000000000000000000000000000000000..c4ca3cb4d872b685cc4d43cfd3ab714c50b33ffe --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00027.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:174213abbdfdf37a1bc03e0b6bf3722bf4792b1a105b6e8ff519a9810d072084 +size 732592 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00028.png b/spatialvid_eval/source/scene_044/rgb_video/00028.png new file mode 100644 index 0000000000000000000000000000000000000000..1c2887b3fbec8a808af8df3cd60a513809ce9cb9 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00028.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:913da8fc8dc9dfd43bc57458c62ee1455017e3f1c6f774afe78030fa782909a4 +size 744884 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00030.png b/spatialvid_eval/source/scene_044/rgb_video/00030.png new file mode 100644 index 0000000000000000000000000000000000000000..c2506ba3c0c7683a48052427c3393d1ca3a3ddd5 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00030.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71b4b83e13856982a8a6f0d83487c2da99a4c78bfd4179d66196ea11f0e92fcf +size 774743 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00031.png b/spatialvid_eval/source/scene_044/rgb_video/00031.png new file mode 100644 index 0000000000000000000000000000000000000000..23ab5731136b74a919cc9db7e8effa85a2f5abbe --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00031.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:091f9ddaa66580798136d63c63ae1434cc9c19ca32d1143298537e710671a1ff +size 783330 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00032.png b/spatialvid_eval/source/scene_044/rgb_video/00032.png new file mode 100644 index 0000000000000000000000000000000000000000..d6eb54468185336983322fcaff1d17a565cd63cf --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00032.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cfb8c3ab1bb9020954c4bfadf128d9c735cd2550d76e8735ffeb758bf45f99c +size 789411 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00033.png b/spatialvid_eval/source/scene_044/rgb_video/00033.png new file mode 100644 index 0000000000000000000000000000000000000000..da3fdca5149f91d84fe8dabc61d6f4b7aa71f481 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00033.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a77d0a8688908eb2832d8e539ed90b3f1ad26d69e8927f35319129e321323ea3 +size 791497 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00034.png b/spatialvid_eval/source/scene_044/rgb_video/00034.png new file mode 100644 index 0000000000000000000000000000000000000000..fa6d692668b58c299957b0b93b493480bc595739 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00034.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbf19220e63c620bdade24bf65617ebb76b82aafbb3d8243d1aa9c445b6a2c87 +size 797703 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00035.png b/spatialvid_eval/source/scene_044/rgb_video/00035.png new file mode 100644 index 0000000000000000000000000000000000000000..e9dc064e8ffff99a083639d7c56aef7f75f400f7 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00035.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e7004db3cdc8ff891db408de10e590c4118e1e0cb7406bcf2d315c531d4d752 +size 811082 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00036.png b/spatialvid_eval/source/scene_044/rgb_video/00036.png new file mode 100644 index 0000000000000000000000000000000000000000..33cd2ecc0832a667fac6d960580719bacf963c15 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00036.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f020532e43279c7f97a71ec9159315f42b9bd217718d2a374025e3a259170f84 +size 818630 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00037.png b/spatialvid_eval/source/scene_044/rgb_video/00037.png new file mode 100644 index 0000000000000000000000000000000000000000..b224af38d0941e33b9dc77617f879f2b3c95b4c7 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00037.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41dc087b39d84fefc95720ddae0759ded54482b5d6a9cce2fb137de5eb0463b1 +size 820759 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00038.png b/spatialvid_eval/source/scene_044/rgb_video/00038.png new file mode 100644 index 0000000000000000000000000000000000000000..d1d4a0151aa9b5041e5e8f22c1b837474e836dcd --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00038.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8f0cc371f24317a07c19fb86878c6e11cb4d39cccf7120a63286d965c84185c +size 828868 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00039.png b/spatialvid_eval/source/scene_044/rgb_video/00039.png new file mode 100644 index 0000000000000000000000000000000000000000..3651d62605191e2f75475c3ca660b5f29a7e5b3d --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00039.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d063735f883c101cc5c5a4cecfb63addf11e1c8b8c6094e1c8afed0a44c2284 +size 828119 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00040.png b/spatialvid_eval/source/scene_044/rgb_video/00040.png new file mode 100644 index 0000000000000000000000000000000000000000..49bb8e064f3133789dd05e75413e8edd9aaa9bee --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00040.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ed9806e5b1813b9a8a97f8c3d5c5755334bc565fdf310efc00bff1511de198a +size 831871 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00041.png b/spatialvid_eval/source/scene_044/rgb_video/00041.png new file mode 100644 index 0000000000000000000000000000000000000000..c42011af2a678588ab1c7a63b18c32454cf21f1a --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00041.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:487ee6ad4888f5038bb090ee3647340aa96dc3d9f48b8aaa12a3c69f774fdb1a +size 834865 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00042.png b/spatialvid_eval/source/scene_044/rgb_video/00042.png new file mode 100644 index 0000000000000000000000000000000000000000..6947589d61560c6cdd6ac657ccd46ea44aadc896 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00042.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c22c76d228c5d29e90890595195f9a0fb067c43438046a86256883b1b98741b8 +size 835575 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00043.png b/spatialvid_eval/source/scene_044/rgb_video/00043.png new file mode 100644 index 0000000000000000000000000000000000000000..eab8ec8fd202895f0a05d051291043f7cbfbfa40 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00043.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f426fda09b6b6086636a800e824f6043dc2bcfd6e7b6fb6028fb93f415424902 +size 837511 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00044.png b/spatialvid_eval/source/scene_044/rgb_video/00044.png new file mode 100644 index 0000000000000000000000000000000000000000..d00b69e85b309fa1d89f58af26aa76aac654b07a --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00044.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45b73bb8074e511efa0dc3a78f649cfebbb327537077833cf21b4382392ac9a2 +size 839797 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00045.png b/spatialvid_eval/source/scene_044/rgb_video/00045.png new file mode 100644 index 0000000000000000000000000000000000000000..55e017bc62b4841b800a529f99ce972705466428 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00045.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0de0611bd4830ff91be8ba1a7bfa8d1cca9fb66077a54c89b31aaf62f0e14f91 +size 718236 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00046.png b/spatialvid_eval/source/scene_044/rgb_video/00046.png new file mode 100644 index 0000000000000000000000000000000000000000..c778aa53228cb30edde3eacadfec10908767f7fd --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00046.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1395df7901505fb81f27591e214e779f80b87969443ae9376e06b26b29e45c0c +size 741795 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00048.png b/spatialvid_eval/source/scene_044/rgb_video/00048.png new file mode 100644 index 0000000000000000000000000000000000000000..a61dbe2ba3f504fa549f20d846ce206d0c87dae0 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00048.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77d135d1ecff15e21b9e68adda9ebba818bcab1dff43198db21bea3ad8f33fe8 +size 779258 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00049.png b/spatialvid_eval/source/scene_044/rgb_video/00049.png new file mode 100644 index 0000000000000000000000000000000000000000..afc91981a6c2783c6ff8be50dc82be7fa385766e --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00049.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9f6b272db45c10e1898733bbf9d6e8144a31c6fc771310eaee82982b2358f89 +size 789004 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00050.png b/spatialvid_eval/source/scene_044/rgb_video/00050.png new file mode 100644 index 0000000000000000000000000000000000000000..8752731deee2c13a7fff814186ab09f805ae9012 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00050.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5ffde3c0f8a67a617ffd496c8f9db8df524f6ed6a13bf571122c6b21c3ae2f9 +size 793610 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00051.png b/spatialvid_eval/source/scene_044/rgb_video/00051.png new file mode 100644 index 0000000000000000000000000000000000000000..09a340814c3f7ad86e60289880c25c20484d58f7 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00051.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08492027f9f9782229dbcaa91730c959ae81f5f871263bcea1f5a3a39de5c7e3 +size 836312 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00052.png b/spatialvid_eval/source/scene_044/rgb_video/00052.png new file mode 100644 index 0000000000000000000000000000000000000000..7be3ea0693e12f706e2fc6ad3a89db82cd538897 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00052.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ada2153517203a6248d287933a68e9e456a7a5be5a2b09ec6f80db206c71df3 +size 905534 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00053.png b/spatialvid_eval/source/scene_044/rgb_video/00053.png new file mode 100644 index 0000000000000000000000000000000000000000..eeabc8b7f2574e0ed11473aa94d08522fa7af907 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00053.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52436daacc9a21d3d0355062feeb8b69e319f9ec22bb0e069d1a4696e49dd2c5 +size 923602 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00054.png b/spatialvid_eval/source/scene_044/rgb_video/00054.png new file mode 100644 index 0000000000000000000000000000000000000000..bcc5d8886b13ca7197ad54db6a884283af0ecd6f --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00054.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cde75a439b3dddca6dd6c5f48bdc32f15e63a00a666f579a584ab86f853fa0f2 +size 917344 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00055.png b/spatialvid_eval/source/scene_044/rgb_video/00055.png new file mode 100644 index 0000000000000000000000000000000000000000..9896d7424861aaee7624814f22b5d42af907a33f --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00055.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fd47b1a6c58b7307e5d9a98acb57779e76f33302d2bb6ccd3db6f7001d6eca0 +size 904873 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00056.png b/spatialvid_eval/source/scene_044/rgb_video/00056.png new file mode 100644 index 0000000000000000000000000000000000000000..d8f80faf841b65c24e69b2d085230bd4912bc437 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00056.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:741962ae930a54ad16521f917059941fa877a1e7758fad12536d76fa1c9aa6e4 +size 897037 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00057.png b/spatialvid_eval/source/scene_044/rgb_video/00057.png new file mode 100644 index 0000000000000000000000000000000000000000..a1c5d4b99821031e470efa2216ffddde7fa5a64b --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00057.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b96fb9b73e4bc726c4fea37858ee95f38708df0b95fc0905359fbe713f6d62b +size 903752 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00059.png b/spatialvid_eval/source/scene_044/rgb_video/00059.png new file mode 100644 index 0000000000000000000000000000000000000000..4edd6ad92e731bc569e1c0d7efcd4e6d728092a1 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00059.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d31fd5510266fb0c2f4212c76704f4461ec618fa1c43717d41e285e90c8e21d5 +size 909807 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00060.png b/spatialvid_eval/source/scene_044/rgb_video/00060.png new file mode 100644 index 0000000000000000000000000000000000000000..468d42f7daf0bd10b36b9978ac4ed4de48b191d1 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00060.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aed00c9d680cfe35c8348c0758336df1c815e6e2c13e8493cff6e3102793afde +size 910386 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00061.png b/spatialvid_eval/source/scene_044/rgb_video/00061.png new file mode 100644 index 0000000000000000000000000000000000000000..812b46a5f776ad3d08c050a667aa372ddd3e4910 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00061.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:892fa0e2fd585c190905a0b2f9442c9b413c0db7be0336a9e3ff0f602fdc3156 +size 911737 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00062.png b/spatialvid_eval/source/scene_044/rgb_video/00062.png new file mode 100644 index 0000000000000000000000000000000000000000..5a29b4d16e18e78b7c425d5cc9ca6a06c3685d2a --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00062.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d80684053bf1044c4c6a45e487ab23ff1715ae4c108ded74439416f656c252c +size 912099 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00063.png b/spatialvid_eval/source/scene_044/rgb_video/00063.png new file mode 100644 index 0000000000000000000000000000000000000000..e80186d1e59bdd87a7617f4e85d2297895f849df --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00063.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf08b378e8817f4691805cee59cc8cb2f27302b34a3589a2bda5b02d1065880f +size 912827 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00064.png b/spatialvid_eval/source/scene_044/rgb_video/00064.png new file mode 100644 index 0000000000000000000000000000000000000000..e77717573820acebbf5dd1fcdc67b668ab131906 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00064.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18fce6a7f88ae810ecf0c62a6a806ef32816a24d9a64511f1298af39ad1bbc40 +size 911894 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00065.png b/spatialvid_eval/source/scene_044/rgb_video/00065.png new file mode 100644 index 0000000000000000000000000000000000000000..9a4fb10a84982e4e38015659656930a8d17df69f --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00065.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea6d0ddbe65350c7a2351c6971909d64f04eb86dad32c1d2912d94c42dc839a6 +size 908872 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00066.png b/spatialvid_eval/source/scene_044/rgb_video/00066.png new file mode 100644 index 0000000000000000000000000000000000000000..a135f7c03a06a451965e34aaec07bab758f56a09 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00066.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:732a1e1d1485e783c0dff46774677ec5f0aaf8956d004f3dd574bc0d8d0308fe +size 902933 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00067.png b/spatialvid_eval/source/scene_044/rgb_video/00067.png new file mode 100644 index 0000000000000000000000000000000000000000..e6843e4c80653e1ca5efb8367c74a199d6ac71d8 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00067.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea8b35976eaca25e0abf265b4b91ec7a2d9564f8391bf4b7f2c339096b512af4 +size 898721 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00068.png b/spatialvid_eval/source/scene_044/rgb_video/00068.png new file mode 100644 index 0000000000000000000000000000000000000000..117a89376e5db3f94c616633830398e24731ddb3 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00068.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:027c9f083ed3d29472f9988de1eed8ea50cb9504d15c695d04e702ce7b04d95f +size 654769 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00069.png b/spatialvid_eval/source/scene_044/rgb_video/00069.png new file mode 100644 index 0000000000000000000000000000000000000000..012b44aaea3b4ecaeac1acd65f668c04b349b10a --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00069.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbcf4ec7188dd0423c25ff0e2c14e245f443cf8d468e0e9aa9b3c3a2efc6244e +size 664298 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00070.png b/spatialvid_eval/source/scene_044/rgb_video/00070.png new file mode 100644 index 0000000000000000000000000000000000000000..46c6cf3e26dfb017268dad604186cca7266347ef --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00070.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0bb63f8c3c53c52a7d7467bc4eb3ae580c71e93129740e955476a77f8f0ccbd +size 668386 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00071.png b/spatialvid_eval/source/scene_044/rgb_video/00071.png new file mode 100644 index 0000000000000000000000000000000000000000..a8acf90e3bbbb4436b78ed92219c6757c9c00f08 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00071.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77bf70939acf29ccfa5550e4a4342ea93e05a37af4a6155faaac45abed0df358 +size 673133 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00072.png b/spatialvid_eval/source/scene_044/rgb_video/00072.png new file mode 100644 index 0000000000000000000000000000000000000000..be537a355f675a413d43b2504e48b999995c1779 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ee86bc652fb375777cccc270ed51a98a957dcfb600ed3dd85d04c1867b02305 +size 676640 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00073.png b/spatialvid_eval/source/scene_044/rgb_video/00073.png new file mode 100644 index 0000000000000000000000000000000000000000..83a22db9647a9fba5a5ae27fe9671e3902bd5728 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00073.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45ab5858de5c2c9a081acc014b97d0cb543a0540dc797c147d1a71b3db026d1e +size 680435 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00075.png b/spatialvid_eval/source/scene_044/rgb_video/00075.png new file mode 100644 index 0000000000000000000000000000000000000000..c0661412546fecf74f3faf0096461539e0b9686c --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00075.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f102d4ef42c212238877d08cdf3518bf57ec0f96f09aa9286d7e48e28a7664cb +size 687894 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00076.png b/spatialvid_eval/source/scene_044/rgb_video/00076.png new file mode 100644 index 0000000000000000000000000000000000000000..e1dd89b93adbaa27c49494fd848506ada0ccba3e --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00076.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4927c336e2ce6985d9841de1b28a30cbc8d0564c2b82b9668bfb8c2d4aa7f5a +size 686950 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00077.png b/spatialvid_eval/source/scene_044/rgb_video/00077.png new file mode 100644 index 0000000000000000000000000000000000000000..772cb9c8e79f2c41ed281574e887573cfe2f3573 --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00077.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a351c1ee3a7351f28c54092ce86b15ae0e2c34a1c8c69ab68f6fb7dbc8d203c4 +size 691228 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00078.png b/spatialvid_eval/source/scene_044/rgb_video/00078.png new file mode 100644 index 0000000000000000000000000000000000000000..4e54294f70c4f7fa1fb403d00bd943e29626f8ce --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00078.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83dcc8eaf12ed43fb0523d0ae78e5385fae52df6bfd5f7ec34291ba8a97c5c44 +size 696211 diff --git a/spatialvid_eval/source/scene_044/rgb_video/00080.png b/spatialvid_eval/source/scene_044/rgb_video/00080.png new file mode 100644 index 0000000000000000000000000000000000000000..71858bb45b8ab653c858ad737deaebc121f00c3a --- /dev/null +++ b/spatialvid_eval/source/scene_044/rgb_video/00080.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c0faf24a5349c31fe62ca7f2ce3613c437e904a135f2b3fb1c89b351ede6771 +size 697833 diff --git a/spatialvid_eval/source/scene_059/rgb_video/00007.png b/spatialvid_eval/source/scene_059/rgb_video/00007.png new file mode 100644 index 0000000000000000000000000000000000000000..19ae4e36fcf1d9ff23b6ee8415b4f7d7ae27b61e --- /dev/null +++ b/spatialvid_eval/source/scene_059/rgb_video/00007.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:160dff8f889e50442746ba2ffae207eb18d522889aafb2ca829bdde1b652d9a4 +size 909307 diff --git a/spatialvid_eval/source/scene_059/rgb_video/00008.png b/spatialvid_eval/source/scene_059/rgb_video/00008.png new file mode 100644 index 0000000000000000000000000000000000000000..8edc0d63879896e5794363000887b3cc759c6b5a --- /dev/null +++ b/spatialvid_eval/source/scene_059/rgb_video/00008.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:466974048450f4da1f2c7116fcbd14c0dc10513067c6eba80737a8ed96f480de +size 910711 diff --git a/spatialvid_eval/source/scene_059/rgb_video/00009.png b/spatialvid_eval/source/scene_059/rgb_video/00009.png new file mode 100644 index 0000000000000000000000000000000000000000..0b547a4a62bad901925303bc8b635829c684f126 --- /dev/null +++ b/spatialvid_eval/source/scene_059/rgb_video/00009.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1d59be79cda7946c13eec43b2e42e2841d5f1e2ae1b9f9b81cc2e3c36e356d5 +size 911456 diff --git a/spatialvid_eval/source/scene_059/rgb_video/00010.png b/spatialvid_eval/source/scene_059/rgb_video/00010.png new file mode 100644 index 0000000000000000000000000000000000000000..b01f6322edfe43f8696e4c46d34d4591f60939c4 --- /dev/null +++ b/spatialvid_eval/source/scene_059/rgb_video/00010.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0b822e7be0a1d9dbb6937bc9fee70eaa4c3702eb6a4afa5de1cf53d4c2554b3 +size 916104 diff --git a/spatialvid_eval/source/scene_059/rgb_video/00012.png b/spatialvid_eval/source/scene_059/rgb_video/00012.png new file mode 100644 index 0000000000000000000000000000000000000000..7895ec73e7d1f27e296ea1a5e5bd1594f0714a43 --- /dev/null +++ b/spatialvid_eval/source/scene_059/rgb_video/00012.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6efb4dbc785f9ba77272217d863a7e8ba979a44d10daedbec9b4c4ab19121363 +size 925414 diff --git a/spatialvid_eval/source/scene_059/rgb_video/00020.png b/spatialvid_eval/source/scene_059/rgb_video/00020.png new file mode 100644 index 0000000000000000000000000000000000000000..b3d29acc57f95669981b3cedd33c1398728b3101 --- /dev/null +++ b/spatialvid_eval/source/scene_059/rgb_video/00020.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e050f09a158731a1f4ea341e6e84bfc0d8fad7439ae5862ad60e7089839b908 +size 938219 diff --git a/spatialvid_eval/source/scene_059/rgb_video/00022.png b/spatialvid_eval/source/scene_059/rgb_video/00022.png new file mode 100644 index 0000000000000000000000000000000000000000..6ebd32221ec1ce8eb00e7532ebdf48e5f5ddba11 --- /dev/null +++ b/spatialvid_eval/source/scene_059/rgb_video/00022.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:003ce64b51c4fc080726fc7050b5e28d0b64f614a67f8f8929f574fcf12c8b86 +size 940559 diff --git a/spatialvid_eval/source/scene_059/rgb_video/00025.png b/spatialvid_eval/source/scene_059/rgb_video/00025.png new file mode 100644 index 0000000000000000000000000000000000000000..0366458eda01fca5f1af7fca226cb01b2b8bcb4e --- /dev/null +++ b/spatialvid_eval/source/scene_059/rgb_video/00025.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:388a8b729442d02dcdef27aec0cbadca94766902613611daa47c279713e755fa +size 938060 diff --git a/spatialvid_eval/source/scene_059/rgb_video/00043.png b/spatialvid_eval/source/scene_059/rgb_video/00043.png new file mode 100644 index 0000000000000000000000000000000000000000..f7c6fba344563edc4568086d9cd1fcdbdae15248 --- /dev/null +++ b/spatialvid_eval/source/scene_059/rgb_video/00043.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93558faf0c9ebdde10bcfc8a0aa7d25e5e90d0235d84f20127c0e86c5199cb7b +size 942957 diff --git a/spatialvid_eval/source/scene_059/rgb_video/00064.png b/spatialvid_eval/source/scene_059/rgb_video/00064.png new file mode 100644 index 0000000000000000000000000000000000000000..5c17948919cd0ba856e5d6b66425235dac41d21e --- /dev/null +++ b/spatialvid_eval/source/scene_059/rgb_video/00064.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27b0a4b778c16a807cc41996f01c438bf43026cb081fa4ce11e5aad9ffb93c4d +size 951543 diff --git a/spatialvid_eval/source/scene_059/rgb_video/00078.png b/spatialvid_eval/source/scene_059/rgb_video/00078.png new file mode 100644 index 0000000000000000000000000000000000000000..3a333f5c01a9627f97a0eaa741996f6fa18a6da4 --- /dev/null +++ b/spatialvid_eval/source/scene_059/rgb_video/00078.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66e503ec1189dd4c91e4692f0b50dd1cf909e9f27ad4743de0b0b42852725e33 +size 954001 diff --git a/spatialvid_eval/source/scene_061/rgb_video/00037.png b/spatialvid_eval/source/scene_061/rgb_video/00037.png new file mode 100644 index 0000000000000000000000000000000000000000..4b7c00136438a1810be6ce01dd2a4f8b0fd23a40 --- /dev/null +++ b/spatialvid_eval/source/scene_061/rgb_video/00037.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:970ac1f343eae0a6a141b54840f08afeff6d64c4b9d39c8b5ce848fdf4c33d91 +size 1003976 diff --git a/spatialvid_eval/source/scene_061/rgb_video/00042.png b/spatialvid_eval/source/scene_061/rgb_video/00042.png new file mode 100644 index 0000000000000000000000000000000000000000..e9ec6fd1ff5ef0f832126843fbf54c14c3af62ce --- /dev/null +++ b/spatialvid_eval/source/scene_061/rgb_video/00042.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c530054b8f6ed47f410b01ed5fb54e1883b33937bbe1a9563a4f2799d73df75 +size 978810 diff --git a/spatialvid_eval/source/scene_061/rgb_video/00059.png b/spatialvid_eval/source/scene_061/rgb_video/00059.png new file mode 100644 index 0000000000000000000000000000000000000000..d07492284de6d22ccf3d7e4d4a1e8cc547ece869 --- /dev/null +++ b/spatialvid_eval/source/scene_061/rgb_video/00059.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a6b8f4cadcb7718e10081809ebf32770681375555263ccc75ce8a96d4dc4ff5 +size 934082 diff --git a/spatialvid_eval/source/scene_061/rgb_video/00062.png b/spatialvid_eval/source/scene_061/rgb_video/00062.png new file mode 100644 index 0000000000000000000000000000000000000000..9c4f060087e876929b09aefe46aaa568b7b41ecb --- /dev/null +++ b/spatialvid_eval/source/scene_061/rgb_video/00062.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68e5cf03abf935e2367f395c5eab0a8a9821ed4d86bd6a69ce6f0f0b52326928 +size 949267 diff --git a/spatialvid_eval/source/scene_061/rgb_video/00068.png b/spatialvid_eval/source/scene_061/rgb_video/00068.png new file mode 100644 index 0000000000000000000000000000000000000000..117975cf360adb9650e4ddb9a2e2f9fb0c00d54c --- /dev/null +++ b/spatialvid_eval/source/scene_061/rgb_video/00068.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:acd24803631616146a0b8a7544c1f8f24a7b3aedcac7c7a683e9b8754c4ad64e +size 972294 diff --git a/spatialvid_eval/source/scene_195/rgb_video/00005.png b/spatialvid_eval/source/scene_195/rgb_video/00005.png new file mode 100644 index 0000000000000000000000000000000000000000..e568bcc25fc16aa987601f192cf10a7d83bf4f47 --- /dev/null +++ b/spatialvid_eval/source/scene_195/rgb_video/00005.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d65268244b39ca6a785b65b19f28b49c39f843bc7879de086e4660ae80079cb4 +size 736007 diff --git a/spatialvid_eval/source/scene_195/rgb_video/00047.png b/spatialvid_eval/source/scene_195/rgb_video/00047.png new file mode 100644 index 0000000000000000000000000000000000000000..3ddbb320ca79a2617c3ef0f0eebedae8f4e38852 --- /dev/null +++ b/spatialvid_eval/source/scene_195/rgb_video/00047.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:998f27afdd0216c36f8bd52ce817a1c2c731fe61fad7b4baa3540c80124653cd +size 642285