{ "format_version": "1.0", "camera_model": "opencv_pinhole", "pose_type": "c2w", "coordinate_system": "opencv", "image_hw": [ 480, 832 ], "num_frames": 49, "frames": [ { "frame_index": 0, "c2w": [ [ 0.9940848213400472, -0.04212603059724191, 0.10010377379223387, 0.6959049701690674 ], [ 0.04125514741791169, 0.9990907584711726, 0.01075495927576815, -0.09973324835300446 ], [ -0.10046581902743279, -0.0065615458252834494, 0.9949188737397286, 0.4031909108161926 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 789.99462890625, "fy": 789.99462890625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 1, "c2w": [ [ 0.9894380474903579, -0.04363889400552499, 0.13823167910592038, 0.8115206956863403 ], [ 0.04257453725113558, 0.9990365432340818, 0.010648664740164966, -0.11311863362789154 ], [ -0.13856319481131804, -0.004651044277506026, 0.990342672427483, 0.450438916683197 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 788.3754272460938, "fy": 788.3754272460938, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 2, "c2w": [ [ 0.9773185792280393, -0.05813554796246938, 0.2036385345625682, 0.8334341049194336 ], [ 0.057308636965128675, 0.9983068219908448, 0.009960386324774301, -0.12279868125915527 ], [ -0.20387279079093903, 0.0019357762378659753, 0.9789954739147015, 0.4577409625053406 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 806.620361328125, "fy": 806.620361328125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 3, "c2w": [ [ 0.9653343883596205, -0.07717934760004634, 0.24934487553264242, 0.8972934484481812 ], [ 0.07386530649541487, 0.9970113167769761, 0.022635165450688662, -0.1248682290315628 ], [ -0.2503466299886942, -0.003432567941479512, 0.9681501858341148, 0.4906441569328308 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 797.16796875, "fy": 797.16796875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 4, "c2w": [ [ 0.9529093222063971, -0.09297131023933214, 0.28865231529389546, 0.963026225566864 ], [ 0.086380527299928, 0.9956289141781501, 0.0355171755045934, -0.1437104344367981 ], [ -0.2906926695937324, -0.00891070843533574, 0.9567749845808312, 0.5434784889221191 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 786.456298828125, "fy": 786.456298828125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 5, "c2w": [ [ 0.9402632944237641, -0.09769970731021911, 0.3261283556375728, 1.0483720302581787 ], [ 0.09078044346826328, 0.9952051830261328, 0.03640816888593983, -0.1560707688331604 ], [ -0.3281216973061601, -0.0046271880682765155, 0.944624126776098, 0.5735144019126892 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 790.0677490234375, "fy": 790.0677490234375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 6, "c2w": [ [ 0.9231465778665924, -0.10598598690832915, 0.369550221691542, 1.0927810668945312 ], [ 0.09786195282230842, 0.9943666018095785, 0.04071976664317709, -0.15185250341892242 ], [ -0.37178412279574885, -0.0014254068675238674, 0.9283181212559932, 0.593451976776123 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 798.5802001953125, "fy": 798.5802001953125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 7, "c2w": [ [ 0.9128082920414696, -0.11643961384736849, 0.39143688930325904, 1.1570167541503906 ], [ 0.10594918781566885, 0.9931941440329045, 0.04837521948215692, -0.1680903285741806 ], [ -0.39440561809073726, -0.002684880969866549, 0.9189325327969637, 0.6334011554718018 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 798.2709350585938, "fy": 798.2709350585938, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 8, "c2w": [ [ 0.9027731751989801, -0.12027934114842517, 0.41295698835841427, 1.2271400690078735 ], [ 0.11072029334241525, 0.9927349220599966, 0.04709980004947519, -0.17475807666778564 ], [ -0.4156219565702948, 0.0032022828469417666, 0.9095318216540019, 0.6260272264480591 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 795.7315673828125, "fy": 795.7315673828125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 9, "c2w": [ [ 0.8940737463639714, -0.12232566674651996, 0.43089275616760137, 1.2730666399002075 ], [ 0.1121943911571791, 0.992479486473648, 0.04895801795285624, -0.18155287206172943 ], [ -0.4336410435551076, 0.004571671906597661, 0.901074106364407, 0.6761181950569153 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 798.6171875, "fy": 798.6171875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 10, "c2w": [ [ 0.8927551246311921, -0.12714188925272762, 0.4322305258100046, 1.3329612016677856 ], [ 0.11556240458340801, 0.9918812193955138, 0.05307520379018461, -0.18710464239120483 ], [ -0.4354694226827492, 0.002566438722422707, 0.9001998640861032, 0.680720865726471 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 796.8703002929688, "fy": 796.8703002929688, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 11, "c2w": [ [ 0.8927826007259968, -0.1281041708480648, 0.4318895104679615, 1.4100080728530884 ], [ 0.11637717280598027, 0.9917577898048613, 0.05359888068852859, -0.19746717810630798 ], [ -0.43519602651059774, 0.0024099320957132976, 0.9003325001002023, 0.7261791229248047 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 798.91162109375, "fy": 798.91162109375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 12, "c2w": [ [ 0.8916840614128888, -0.12961153428190628, 0.4337054124671554, 1.4703924655914307 ], [ 0.11747204441144639, 0.9915626719968107, 0.05480680874071251, -0.2041866034269333 ], [ -0.4371496922153898, 0.0020779036638281976, 0.8993863624229325, 0.765674352645874 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 799.0062866210938, "fy": 799.0062866210938, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 13, "c2w": [ [ 0.8947053608700415, -0.1319321346377401, 0.42672734747182334, 1.532750129699707 ], [ 0.11937001196199627, 0.9912585282544204, 0.056190127309650575, -0.20789435505867004 ], [ -0.43041040586236057, 0.0006648404403085469, 0.9026330597272559, 0.7899694442749023 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 800.0241088867188, "fy": 800.0241088867188, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 14, "c2w": [ [ 0.8983813799565488, -0.1376399153509344, 0.4170924955565059, 1.624082088470459 ], [ 0.12410338188163073, 0.9904808137460966, 0.059549208276941226, -0.20812417566776276 ], [ -0.42131846239265175, -0.001735310651147421, 0.9069110992506565, 0.8146657943725586 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 794.5929565429688, "fy": 794.5929565429688, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 15, "c2w": [ [ 0.8981408435498004, -0.14279683577668828, 0.4158750880250201, 1.7084952592849731 ], [ 0.1281602158125732, 0.989746380103669, 0.0630639528935392, -0.22239996492862701 ], [ -0.42061619587282606, -0.0033416708170285058, 0.9072325220171635, 0.8454424142837524 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 795.780517578125, "fy": 795.780517578125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 16, "c2w": [ [ 0.8955289643962263, -0.14394543907490326, 0.4210790715494617, 1.754441738128662 ], [ 0.12930861610987748, 0.9895831334205807, 0.06328114924093675, -0.21412619948387146 ], [ -0.4258017798543962, -0.002220950030646078, 0.9048137441782097, 0.8613119125366211 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 809.6221923828125, "fy": 809.6221923828125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 17, "c2w": [ [ 0.8970701020510838, -0.15501449496201541, 0.41380640202603053, 1.832695484161377 ], [ 0.13284277398431063, 0.9877368043573856, 0.08202927963851363, -0.22682762145996094 ], [ -0.421447540515081, -0.018614823918893676, 0.9066617114030224, 0.8990234136581421 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 814.2288818359375, "fy": 814.2288818359375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 18, "c2w": [ [ 0.8974506082769667, -0.15953448770251272, 0.411255581040307, 1.914635419845581 ], [ 0.1348756425048553, 0.9869014082355919, 0.08851085516200403, -0.24822816252708435 ], [ -0.41998924600780696, -0.023965760077735813, 0.9072125856609858, 0.9336880445480347 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 800.4971923828125, "fy": 800.4971923828125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 19, "c2w": [ [ 0.8903493756246675, -0.15521788868038888, 0.42800163125666657, 1.9586451053619385 ], [ 0.13101882310432234, 0.987674340657372, 0.0856356514506853, -0.25125962495803833 ], [ -0.43601841396565283, -0.020169378786350788, 0.8997116976244381, 0.9642031788825989 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 808.2042846679688, "fy": 808.2042846679688, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 20, "c2w": [ [ 0.8847277753194783, -0.1644485044398275, 0.4361346729689694, 2.009815216064453 ], [ 0.13402468311403987, 0.9859320608119004, 0.09987670288601529, -0.27543941140174866 ], [ -0.44642373132980623, -0.029910881810877185, 0.8943216374743869, 1.0243853330612183 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 818.3056640625, "fy": 818.3056640625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 21, "c2w": [ [ 0.8818646838937847, -0.16150132748683615, 0.442980812813496, 2.0718421936035156 ], [ 0.13063098749078927, 0.9864181354218737, 0.09957312497865597, -0.2812739312648773 ], [ -0.45304549926922, -0.02994300136631947, 0.8909843950715863, 1.037614107131958 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 817.6151733398438, "fy": 817.6151733398438, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 22, "c2w": [ [ 0.8791369945431293, -0.16351742684317128, 0.4476384656665047, 2.1351053714752197 ], [ 0.13011383039987476, 0.9859634527564528, 0.10462533616312494, -0.2916703224182129 ], [ -0.4584632329471444, -0.033736048185322595, 0.8880728253293707, 1.079575777053833 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 819.4518432617188, "fy": 819.4518432617188, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 23, "c2w": [ [ 0.8784950492760365, -0.1588991792592109, 0.4505524378229946, 2.215965747833252 ], [ 0.12348428511838702, 0.9865437753952172, 0.10715880998663574, -0.304121196269989 ], [ -0.461517149980686, -0.038502338366652185, 0.8862953741355105, 1.1019251346588135 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 821.386962890625, "fy": 821.386962890625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 24, "c2w": [ [ 0.8799203151632092, -0.15134852921879852, 0.4503708046336757, 2.281630039215088 ], [ 0.11876754419853357, 0.9878800942931513, 0.09993592819603693, -0.31164902448654175 ], [ -0.4600375086969838, -0.03444621898932574, 0.8872310570472677, 1.115225076675415 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 823.581298828125, "fy": 823.581298828125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 25, "c2w": [ [ 0.8806750428362642, -0.15095192252638995, 0.44902670968543784, 2.3373303413391113 ], [ 0.11818033996697487, 0.98791108065188, 0.10032499175441732, -0.3223734498023987 ], [ -0.45874271238967274, -0.03528758720599247, 0.8878681827943516, 1.154589295387268 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 826.0353393554688, "fy": 826.0353393554688, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 26, "c2w": [ [ 0.8882684463817232, -0.1428584629128967, 0.4365439573934853, 2.408839702606201 ], [ 0.11430377490863841, 0.9892554203760923, 0.09115020734017683, -0.3317031264305115 ], [ -0.44487505459874443, -0.03106723081779976, 0.8950536369207595, 1.161971092224121 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 821.6786499023438, "fy": 821.6786499023438, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 27, "c2w": [ [ 0.8926417071542553, -0.13951612860069648, 0.4286327478261672, 2.4587182998657227 ], [ 0.1123038458619518, 0.9897449516409703, 0.08827670647361827, -0.33663809299468994 ], [ -0.43655312260176504, -0.030662363925310368, 0.8991558210817305, 1.2082695960998535 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 817.2425537109375, "fy": 817.2425537109375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 28, "c2w": [ [ 0.9007496055292746, -0.13701247770441854, 0.4121622606354846, 2.5150489807128906 ], [ 0.1104992558022602, 0.9900069291585902, 0.08761389550251383, -0.3560413718223572 ], [ -0.42004769087093413, -0.03337455874277408, 0.9068881277328105, 1.2435760498046875 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 817.50341796875, "fy": 817.50341796875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 29, "c2w": [ [ 0.9123775507857546, -0.13026699265002806, 0.388069214764719, 2.5910396575927734 ], [ 0.10856203435402491, 0.9910684080964597, 0.07744478788185555, -0.35282468795776367 ], [ -0.39469163852190187, -0.028529302463743002, 0.9183706165714517, 1.2596516609191895 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 819.704345703125, "fy": 819.704345703125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 30, "c2w": [ [ 0.9202955118774034, -0.126604021729057, 0.37017238214153314, 2.6503591537475586 ], [ 0.10426476225485716, 0.9913400047271569, 0.07983642263714844, -0.3624598979949951 ], [ -0.377074303248374, -0.034877166020014554, 0.9255260953210155, 1.3004376888275146 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 819.5494384765625, "fy": 819.5494384765625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 31, "c2w": [ [ 0.9284699093867523, -0.12347980445653076, 0.35028040946466427, 2.703157663345337 ], [ 0.10353245063831264, 0.9917798690767756, 0.0751912425677297, -0.3883378207683563 ], [ -0.35668565856813084, -0.033547416971069284, 0.9336219319330433, 1.342407464981079 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 823.638427734375, "fy": 823.638427734375, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 32, "c2w": [ [ 0.9351444309026419, -0.11395790776353068, 0.33543775668510095, 2.7880802154541016 ], [ 0.0986439989019452, 0.9931642110195266, 0.062403617127493746, -0.38612329959869385 ], [ -0.34025616060904373, -0.02526747332284036, 0.9399932446350204, 1.3613146543502808 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 828.3385009765625, "fy": 828.3385009765625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 33, "c2w": [ [ 0.9398528011729684, -0.1126035204690831, 0.32248590559169105, 2.844373941421509 ], [ 0.0976479575717616, 0.9932729411865469, 0.06223938213615774, -0.3985168933868408 ], [ -0.32732489747861815, -0.027005767617233903, 0.9445258598926853, 1.3953737020492554 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 833.9454345703125, "fy": 833.9454345703125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 34, "c2w": [ [ 0.9448440562764105, -0.10505419460030657, 0.3102149666215678, 2.8796186447143555 ], [ 0.09212167737225624, 0.9941665963131873, 0.05609256040843368, -0.4073997139930725 ], [ -0.31429811624834986, -0.02442119923207693, 0.9490101680966359, 1.405562162399292 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 841.6412353515625, "fy": 841.6412353515625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 35, "c2w": [ [ 0.9503588958550979, -0.09615136090854545, 0.2959271614173221, 2.9836416244506836 ], [ 0.08444425841125439, 0.99506403384533, 0.05212231545924587, -0.4235699772834778 ], [ -0.29947810652942974, -0.024545556479626925, 0.9537873868775226, 1.4493951797485352 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 829.32861328125, "fy": 829.32861328125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 36, "c2w": [ [ 0.9519886990501559, -0.07863489849736369, 0.295861571717418, 3.033376693725586 ], [ 0.07732948420321302, 0.9968750973972089, 0.01613043899496658, -0.42186301946640015 ], [ -0.29620544855497943, 0.0075228271025335695, 0.9550946232278394, 1.465468168258667 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 839.9830322265625, "fy": 839.9830322265625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 37, "c2w": [ [ 0.9557265998532662, -0.07465622382964485, 0.28462802844486773, 3.097902774810791 ], [ 0.07435798865198692, 0.9971609733460389, 0.01186940433265008, -0.42943739891052246 ], [ -0.2847060867922311, 0.009820462264013504, 0.958564553206708, 1.4901292324066162 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 828.0746459960938, "fy": 828.0746459960938, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 38, "c2w": [ [ 0.9576435763572023, -0.07269887077552951, 0.2786281659304227, 3.1909971237182617 ], [ 0.07158483960283153, 0.9973336472245348, 0.014184740140158586, -0.4452832341194153 ], [ -0.2789164595373052, 0.006361627289441807, 0.9602942977532486, 1.5663182735443115 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 815.7108154296875, "fy": 815.7108154296875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 39, "c2w": [ [ 0.959378952989559, -0.06621751951470917, 0.27423942945896096, 3.238368034362793 ], [ 0.06578482916754178, 0.9977755471375385, 0.010784886915646311, -0.45711976289749146 ], [ -0.274343545234902, 0.007694000500718057, 0.9616009679405695, 1.5874897241592407 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 821.6744995117188, "fy": 821.6744995117188, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 40, "c2w": [ [ 0.9606849195890529, -0.06081192560202714, 0.2708992339943938, 3.3009328842163086 ], [ 0.06079401666713332, 0.9981144316120721, 0.008465751306591532, -0.4656083285808563 ], [ -0.2709032536010819, 0.008336132933334524, 0.9625704836925272, 1.6266720294952393 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 815.373779296875, "fy": 815.373779296875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 41, "c2w": [ [ 0.9596170815242033, -0.05584974354690475, 0.27570974410186433, 3.3421072959899902 ], [ 0.055995937965669235, 0.9984039564057976, 0.00734811299561609, -0.47358763217926025 ], [ -0.2756800895572901, 0.008387250979695882, 0.9612128496033999, 1.6227518320083618 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 834.4064331054688, "fy": 834.4064331054688, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 42, "c2w": [ [ 0.959894226435561, -0.05511729990375469, 0.2748911735705526, 3.401015281677246 ], [ 0.05619386129378051, 0.9984120082993475, 0.003963790680404632, -0.47435715794563293 ], [ -0.2746731221080277, 0.011642376689588722, 0.9614671762761565, 1.6410694122314453 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 836.0548706054688, "fy": 836.0548706054688, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 43, "c2w": [ [ 0.9596592511803461, -0.051874887613967836, 0.2763387733544014, 3.4615259170532227 ], [ 0.05291165664677627, 0.9985923123477624, 0.0037081411573809046, -0.480581670999527 ], [ -0.2761421340811115, 0.011062990327556614, 0.9610531369441244, 1.6707773208618164 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 833.74658203125, "fy": 833.74658203125, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 44, "c2w": [ [ 0.958655198591116, -0.047385587509969226, 0.2805972492925832, 3.5091471672058105 ], [ 0.0491808314616203, 0.9987896829424464, 0.0006442549735033167, -0.4928804039955139 ], [ -0.28028816605588774, 0.013182387646485844, 0.9598253844449862, 1.682837963104248 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 836.535400390625, "fy": 836.535400390625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 45, "c2w": [ [ 0.9577002900222912, -0.0455789753455119, 0.28413502335627894, 3.5693674087524414 ], [ 0.04757528242209227, 0.9988676473357968, -0.00012493321577505768, -0.4989769458770752 ], [ -0.2838075879776261, 0.013637452559163788, 0.9587842681719483, 1.7090251445770264 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 841.088134765625, "fy": 841.088134765625, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 46, "c2w": [ [ 0.9580028422836401, -0.04396419751826741, 0.2833684942138804, 3.6665189266204834 ], [ 0.044871128261476344, 0.9989873577109101, 0.003292564701925855, -0.5093996524810791 ], [ -0.28322629825814066, 0.009560777706284669, 0.9590054512382301, 1.7711420059204102 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 829.7274169921875, "fy": 829.7274169921875, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 47, "c2w": [ [ 0.9562619447449293, -0.03970500615983372, 0.28980442632660747, 3.7165474891662598 ], [ 0.040926526862317, 0.9991604520655913, 0.001846734163780515, -0.5149285793304443 ], [ -0.28963444621045076, 0.010094727035990327, 0.957084105005634, 1.7866054773330688 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 834.1835327148438, "fy": 834.1835327148438, "cx": 416.0, "cy": 240.0 } }, { "frame_index": 48, "c2w": [ [ 0.955736861714201, -0.03888946659330864, 0.29164132174432555, 3.768965005874634 ], [ 0.0401633840646322, 0.9991918127788909, 0.0016198321239026578, -0.5141515135765076 ], [ -0.29146861536221474, 0.01016516914373123, 0.956526379978677, 1.8075478076934814 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "intrinsics": { "fx": 833.17578125, "fy": 833.17578125, "cx": 416.0, "cy": 240.0 } } ] }