{
    "w": 1920,
    "h": 1080,
    "fl_x": 1002.2033857317583,
    "fl_y": 1005.2962539858049,
    "cx": 960.0,
    "cy": 540.0,
    "k1": 0.003414573205630729,
    "k2": -0.0017701020533741729,
    "p1": 0.0005773090305617618,
    "p2": 0.0006642040490635204,
    "camera_model": "OPENCV",
    "frames": [
        {
            "file_path": "images/frame_00002.png",
            "transform_matrix": [
                [
                    0.985672755191717,
                    -0.020830834991522298,
                    0.1673777045676207,
                    -5.696909849929896
                ],
                [
                    0.15728631478408464,
                    0.47188371493081976,
                    -0.8675175933459393,
                    0.03851691099897223
                ],
                [
                    -0.060911697188730296,
                    0.8814146787390399,
                    0.4683993266956557,
                    0.2866557399323715
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 2
        },
        {
            "file_path": "images/frame_00003.png",
            "transform_matrix": [
                [
                    0.9818231163676457,
                    -0.007848077752101449,
                    0.18963590335619868,
                    -5.694708636051426
                ],
                [
                    0.17772224221132057,
                    0.38871700224049405,
                    -0.9040541448345583,
                    0.03728181678253529
                ],
                [
                    -0.06661961264901842,
                    0.9213237757947857,
                    0.38304611650000314,
                    0.29626973113791066
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 3
        },
        {
            "file_path": "images/frame_00004.png",
            "transform_matrix": [
                [
                    0.9807721397867566,
                    0.006474935450954785,
                    0.1950489298330359,
                    -5.695138934953505
                ],
                [
                    0.1813387485887956,
                    0.33914461787128913,
                    -0.923091104078675,
                    0.03567047274401359
                ],
                [
                    -0.07212675008868888,
                    0.9407119662148682,
                    0.33144943587491676,
                    0.29469358208021684
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 4
        },
        {
            "file_path": "images/frame_00005.png",
            "transform_matrix": [
                [
                    0.982445610257915,
                    0.019786598337122895,
                    0.1854969363930261,
                    -5.681775715018312
                ],
                [
                    0.17109628937119567,
                    0.30068903710780326,
                    -0.938249520504322,
                    0.052127410773722474
                ],
                [
                    -0.07434166159268363,
                    0.9535169602526363,
                    0.2920252110044806,
                    0.2885091356502307
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 5
        },
        {
            "file_path": "images/frame_00006.png",
            "transform_matrix": [
                [
                    0.9867660466400373,
                    0.03170608508675566,
                    0.15902041808165093,
                    -5.6145975584231085
                ],
                [
                    0.14532768478321917,
                    0.26205371695008034,
                    -0.9540480666445461,
                    0.08944468756201186
                ],
                [
                    -0.07192102080713912,
                    0.9645323082204755,
                    0.2539779383429602,
                    0.2671113081350747
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 6
        },
        {
            "file_path": "images/frame_00007.png",
            "transform_matrix": [
                [
                    0.9910385502057075,
                    0.04171299867860567,
                    0.1268960903550933,
                    -5.495172133644726
                ],
                [
                    0.1144652366491039,
                    0.22445597747630955,
                    -0.9677382000179693,
                    0.1345290892318488
                ],
                [
                    -0.06884984825716035,
                    0.9735910537368309,
                    0.21766983823803637,
                    0.25490000984743205
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 7
        },
        {
            "file_path": "images/frame_00008.png",
            "transform_matrix": [
                [
                    0.993376487039239,
                    0.04813545244775179,
                    0.10433663409958628,
                    -5.3698073295231605
                ],
                [
                    0.09314196572612508,
                    0.1944164795012643,
                    -0.976486972119448,
                    0.1889325413877441
                ],
                [
                    -0.06728840329695794,
                    0.9797373172008836,
                    0.18864532876740214,
                    0.2250345878723311
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 8
        },
        {
            "file_path": "images/frame_00009.png",
            "transform_matrix": [
                [
                    0.995052744620966,
                    0.05157554420789607,
                    0.0849117109823028,
                    -5.230103727360085
                ],
                [
                    0.07517855707447253,
                    0.16784522536676888,
                    -0.9829426050781289,
                    0.25172487359222345
                ],
                [
                    -0.06494782504813412,
                    0.9844632768982486,
                    0.16313747717884763,
                    0.216655827841021
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 9
        },
        {
            "file_path": "images/frame_00010.png",
            "transform_matrix": [
                [
                    0.9967649603487206,
                    0.050983311348332304,
                    0.06213143958554654,
                    -5.07601103230329
                ],
                [
                    0.05416019269507195,
                    0.14508455707010906,
                    -0.9879357999521037,
                    0.29425203402913713
                ],
                [
                    -0.05938255087351909,
                    0.9881048392067154,
                    0.1418539368083404,
                    0.18650746123670997
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 10
        },
        {
            "file_path": "images/frame_00011.png",
            "transform_matrix": [
                [
                    0.9977394193429977,
                    0.04976279003559945,
                    0.045163213093961915,
                    -4.925137798218275
                ],
                [
                    0.03866094165386247,
                    0.12465843281258197,
                    -0.9914462197815611,
                    0.3376476173107755
                ],
                [
                    -0.0549671054316526,
                    0.9909510279809914,
                    0.12245275604853392,
                    0.17929074929288488
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 11
        },
        {
            "file_path": "images/frame_00012.png",
            "transform_matrix": [
                [
                    0.9985794604050221,
                    0.047005038749510376,
                    0.02509158403473131,
                    -4.759105764467049
                ],
                [
                    0.020044990014475295,
                    0.10491479976260117,
                    -0.9942791776790324,
                    0.37680691860712473
                ],
                [
                    -0.04936860978936454,
                    0.9933697252901008,
                    0.10382354860307523,
                    0.16026638512132027
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 12
        },
        {
            "file_path": "images/frame_00013.png",
            "transform_matrix": [
                [
                    0.9991203703875894,
                    0.04192198020490578,
                    -0.0010163917876776579,
                    -4.5967028281991595
                ],
                [
                    -0.004778165729608549,
                    0.08973055669034148,
                    -0.9959546155966655,
                    0.4005149392036198
                ],
                [
                    -0.04166118827910414,
                    0.9950834009125773,
                    0.08985193720467097,
                    0.13797560306568976
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 13
        },
        {
            "file_path": "images/frame_00014.png",
            "transform_matrix": [
                [
                    0.99894451783444,
                    0.03646643685303489,
                    -0.02792936217964091,
                    -4.433741152583798
                ],
                [
                    -0.031029956147337362,
                    0.08743098972843646,
                    -0.9956871817275746,
                    0.41432826242209175
                ],
                [
                    -0.03386727195999491,
                    0.9955028985484421,
                    0.08847025981446018,
                    0.13621594971276454
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 14
        },
        {
            "file_path": "images/frame_00015.png",
            "transform_matrix": [
                [
                    0.9987641862743496,
                    0.03300943216960129,
                    -0.03715477901396933,
                    -4.261987556012793
                ],
                [
                    -0.04000818699107193,
                    0.09046451568749096,
                    -0.995095732266557,
                    0.42537172735160217
                ],
                [
                    -0.029486355987538147,
                    0.9953524746486885,
                    0.09167336593203056,
                    0.12020809254199896
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 15
        },
        {
            "file_path": "images/frame_00016.png",
            "transform_matrix": [
                [
                    0.9989441753425705,
                    0.03184037902825612,
                    -0.033116835786181395,
                    -4.089550188566915
                ],
                [
                    -0.035824025115116356,
                    0.08859612712494508,
                    -0.9954232092346511,
                    0.42481388466373243
                ],
                [
                    -0.028760628882265934,
                    0.9955585952227008,
                    0.08964323568735685,
                    0.11405831529319549
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 16
        },
        {
            "file_path": "images/frame_00017.png",
            "transform_matrix": [
                [
                    0.999334242844798,
                    0.0334648637564,
                    -0.014531826161227593,
                    -3.927658860953306
                ],
                [
                    -0.017371983503793688,
                    0.0862065596734558,
                    -0.9961258169821776,
                    0.4159733221415291
                ],
                [
                    -0.03208247601040906,
                    0.995715085736393,
                    0.08673051810066071,
                    0.1117594104562166
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 17
        },
        {
            "file_path": "images/frame_00018.png",
            "transform_matrix": [
                [
                    0.9993262354529242,
                    0.03585671473978124,
                    0.007833973676003133,
                    -3.770821203207077
                ],
                [
                    0.004695317899009049,
                    0.08679459427362565,
                    -0.99621516370446,
                    0.4318142331016783
                ],
                [
                    -0.036400949511154246,
                    0.9955807322427181,
                    0.0865677564786089,
                    0.08961920699849393
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 18
        },
        {
            "file_path": "images/frame_00019.png",
            "transform_matrix": [
                [
                    0.9990106468802766,
                    0.03734803336244069,
                    0.024142324324910553,
                    -3.605747891950214
                ],
                [
                    0.020947089512189824,
                    0.08369738943046846,
                    -0.9962710306154108,
                    0.4479478106304111
                ],
                [
                    -0.039229413210236236,
                    0.9957910781918476,
                    0.08283225055917544,
                    0.08813822568300327
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 19
        },
        {
            "file_path": "images/frame_00020.png",
            "transform_matrix": [
                [
                    0.9989660236420945,
                    0.037082483121976886,
                    0.026301578929994275,
                    -3.4286009932434096
                ],
                [
                    0.02332687873760756,
                    0.07848728041387779,
                    -0.9966421642403026,
                    0.4480345792371823
                ],
                [
                    -0.03902230563489774,
                    0.996225193547494,
                    0.07754110783445778,
                    0.07504651037032965
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 20
        },
        {
            "file_path": "images/frame_00021.png",
            "transform_matrix": [
                [
                    0.9989011981844516,
                    0.03700518162708729,
                    0.028757830210456702,
                    -3.2560684214409448
                ],
                [
                    0.02593837876874779,
                    0.07453693543456154,
                    -0.9968808583591486,
                    0.46494608435376195
                ],
                [
                    -0.03903327775778187,
                    0.9965314153546642,
                    0.07349517969713092,
                    0.05324201212326537
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 21
        },
        {
            "file_path": "images/frame_00022.png",
            "transform_matrix": [
                [
                    0.9990919747745033,
                    0.03556369655741243,
                    0.023461658687218213,
                    -3.072932020850998
                ],
                [
                    0.02077922339456588,
                    0.07400493317945508,
                    -0.9970413701247423,
                    0.4784221898715451
                ],
                [
                    -0.03719475522572983,
                    0.996623546456874,
                    0.07319874883781392,
                    0.0538862010266349
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 22
        },
        {
            "file_path": "images/frame_00023.png",
            "transform_matrix": [
                [
                    0.9995181270952896,
                    0.031034534548859904,
                    -0.0006093219675304721,
                    -2.893771170419233
                ],
                [
                    -0.003070486440412025,
                    0.07931833274079421,
                    -0.9968446088554825,
                    0.46430026541296127
                ],
                [
                    -0.03088827805080335,
                    0.9963661273631076,
                    0.07937540250291637,
                    0.04453007989730839
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 23
        },
        {
            "file_path": "images/frame_00024.png",
            "transform_matrix": [
                [
                    0.9993943985805294,
                    0.02691465573021348,
                    -0.02205532572387735,
                    -2.7174851339326267
                ],
                [
                    -0.024190662891241464,
                    0.08177836725374976,
                    -0.996356919220313,
                    0.460385487748382
                ],
                [
                    -0.02501295493828253,
                    0.9962870570052764,
                    0.0823799255220623,
                    0.032140153151020305
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 24
        },
        {
            "file_path": "images/frame_00025.png",
            "transform_matrix": [
                [
                    0.9990554578188576,
                    0.023153724659717614,
                    -0.03677087484320645,
                    -2.5237713888229636
                ],
                [
                    -0.038470944838267795,
                    0.07785568722379724,
                    -0.9962221029319522,
                    0.4409788000774677
                ],
                [
                    -0.020203430540473202,
                    0.9966957394316945,
                    0.07867289490735697,
                    0.033118972439623466
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 25
        },
        {
            "file_path": "images/frame_00026.png",
            "transform_matrix": [
                [
                    0.9985943239891618,
                    0.019579428648844488,
                    -0.04925466546849873,
                    -2.338795874557242
                ],
                [
                    -0.05058199103210696,
                    0.07435285099733874,
                    -0.9959483499317598,
                    0.39119456604744524
                ],
                [
                    -0.01583787485292025,
                    0.9970397682752441,
                    0.07523870146268398,
                    0.0224355131564372
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 26
        },
        {
            "file_path": "images/frame_00027.png",
            "transform_matrix": [
                [
                    0.9983268376437587,
                    0.017266741221181926,
                    -0.05518500600536956,
                    -2.1725685681670255
                ],
                [
                    -0.056244523286370814,
                    0.06848700949297645,
                    -0.9960653006359562,
                    0.3554545714717757
                ],
                [
                    -0.013419345755320125,
                    0.9975025760259016,
                    0.06934357923549579,
                    0.026598604830240357
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 27
        },
        {
            "file_path": "images/frame_00028.png",
            "transform_matrix": [
                [
                    0.9981954833546874,
                    0.015150376997944878,
                    -0.05810544799863716,
                    -1.9992706933297648
                ],
                [
                    -0.05897641652364619,
                    0.0653526627320855,
                    -0.9961178704188854,
                    0.3208804793972017
                ],
                [
                    -0.011294215525284455,
                    0.9977472102444818,
                    0.066128247708691,
                    0.02637907100816132
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 28
        },
        {
            "file_path": "images/frame_00029.png",
            "transform_matrix": [
                [
                    0.9977754137691175,
                    0.01263347261449024,
                    -0.06545700151676027,
                    -1.8332767257596574
                ],
                [
                    -0.06613194646382381,
                    0.06365249206622459,
                    -0.9957785526464532,
                    0.2731202317767687
                ],
                [
                    -0.008413639805231257,
                    0.9978921563092167,
                    0.06434636774340637,
                    0.036590928167032924
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 29
        },
        {
            "file_path": "images/frame_00030.png",
            "transform_matrix": [
                [
                    0.9978392525320736,
                    0.012019966879492252,
                    -0.0645937032724457,
                    -1.6784027840375308
                ],
                [
                    -0.06521716424799952,
                    0.061919184488963455,
                    -0.995948159333442,
                    0.2324766318256402
                ],
                [
                    -0.007971674459127316,
                    0.9980087850256818,
                    0.06256930092209823,
                    0.054569470044668764
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 30
        },
        {
            "file_path": "images/frame_00031.png",
            "transform_matrix": [
                [
                    0.9983023084123422,
                    0.013565813796952552,
                    -0.05664335543216945,
                    -1.50509986224054
                ],
                [
                    -0.057436733482944945,
                    0.06781771553755625,
                    -0.9960430608693964,
                    0.20306527652263504
                ],
                [
                    -0.009670711731709346,
                    0.9976054962535508,
                    0.06848175800392879,
                    0.037926025590726054
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 31
        },
        {
            "file_path": "images/frame_00032.png",
            "transform_matrix": [
                [
                    0.9981584873713746,
                    0.012969750701541872,
                    -0.05925723293598203,
                    -1.3273799774186412
                ],
                [
                    -0.060023170111892815,
                    0.06999825565552738,
                    -0.9957396563635005,
                    0.17011427850088406
                ],
                [
                    -0.008766592166181567,
                    0.9974627961843605,
                    0.07064783853642347,
                    0.0375090788246774
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 32
        },
        {
            "file_path": "images/frame_00033.png",
            "transform_matrix": [
                [
                    0.9972809254898487,
                    0.010620761780888855,
                    -0.07292431057819217,
                    -1.157728285007819
                ],
                [
                    -0.07347981503039354,
                    0.06797986565827338,
                    -0.9949771126253016,
                    0.14165960062437902
                ],
                [
                    -0.005610030054302241,
                    0.9976301605726826,
                    0.06857543494950002,
                    0.046153339683291286
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 33
        },
        {
            "file_path": "images/frame_00034.png",
            "transform_matrix": [
                [
                    0.9955901167284453,
                    0.007062113039723486,
                    -0.09354381878058526,
                    -0.9801904029947905
                ],
                [
                    -0.0938086648270888,
                    0.06959211131886792,
                    -0.9931550092737492,
                    0.12436924903820931
                ],
                [
                    -0.0005038610916883503,
                    0.9975505323549262,
                    0.0699477056264451,
                    0.026891559943251136
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 34
        },
        {
            "file_path": "images/frame_00035.png",
            "transform_matrix": [
                [
                    0.9937207142776822,
                    0.002964253161848736,
                    -0.11184969923359499,
                    -0.7989754762747652
                ],
                [
                    -0.11180096603275233,
                    0.06594624404838055,
                    -0.9915400329235602,
                    0.08663244069351902
                ],
                [
                    0.004436891884703356,
                    0.9978187741765053,
                    0.06586355510674738,
                    0.029066111995367672
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 35
        },
        {
            "file_path": "images/frame_00036.png",
            "transform_matrix": [
                [
                    0.9917536630100272,
                    -0.002190378871430316,
                    -0.12814005676053447,
                    -0.6197312150814416
                ],
                [
                    -0.1278386840716268,
                    0.0537147080246833,
                    -0.9903393362866377,
                    0.04155447753095406
                ],
                [
                    0.009052224092907032,
                    0.9985539206183223,
                    0.05299174328845182,
                    0.030191670450402674
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 36
        },
        {
            "file_path": "images/frame_00037.png",
            "transform_matrix": [
                [
                    0.9915150863831991,
                    -0.0037450221840121937,
                    -0.12993770924315484,
                    -0.4441485699710686
                ],
                [
                    -0.12961546550603534,
                    0.04751025427437779,
                    -0.9904254675847334,
                    0.0182743329487151
                ],
                [
                    0.009882538953687934,
                    0.9988637297187366,
                    0.046621721077236264,
                    0.01886441857448644
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 37
        },
        {
            "file_path": "images/frame_00038.png",
            "transform_matrix": [
                [
                    0.9910121937419484,
                    -0.005946469780194031,
                    -0.13363933310191353,
                    -0.2690934978868973
                ],
                [
                    -0.13329466818234018,
                    0.04038499065572129,
                    -0.9902532928316358,
                    -0.012551643704741372
                ],
                [
                    0.011285534499118557,
                    0.9991664986511961,
                    0.03922938546776718,
                    0.03528722305825796
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 38
        },
        {
            "file_path": "images/frame_00039.png",
            "transform_matrix": [
                [
                    0.9902808801566642,
                    -0.00843812709406413,
                    -0.13882570513880757,
                    -0.10434393502654184
                ],
                [
                    -0.13843755121859208,
                    0.03616881784699613,
                    -0.9897104935425058,
                    -0.059020989060220706
                ],
                [
                    0.013372464572486925,
                    0.9993100693111698,
                    0.034649135119975895,
                    0.04139313503631507
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 39
        },
        {
            "file_path": "images/frame_00040.png",
            "transform_matrix": [
                [
                    0.990798368305792,
                    -0.009496062994053736,
                    -0.13501265922199004,
                    0.06495362173159813
                ],
                [
                    -0.1347150251656446,
                    0.027033444458957067,
                    -0.9905155500421506,
                    -0.08765710055644038
                ],
                [
                    0.013055855284123811,
                    0.999589424548048,
                    0.025505430294401422,
                    0.028474207624583456
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 40
        },
        {
            "file_path": "images/frame_00041.png",
            "transform_matrix": [
                [
                    0.9902066595491867,
                    -0.013677034649126552,
                    -0.13893779222244615,
                    0.2412051501011917
                ],
                [
                    -0.13881056024930363,
                    0.009854172534005038,
                    -0.9902699246402188,
                    -0.108696571079653
                ],
                [
                    0.014913073047345939,
                    0.999857906908215,
                    0.007859150425324079,
                    0.040312413524532284
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 41
        },
        {
            "file_path": "images/frame_00042.png",
            "transform_matrix": [
                [
                    0.9898851793589722,
                    -0.01662151290219627,
                    -0.1408937791185165,
                    0.41134869895737236
                ],
                [
                    -0.1408738063053344,
                    0.0023722851774121206,
                    -0.9900247183581246,
                    -0.15112627922299215
                ],
                [
                    0.016789948853475234,
                    0.9998590388509168,
                    6.754149247613613e-06,
                    0.034882785401165746
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 42
        },
        {
            "file_path": "images/frame_00043.png",
            "transform_matrix": [
                [
                    0.9905041913355775,
                    -0.018046853278122884,
                    -0.13629291263088975,
                    0.5806623340304415
                ],
                [
                    -0.13641817432953895,
                    -0.005896215622810342,
                    -0.9906337952815485,
                    -0.1720500158038554
                ],
                [
                    0.017074210355063547,
                    0.9998197566202055,
                    -0.008302145064006537,
                    0.03312213004285518
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 43
        },
        {
            "file_path": "images/frame_00044.png",
            "transform_matrix": [
                [
                    0.9923968849898998,
                    -0.015726612180229364,
                    -0.12207004682425732,
                    0.7557406603152147
                ],
                [
                    -0.12226622668496737,
                    -0.012179935896321256,
                    -0.9924226009990811,
                    -0.18594929484252454
                ],
                [
                    0.014120640019626667,
                    0.9998021418415217,
                    -0.014010163972700369,
                    0.0335329098410077
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 44
        },
        {
            "file_path": "images/frame_00045.png",
            "transform_matrix": [
                [
                    0.9947535320052251,
                    -0.011292260053643673,
                    -0.10167544160715833,
                    0.9293314708549886
                ],
                [
                    -0.10175188108663416,
                    -0.006413091390787233,
                    -0.9947891369301057,
                    -0.223654256597213
                ],
                [
                    0.010581363733529144,
                    0.9999156750054948,
                    -0.007528454014235602,
                    0.01667635526961549
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 45
        },
        {
            "file_path": "images/frame_00046.png",
            "transform_matrix": [
                [
                    0.9964064315371035,
                    -0.007727688174384363,
                    -0.08434753124410364,
                    1.0963433673206746
                ],
                [
                    -0.08433541663341695,
                    0.0018809464337635796,
                    -0.9964356474663988,
                    -0.24121181233507877
                ],
                [
                    0.007858797157551474,
                    0.9999683719378292,
                    0.0012224693221789744,
                    0.0160290793250923
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 46
        },
        {
            "file_path": "images/frame_00047.png",
            "transform_matrix": [
                [
                    0.9977505137288452,
                    -0.0035342950293581854,
                    -0.0669434172452447,
                    1.274767176206341
                ],
                [
                    -0.06690889678813591,
                    0.009118501210431208,
                    -0.9977174211500318,
                    -0.24467013740179006
                ],
                [
                    0.004136651353455789,
                    0.9999521797037699,
                    0.008861513485806684,
                    0.006879152474713101
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 47
        },
        {
            "file_path": "images/frame_00048.png",
            "transform_matrix": [
                [
                    0.9991726316717827,
                    0.0017749649613040244,
                    -0.04063128865136485,
                    1.4577439211648588
                ],
                [
                    -0.04065614655791114,
                    0.01748098184822743,
                    -0.9990202665715464,
                    -0.2679661652321768
                ],
                [
                    -0.0010629511494125027,
                    0.9998456204699844,
                    0.01753868187310199,
                    -0.009528429959049194
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 48
        },
        {
            "file_path": "images/frame_00049.png",
            "transform_matrix": [
                [
                    0.9999387180878848,
                    0.008691866115172697,
                    -0.006856495620455662,
                    1.6351810514091756
                ],
                [
                    -0.006927330978948271,
                    0.008145874018538068,
                    -0.9999428267766023,
                    -0.27592634681883466
                ],
                [
                    -0.008635517023636664,
                    0.9999290455826904,
                    0.008205586257206868,
                    -0.009767559984268955
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 49
        },
        {
            "file_path": "images/frame_00050.png",
            "transform_matrix": [
                [
                    0.9995783038938327,
                    0.01618900859233811,
                    0.024106646086214,
                    1.8097729054166538
                ],
                [
                    0.024131937782165505,
                    -0.001368719944007662,
                    -0.9997078454151455,
                    -0.2624635715298517
                ],
                [
                    -0.016151283651972277,
                    0.9998680125929182,
                    -0.0017588149082420864,
                    -0.025659940947506503
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 50
        },
        {
            "file_path": "images/frame_00051.png",
            "transform_matrix": [
                [
                    0.9987849055959513,
                    0.020199447582521613,
                    0.044952137558158335,
                    1.982848758577893
                ],
                [
                    0.04503008543441984,
                    -0.0034205568294129038,
                    -0.99897977516902,
                    -0.26560016980989837
                ],
                [
                    -0.02002507826340458,
                    0.9997901190291579,
                    -0.004325983380319786,
                    -0.02813060764498644
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 51
        },
        {
            "file_path": "images/frame_00052.png",
            "transform_matrix": [
                [
                    0.9979196261255349,
                    0.023153835228361255,
                    0.060169092628114415,
                    2.1516662644112476
                ],
                [
                    0.06022410523572936,
                    -0.0016854060651448836,
                    -0.9981834583657211,
                    -0.26019228083788426
                ],
                [
                    -0.023010365969026017,
                    0.9997304933433877,
                    -0.003076318799802657,
                    -0.02115957893696781
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 52
        },
        {
            "file_path": "images/frame_00053.png",
            "transform_matrix": [
                [
                    0.9971387771569102,
                    0.02423963897655084,
                    0.07160097061009693,
                    2.3281098293491618
                ],
                [
                    0.0713896768417264,
                    0.009473913357197116,
                    -0.997403508619322,
                    -0.2454620991337528
                ],
                [
                    -0.024855042354728754,
                    0.9996612850700917,
                    0.007716346386589971,
                    -0.04463758313312167
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 53
        },
        {
            "file_path": "images/frame_00054.png",
            "transform_matrix": [
                [
                    0.9960180853539505,
                    0.026510792964391957,
                    0.08511845572054083,
                    2.5114611003087597
                ],
                [
                    0.08485154596453966,
                    0.011037278370132887,
                    -0.9963324714339125,
                    -0.23994367757927448
                ],
                [
                    -0.027353039964108854,
                    0.9995875931315772,
                    0.008743847101963834,
                    -0.054378162896208976
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 54
        },
        {
            "file_path": "images/frame_00055.png",
            "transform_matrix": [
                [
                    0.9946783259335505,
                    0.02903253523910009,
                    0.09885413403403825,
                    2.692121238467541
                ],
                [
                    0.09852903192688686,
                    0.012426233114466953,
                    -0.9950565906510722,
                    -0.2341129009430123
                ],
                [
                    -0.030117400046811762,
                    0.9995012259262994,
                    0.00949955716046628,
                    -0.0625132016947763
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 55
        },
        {
            "file_path": "images/frame_00056.png",
            "transform_matrix": [
                [
                    0.9922531081816118,
                    0.03157317888470117,
                    0.12015366693965311,
                    2.8720590218963715
                ],
                [
                    0.1194287896265408,
                    0.02392738298816928,
                    -0.9925544038246352,
                    -0.21510719125003566
                ],
                [
                    -0.03421306055105114,
                    0.9992149992461341,
                    0.019971273601800676,
                    -0.09194701533456044
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 56
        },
        {
            "file_path": "images/frame_00057.png",
            "transform_matrix": [
                [
                    0.9910968725758227,
                    0.031467478296057456,
                    0.12937073463542872,
                    3.060397288646202
                ],
                [
                    0.12840193109078024,
                    0.031081366225379048,
                    -0.9912350340689752,
                    -0.19890702950124253
                ],
                [
                    -0.03521268610290734,
                    0.9990213944071724,
                    0.02676415988158599,
                    -0.09838699651078145
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 57
        },
        {
            "file_path": "images/frame_00058.png",
            "transform_matrix": [
                [
                    0.9914385995523536,
                    0.02898982730641595,
                    0.12731493718496717,
                    3.238034691254083
                ],
                [
                    0.1261461818386181,
                    0.039101897638627675,
                    -0.9912407287882175,
                    -0.19595950970491877
                ],
                [
                    -0.033714153188331215,
                    0.9988146131859518,
                    0.03511017460781522,
                    -0.10791121444580717
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 58
        },
        {
            "file_path": "images/frame_00059.png",
            "transform_matrix": [
                [
                    0.9909217275654757,
                    0.027057416310281353,
                    0.13168912658706927,
                    3.4210484559656664
                ],
                [
                    0.1301449964179345,
                    0.0525563547758546,
                    -0.9901010602357976,
                    -0.19158971556319895
                ],
                [
                    -0.03371067703308337,
                    0.9982513339812207,
                    0.04855784652025376,
                    -0.13112095417954112
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 59
        },
        {
            "file_path": "images/frame_00060.png",
            "transform_matrix": [
                [
                    0.9902344275843353,
                    0.026059231364563496,
                    0.13695508346685012,
                    3.612852187123502
                ],
                [
                    0.13520140784299692,
                    0.06011362155078551,
                    -0.9889928876495122,
                    -0.20136780372398455
                ],
                [
                    -0.03400526053414886,
                    0.9978513260825668,
                    0.05600333285856809,
                    -0.13427561513911332
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 60
        },
        {
            "file_path": "images/frame_00061.png",
            "transform_matrix": [
                [
                    0.9900097281001133,
                    0.02523300326651641,
                    0.1387228669444652,
                    3.7929810137186752
                ],
                [
                    0.13689025875809852,
                    0.06377355438383611,
                    -0.9885312290557099,
                    -0.2287998225397196
                ],
                [
                    -0.033790462031180725,
                    0.9976453424476076,
                    0.05968228688912199,
                    -0.13835164056602522
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 61
        },
        {
            "file_path": "images/frame_00062.png",
            "transform_matrix": [
                [
                    0.9884252157711256,
                    0.025445114345290166,
                    0.14955981741015387,
                    3.968567950629805
                ],
                [
                    0.14744535627709252,
                    0.07095095513117963,
                    -0.9865220873747805,
                    -0.23415924100610738
                ],
                [
                    -0.03571357921190089,
                    0.997155207639176,
                    0.06637794918455103,
                    -0.1560917589776392
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 62
        },
        {
            "file_path": "images/frame_00063.png",
            "transform_matrix": [
                [
                    0.9870161367647062,
                    0.02692178649675642,
                    0.15834886541398918,
                    4.157259058510089
                ],
                [
                    0.15631355545559178,
                    0.06578546788803633,
                    -0.985514253877428,
                    -0.24159775061636485
                ],
                [
                    -0.03694885853319729,
                    0.9974705457438706,
                    0.06072307820358391,
                    -0.14297476258050307
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 63
        },
        {
            "file_path": "images/frame_00064.png",
            "transform_matrix": [
                [
                    0.9868706274073682,
                    0.02695039287130339,
                    0.15924836289478594,
                    4.3345086326866
                ],
                [
                    0.15725089731516118,
                    0.0646798314267041,
                    -0.985438316030075,
                    -0.2656963690162307
                ],
                [
                    -0.0368581070344595,
                    0.997542077173036,
                    0.05959265235866572,
                    -0.1557676629989883
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 64
        },
        {
            "file_path": "images/frame_00065.png",
            "transform_matrix": [
                [
                    0.987332213677008,
                    0.025612705368193843,
                    0.15658572463472273,
                    4.507263993634009
                ],
                [
                    0.15473736987059297,
                    0.06283446969336592,
                    -0.9859554633876141,
                    -0.2714448154502005
                ],
                [
                    -0.03509196775888222,
                    0.997695253442691,
                    0.058075253393627124,
                    -0.16430458326842354
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 65
        },
        {
            "file_path": "images/frame_00066.png",
            "transform_matrix": [
                [
                    0.9880869540890972,
                    0.0250656653216975,
                    0.15184163981237495,
                    4.688529803105934
                ],
                [
                    0.15021603310803114,
                    0.05740665161100952,
                    -0.9869851162748602,
                    -0.27324671345715223
                ],
                [
                    -0.03345615871879573,
                    0.9980361660645334,
                    0.05295749872293741,
                    -0.15928003331789245
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 66
        },
        {
            "file_path": "images/frame_00067.png",
            "transform_matrix": [
                [
                    0.9872831425297439,
                    0.024749843029185623,
                    0.1570332504491459,
                    4.871341687440817
                ],
                [
                    0.15526789010914893,
                    0.06185927270786492,
                    -0.9859337263128325,
                    -0.28772443276710463
                ],
                [
                    -0.03411566762715883,
                    0.9977779691144141,
                    0.057229761245951,
                    -0.1793768732666408
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 67
        },
        {
            "file_path": "images/frame_00068.png",
            "transform_matrix": [
                [
                    0.984008293784298,
                    0.026280493421014014,
                    0.17617324833601353,
                    5.043986580961682
                ],
                [
                    0.173936944271293,
                    0.07138377418819711,
                    -0.9821661245432025,
                    -0.2808101537934246
                ],
                [
                    -0.03838772175161963,
                    0.997102648902407,
                    0.06567107712321846,
                    -0.1936968646185628
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 68
        },
        {
            "file_path": "images/frame_00069.png",
            "transform_matrix": [
                [
                    0.9804823570343911,
                    0.02870856486072925,
                    0.19449978367063028,
                    5.22295940533683
                ],
                [
                    0.1919309633720529,
                    0.07471211349774638,
                    -0.9785604761054759,
                    -0.2548912682860172
                ],
                [
                    -0.042624556811307404,
                    0.996791812968153,
                    0.06774384663054249,
                    -0.20483781128751585
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 69
        },
        {
            "file_path": "images/frame_00070.png",
            "transform_matrix": [
                [
                    0.9767103263378403,
                    0.03179640385956606,
                    0.21219313637964063,
                    5.402795999718777
                ],
                [
                    0.20936309872498762,
                    0.07515487799580094,
                    -0.9749455560213129,
                    -0.247167294093036
                ],
                [
                    -0.046947111916501104,
                    0.9966648047438195,
                    0.06674755177280939,
                    -0.22691131978782475
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 70
        },
        {
            "file_path": "images/frame_00071.png",
            "transform_matrix": [
                [
                    0.9722936327783835,
                    0.036117681581197894,
                    0.2309558501874609,
                    5.578453381931415
                ],
                [
                    0.22806468383525172,
                    0.07025092205060342,
                    -0.971108288471562,
                    -0.2277115817139915
                ],
                [
                    -0.05129904137252811,
                    0.9968752785721187,
                    0.06006735657593405,
                    -0.23336911309675598
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 71
        },
        {
            "file_path": "images/frame_00072.png",
            "transform_matrix": [
                [
                    0.9669678908305221,
                    0.041579223583704396,
                    0.25148412727038605,
                    5.758649091626797
                ],
                [
                    0.2486633981120834,
                    0.06300324400687382,
                    -0.9665387243581923,
                    -0.19869894749317013
                ],
                [
                    -0.05603224555666956,
                    0.9971468093569705,
                    0.0505828829456215,
                    -0.23945033598425722
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 72
        },
        {
            "file_path": "images/frame_00073.png",
            "transform_matrix": [
                [
                    0.9617994332762557,
                    0.04580605896734343,
                    0.26989563744409373,
                    5.936908608521431
                ],
                [
                    0.2671381316028003,
                    0.058411829212050494,
                    -0.9618863118122989,
                    -0.19215379638379043
                ],
                [
                    -0.05982531899821655,
                    0.997241125891819,
                    0.04394391922415578,
                    -0.25596710516323873
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 73
        },
        {
            "file_path": "images/frame_00074.png",
            "transform_matrix": [
                [
                    0.9569049406403193,
                    0.049951855096673665,
                    0.28607297451969826,
                    6.102888606800385
                ],
                [
                    0.28331151635321583,
                    0.05576527382080279,
                    -0.9574052532430206,
                    -0.1640600076850355
                ],
                [
                    -0.06377710623561204,
                    0.9971935852220931,
                    0.039210130223191725,
                    -0.2662559304054916
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 74
        },
        {
            "file_path": "images/frame_00075.png",
            "transform_matrix": [
                [
                    0.9490332701576355,
                    0.05321757706359166,
                    0.3106505136409479,
                    6.279744339545898
                ],
                [
                    0.30756238523584306,
                    0.058959805697361777,
                    -0.9496994895756068,
                    -0.12264429361059032
                ],
                [
                    -0.06885659969779945,
                    0.9968408252091251,
                    0.03958709227067551,
                    -0.285682284183806
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 75
        },
        {
            "file_path": "images/frame_00076.png",
            "transform_matrix": [
                [
                    0.9393820534280561,
                    0.05626043616414947,
                    0.3382249562346162,
                    6.464187920202621
                ],
                [
                    0.3346079543398318,
                    0.06484996211860132,
                    -0.9401233957868131,
                    -0.09155253948275593
                ],
                [
                    -0.07482562789446788,
                    0.9963078067223179,
                    0.042093701124550624,
                    -0.3076561358263122
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "colmap_im_id": 76
        }
    ],
    "applied_transform": [
        [
            1.0,
            0.0,
            0.0,
            0.0
        ],
        [
            0.0,
            0.0,
            1.0,
            0.0
        ],
        [
            -0.0,
            -1.0,
            -0.0,
            -0.0
        ]
    ],
    "ply_file_path": "sparse_pc.ply"
}